WO2019069731A1 - Information processing device, information processing method, program, and moving body - Google Patents

Information processing device, information processing method, program, and moving body Download PDF

Info

Publication number
WO2019069731A1
WO2019069731A1 PCT/JP2018/035260 JP2018035260W WO2019069731A1 WO 2019069731 A1 WO2019069731 A1 WO 2019069731A1 JP 2018035260 W JP2018035260 W JP 2018035260W WO 2019069731 A1 WO2019069731 A1 WO 2019069731A1
Authority
WO
WIPO (PCT)
Prior art keywords
command
user
voice
driving
driver
Prior art date
Application number
PCT/JP2018/035260
Other languages
French (fr)
Japanese (ja)
Inventor
典子 戸塚
尚生 奥田
智 朝川
智恵 鎌田
陽佑 柏木
Original Assignee
ソニー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Publication of WO2019069731A1 publication Critical patent/WO2019069731A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue

Definitions

  • the present technology relates to an information processing apparatus, an information processing method, a program, and a moving object, and more particularly, to an information processing apparatus, an information processing method, a program, and a moving object capable of appropriately receiving a voice command.
  • Patent Document 1 discloses a technology for changing the behavior by determining whether the user who utters a command is a driver, such as enabling screen operation of a car navigation system when the speaker of a voice command is not a driver. It is disclosed.
  • the operation of the accelerator and the brake may pose a danger inside and outside the vehicle if the operation is mistaken.
  • the passenger can not operate the vehicle instead in an emergency.
  • an emergency such as when the driver has become unable to drive due to a sudden illness or when the driver makes a mistake in the driving operation, such operation by a passenger is required.
  • the present technology has been made in view of such a situation, and is configured to be able to appropriately receive a voice command.
  • An information processing apparatus includes a receiving unit that receives a type of a voice command related to control of a device, and a user who does not receive the command when the type of the voice command is an emergency command. And a control unit that receives the voice command to be an input person.
  • the voice whose input person is a user who does not receive the command when it is not an emergency command is accepted.
  • a voice command can be appropriately received.
  • FIG. 1 is a view showing interiors in the vicinity of a driver's seat of a vehicle 1 equipped with on-vehicle devices according to an embodiment of the present technology.
  • a display 11 is provided substantially in the center of the dashboard in front of the user (driver) who sits in the driver's seat.
  • the display 11 displays various information such as a map of an area including the current position and a menu screen used for BGM operation.
  • the microphones 12-1 to 12-4 constituting the microphone array are provided at a predetermined distance. Each microphone detects the voice of the user sitting in each of the driver's seat, the passenger's seat, and the rear seat.
  • Two or more microphones are provided to estimate the direction of the speaker from the speech. Although four microphones are shown in FIG. 1, the vehicle 1 is also provided with microphones at positions other than the dashboard.
  • the in-vehicle device provided at a predetermined position such as the inside of the dashboard identifies the direction of the speaker by analyzing the voice of the user detected by the microphone, detects the voice command, and detects the voice command according to the voice command. Execute the process The user can operate the on-vehicle device hands-free.
  • FIG. 2 is a diagram showing an example of voice commands that can be received by the on-vehicle device.
  • the voice command includes an operation command, a navigation operation command, a music reproduction operation command, and an air conditioning command.
  • the driving command is a voice command related to driving.
  • the driving command includes, for example, “start” instructing start, “stop” instructing stop, “turn left” instructing to turn left, and “turn right” instructing to turn right , “Increase in speed”, which instructs to increase the speed, and “Decrease in speed”, which instructs to decrease the speed.
  • the on-vehicle device controls the drive of the vehicle 1 by executing the driving command, and starts or stops the vehicle 1 regardless of the operation by the driver using the hands and feet.
  • the driver can drive not only by operating the steering or the pedal (accelerator pedal, brake pedal), etc., but also by using the driving command.
  • the vehicle 1 is also equipped with a function of automatic driving that travels according to a driving command.
  • the operation commands include a normal operation command and an emergency operation command.
  • the emergency operation command is, for example, an emergency operation command used when avoiding a danger.
  • Operation commands other than emergency operation commands are normal operation commands.
  • the navigation operation command is a voice command related to the operation of the navigation system.
  • the navigation operation command includes a command to instruct setting of a destination, such as “go to ⁇ ”, “go home”, “guide a nearby parking lot”, and the like.
  • the command for music reproduction operation is a voice command related to the operation of BGM.
  • the music playback operation command includes, for example, “play back OO” instructing to start playback of a song, and “stop playback” instructing to stop playback of a song.
  • commands relating to the operation of various media such as commands relating to the operation of a radio and commands relating to the operation of a television may be included in the command for music reproduction operation.
