Autonomous driving vehicle and control method for autonomous driving vehicle
An autonomous driving vehicle includes a user detection monitoring device and a start control device. The user detection monitoring device detects a user who got out of the autonomous driving vehicle after the autonomous driving vehicle stopped at a destination as an alighted user and monitors the alighted user. The start control device maintains a stopped state of the autonomous driving vehicle after the alighted user was detected until a start condition is satisfied and, if the start condition is satisfied, permits a start of the autonomous driving vehicle. The start condition is one of a condition indicating that the alighted user at least moves out of a movement determination area around the autonomous driving vehicle and a condition indicating that the alighted user is present in the movement determination area but remains at the same position for a certain period of time or longer.
1. An autonomous driving vehicle that provides a driverless transportation service to a user, the autonomous driving vehicle comprising
a surrounding environment sensor configured to: monitor an environment around the autonomous driving vehicle, detect the user who got out of the autonomous driving vehicle after the autonomous driving vehicle stopped at a destination as an alighted user, and monitor the alighted user; and
an electronic control unit (ECU) programmed to:
confirm that the autonomous driving vehicle is in a stopped state;
maintain the stopped state of the autonomous driving vehicle based upon: (i) the alighted user is detected, (ii) the alighted user is present in a movement determination area around the autonomous driving vehicle and (iii) the alighted user does not remain in a same position within the movement determination area for a certain period time or longer;
permit a start of the autonomous driving vehicle when a start condition is satisfied,
the start condition being a condition indicating that the alighted user is present in the movement determination area around the autonomous driving vehicle but remains at the same position for the certain period of time or longer, and
control the autonomous driving vehicle to start traveling according to a travel plan when the start of the autonomous driving vehicle is permitted.
2. The autonomous driving vehicle according to claim 1 , wherein
when the surrounding environment sensor detects a new target in an alighting determination area adjacent to the autonomous driving vehicle after the autonomous driving vehicle stopped at the destination, the surrounding environment sensor is configured to recognize the new target as the alighted user and is configured to monitor the new target as the alighted user.
3. The autonomous driving vehicle according to claim 2 , wherein
the surrounding environment sensor is configured to detect at least one of an alighting action and information suggesting the alighting action and is configured to recognize the new target that is detected in conjunction with the alighting action as the alighted user, and
the alighting action is an action of the user when the user gets out of the autonomous driving vehicle.
4. A control method for an autonomous driving vehicle, the autonomous driving vehicle including a surrounding environment sensor and an electronic control unit (ECU), the control method comprising:
detecting, by the surrounding environment sensor, a user who got out of the autonomous driving vehicle after the autonomous driving vehicle stopped at a destination as an alighted user;
monitoring, by the surrounding environment sensor, the alighted user;
maintaining, by the ECU, a stopped state of the autonomous driving vehicle after (i) the alighted user is detected and (ii) the alighted user is present in a movement determination area around the autonomous driving vehicle and (iii) the alighted user does not remain in a same position within the movement determination area for a certain period of time or longer;
permitting, by the ECU, a start of the autonomous driving vehicle when a start condition is satisfied,
the start condition being a condition indicating that the alighted user is present in the movement determination area around the autonomous driving vehicle but remains at the same position for the certain period of time or longer; and
controlling, by the ECU, the autonomous driving vehicle to start traveling according to a travel plan when the start of the autonomous driving vehicle is permitted.
5. An autonomous driving vehicle that provides a driverless transportation service to a user, the autonomous driving vehicle comprising:
a surrounding environment sensor configured to: monitor an environment around the autonomous driving vehicle, detect the user who got out of the autonomous driving vehicle after the autonomous driving vehicle stopped at a destination as an alighted user, and monitor the alighted user; and
an electronic control unit (ECU) programmed to:
confirm that the autonomous driving vehicle is in a stopped state;
detect the alighted user,
monitor the alighted user to determine whether the alighted user is present in a movement determination area around the autonomous driving vehicle;
maintain the stopped state of the autonomous driving vehicle based upon (i) the alighted user moving in the movement determination area for any duration of time, or (ii) the alighted user does not remain at a same position in the movement determination area for a certain period of time or longer;
permit a start of the autonomous driving vehicle when the alighted user is present in the movement determination area around the autonomous driving vehicle but remains at the same position for the certain period of time or longer, and
control the autonomous driving vehicle to start traveling according to a travel plan when the start of the autonomous driving vehicle is permitted.