  • the air conditioning command is a voice command related to the operation of the air conditioner (air conditioner).
  • the air conditioning command includes, for example, “turn on the air conditioner” instructing to turn on the air conditioner, “turn up the temperature” to instruct to raise the temperature in the car, and “turn off temperature to instruct to lower the temperature in the car “Increase the air flow” to instruct to increase the air flow, and “Decrease the air flow” to instruct to decrease the air flow.
  • the user When performing an operation by such a voice command, the user utters an activation word, operates a voice recognition start button, takes a predetermined gesture, or makes a gaze in a predetermined direction in order to distinguish it from conversation in a car Enter a trigger, such as pointing at.
  • the user speaks a voice command after performing such a trigger operation.
  • the trigger operation may be omitted when the emergency operation command is input.
  • the user can operate the vehicle 1 using various voice commands.
  • Other types of commands may be included as voice commands.
  • the in-vehicle device has a function of controlling acceptance of the operation command according to who the input person is.
  • the command for the driving command input by the user is limited. Is accepted. For example, only the emergency operation command is accepted, and the normal operation command is not accepted.
  • limiting of such reception is only the driving command considered to pose danger to a periphery etc., when there exists an error in operation.
  • Other voice commands, such as a navigation operation command, a music reproduction operation command, and an air conditioning command, are always accepted regardless of who input.
  • FIG. 3 is a diagram showing an example of an operation using a driving command.
  • the in-vehicle device receives and executes the normal driving command.
  • the in-vehicle device performs control to reduce the speed of the vehicle 1.
  • the normal operation command instructing to reduce the speed is input by making an utterance such as "Drop some more speed and drive" as shown in the balloon # 11 of FIG.
  • the fact that the user who has input the normal driving command is the driver is specified based on the fact that the direction of the sound source specified based on the sound detected by the microphone array is the direction of the driver's seat.
  • the fact that the user who has input the normal driving command is the driver is specified based on the fact that the voice detected by the microphone array is a voice registered in advance.
  • the voice of the user who has a driver's license, which may become a driver, is pre-registered in the on-vehicle device, and speaker recognition is performed based on the registered voice.
  • the on-vehicle device determines whether the user who has input the voice command based on the sound source direction of the speech is the driver or the user sitting in the front passenger seat or the user sitting in the rear seat It is identified if there is. In addition, with regard to at least the driver, it is specified by speaker recognition whether or not the user is a user registered in advance.
  • the voice command by the driver can be received more reliably by determining whether the input person of the voice command is the driver based on the estimation of the sound source direction and the result of the speaker recognition. It will be possible.
  • FIG. 4 is a diagram showing another example of the operation using the driving command.
  • the in-vehicle apparatus when the normal driving command instructing to reduce the speed is input by the mother in the front passenger seat, the in-vehicle apparatus is that the input person of the normal driving command is the driving assistant. On the basis of this, it refuses to accept the normal driving command. By refusing reception of the normal operation command, control for reducing the speed is not performed.
  • the driving assistant is one of the attributes of the user. As described later, the user on the vehicle 1 is classified into any one of a driver's license holder, a driving assistant, and a passenger.
  • FIG. 5 is a diagram showing another example of the operation using the driving command.
  • the state shown in FIG. 5 is the same as the state described with reference to FIG.
  • the driver is a father, and a mother and a child sit in the front passenger seat and the rear seat respectively.
  • the on-vehicle device receives the emergency operation command based on the input operation command being an emergency operation command. ,Run.
  • the in-vehicle device performs control for stopping the vehicle 1 in an emergency.
  • the emergency operation command instructing an emergency stop is input by making an utterance such as "Stop and !!" as shown in the balloon # 13 of FIG.
  • Whether the input driving command is a normal driving command or an emergency driving command is specified based on, for example, the tone of the speech, the volume, the content of the speech, and the like. Even if it is specified whether the driving command is the normal driving command or the emergency driving command based on the analysis result of the image taken by the camera and the analysis result of the sensor data detected by the various sensors. Good.
  • the emergency driving command is accepted and executed even if it is the driving command input by the driving assistant.
  • the driving assistant can drive the vehicle 1 using the driving command in an emergency such as when the driver has become unable to drive due to a sudden illness or when the driver erroneously performs the driving operation. it can.
  • the father who is the driver is not aware of the danger, and the mother who is the driving assistant is aware of the danger.
  • the on-vehicle device stops the vehicle 1 on the spot when the vehicle 1 is traveling on a general road.
  • the on-vehicle device performs control such as bringing it to a road shoulder and stopping it, and notifying a subsequent vehicle of the emergency stop with a tail lamp.
  • FIG. 6 is a diagram showing an example of an operation using a voice command other than the driving command.
  • the in-vehicle device receives and executes the command for music playback operation.
  • the in-vehicle device performs control to reproduce the next song of the song being reproduced.
  • the music playback operation command instructing playback of the next song of the song being played is input by making an utterance such as "play the next song” as shown in a balloon # 14 of FIG. .
  • voice commands other than driving commands are accepted and executed regardless of the user. Whether or not to receive the voice command is determined based on the type of voice command, the attribute of the user, the sitting position specified based on the speech direction, and the like.
  • FIG. 7 is a view showing a configuration example of the vehicle 1.
  • the vehicle 1 is provided with a camera 22, a sensor 23, a speaker 24, a drive control unit 25, and an air conditioning control unit 26 in addition to the in-vehicle device 21, the display 11 and the microphone array 12.
  • a camera 22 As shown in FIG. 7, the vehicle 1 is provided with a camera 22, a sensor 23, a speaker 24, a drive control unit 25, and an air conditioning control unit 26 in addition to the in-vehicle device 21, the display 11 and the microphone array 12.
  • Each unit is connected to an on-vehicle device 21 as an information processing apparatus.
  • the camera 22 is an in-vehicle camera attached near the rearview mirror of the vehicle 1 or the like.
  • the camera 22 captures an image of the inside of the vehicle, and outputs image data obtained by the capturing to the on-vehicle device 21.
  • the sensor 23 is a seating sensor attached to each seat of the vehicle 1.
  • the sensor 23 detects the seating state of the user and outputs sensor data to the on-vehicle device 21.
  • the sensor data represents, for example, the presence or absence of seating.
  • the sensor data may include weight data. In this case, it is possible to estimate not only the presence or absence of seating but also whether a seated user is an adult or a child based on sensor data.
  • the camera 22 and the sensor 23 may not be provided in the vehicle 1, and only audio data from the microphone array 12 may be output to the on-vehicle device 21.
  • the speaker 24 outputs various sounds such as music and synthesized voice of the navigation system.
  • the speaker 24 may use, for example, the in-vehicle device 21.
  • the generated synthesized voice is also output.
  • the drive control unit 25 outputs a control signal to a device related to the drive system of the vehicle 1 according to control by the on-vehicle device 21 to drive the device.
  • a control signal to a device related to the drive system of the vehicle 1 according to control by the on-vehicle device 21 to drive the device.
  • each unit such as an engine, a steering, and a brake is driven.
  • the air conditioning control unit 26 outputs a control signal to an apparatus related to the air conditioning system of the vehicle 1 such as an air conditioner according to control by the on-vehicle device 21 to drive the apparatus.
  • the air conditioner is driven according to the output of the control signal from the drive control unit 25.
  • the operation control unit 31 the voice command execution control unit 32, the navigation control unit 33, and the music reproduction control unit 34 are realized. At least one of these configurations is realized by execution of a predetermined program by a computer configuring the on-vehicle device 21.
  • the drive control unit 31 controls the drive control unit 25 and performs control related to traveling according to the driver's operation, control related to drive support, and the like.
  • control related to driving support for example, control for realizing the function of an advanced driver assistance system (ADAS) including collision avoidance, collision mitigation, follow-up traveling based on inter-vehicle distance, vehicle speed maintenance traveling, collision warning, lane departure warning, etc. To be done.
  • ADAS advanced driver assistance system
  • the driving control unit 31 performs control for traveling autonomously without the operation of the driver.
  • the voice command execution control unit 32 detects and executes a voice command by analyzing the voice of the user collected by the microphone array 12.
  • the voice command execution control unit 32 causes each of the drive control unit 25, the air conditioning control unit 26, the navigation control unit 33, and the music reproduction control unit 34 to perform processing according to the voice command, for example.
  • the navigation control unit 33 controls the navigation system of the vehicle 1. For example, the navigation control unit 33 measures the current position of the vehicle 1 by GPS (Global Positioning System), and causes the display 11 to display a map near the current position.
  • GPS Global Positioning System
  • the navigation control unit 33 sets a destination input by the user, and guides a route to the destination.
  • the route guidance is performed using the display on the display 11 and the sound from the speaker 24.
  • the music reproduction control unit 34 controls processing related to music reproduction using an audio device (car stereo) mounted on the vehicle 1.
  • the music reproduction control unit 34 reproduces music stored in, for example, a memory provided in the in-vehicle device 21.
  • FIG. 8 is a block diagram showing an example of a functional configuration of the voice command execution control unit 32 of FIG.
  • the voice command execution control unit 32 includes a voice recognition unit 51, a command type determination unit 52, a speaker position specification unit 53, a user identification unit 54, a user rank determination unit 55, an execution control unit 56, and a user information storage unit 57. Be done.
  • the voice recognition unit 51 performs voice recognition using voice data supplied from the microphone array 12 to detect a voice command.
  • the voice command detected by the voice recognition unit 51 is supplied to the command type determination unit 52 and the execution control unit 56.
  • the command type determination unit 52 determines the type of voice command detected by the voice recognition unit 51. In the command type determination unit 52, information representing the type of voice command is generated and acquired (received). Information on the command type determined by the command type determination unit 52 is supplied to the execution control unit 56.
  • the information of the command type output from the command type determination unit 52 indicates which of the operation command, the navigation operation command, the music reproduction operation command, and the air conditioning command the input voice command is. .
  • the voice recognition unit 51 may not be provided in the voice command execution control unit 32, and voice commands may be recognized using a voice recognition function of an external server.
  • the voice data detected by the microphone array 12 is sent to the server via the communication unit (not shown), and the result of the voice recognition by the server is sent to the on-vehicle device 21.
  • the speech recognition result includes information indicating the content and type of the speech command.
  • Information representing the content of the voice command is received by the execution control unit 56, and information representing the type of the voice command is received by the command type determination unit 52.
  • the speaker position specifying unit 53 estimates the sound source direction of the speech based on the voice data supplied from each of the microphones of the microphone array 12.
  • the speaker position specifying unit 53 specifies the sitting position of the user who made the speech based on the estimated sound source direction, and outputs information representing the sitting position to the user order determining unit 55.
  • the information output from the speaker position identification unit 53 indicates which of the driver's seat, the assistant's seat, and the rear seat the user who made the speech is sitting at.
  • the user identification unit 54 identifies a speaker based on voice data supplied from each microphone.
  • the user identification unit 54 has information on the voice of the user who holds the driver's license.
  • the voice of the user who holds the driver's license is registered in advance, for example, when the vehicle 1 is purchased.
  • the user identification unit 54 estimates the age of the user who uttered the voice based on the voice data. Do.
  • the user identification unit 54 outputs information indicating the speaker (information indicating who the speaker is) or information indicating the age of the speaker to the user ranking determination unit 55.
  • the identification information of the user is supplied to the user ranking determination unit 55, and when the voice of the user who does not have the driver's license is input, Information indicating the age of the user is supplied to the user ranking determination unit 55.
  • identification of a speaker or estimation of the age may be performed.
  • information representing the features of the face of each user and information used to estimate the age are registered in the user identification unit 54 in advance.
  • the user may be identified by communicating between the mobile phone possessed by each user and the in-vehicle device 21, or the user may be identified based on the user's operation on the in-vehicle device 21. .
  • the user rank determination unit 55 determines the reception order of driving commands based on the seating position of the speaker identified by the speaker position identification unit 53 and the attribute of the user identified by the user identification unit 54.
  • the user ranking determination unit 55 determines which of the rankings the user who has input the voice command is the person who always receives the driving command, the person who receives the limited reception, and the person who receives the restriction.
  • the user ranking determination unit 55 outputs, to the execution control unit 56, the ranking information of the user who has input the voice command.
  • the determination result of the user rank by the user rank determination unit 55 is also supplied to the user information storage unit 57 and stored.
  • the execution control unit 56 specifies the order of the input person of the voice command based on the information supplied from the user order determination unit 55. In addition, the execution control unit 56 identifies the type of voice command based on the information supplied from the command type determination unit 52, and receives the voice command based on the type of voice command and the operation command acceptance order of the input person. Control.
  • the navigation operation command As described above, among the voice commands, the navigation operation command, the music reproduction operation command, and the air conditioning command can be accepted by anyone who has input the voice command. In addition, the acceptance of the operation command is appropriately limited.
  • FIG. 9 is a diagram showing an example of a reception pattern of each voice command including the driving command.
  • the voice command inputted by the user (driver) who is the target of regular reception of the driving command is a normal driving command, an emergency driving command, a navigation operation command, a music reproduction operation command, an air conditioning command All of are accepted.
  • the voice command input by the user as the target of limited reception of the operation command is not accepted for the normal operation command, and the emergency operation command, the navigation operation command, the music reproduction operation command, and the air conditioning command are received.
  • the voice command input by the user who is the object of rejection of acceptance of the operation command is the acceptance rejection for the normal operation command and the emergency operation command, and the navigation operation command, the music reproduction operation command, and the air conditioning command are accepted.
  • FIG. 10 is a diagram showing an example of a reception pattern of a driving command.
  • the vertical axis in FIG. 10 indicates the seating position, and the horizontal axis indicates the attribute of the user.
  • the seating position is classified into three: driver's seat, passenger's seat, and rear seat.
  • the attributes of the user are classified into three: driver's licensee, driver's assistant, and passenger.
  • the driver's license holder is a user who has obtained a driver's license.
  • the voice of the user who has obtained the driver's license is registered in advance in the on-vehicle device 21 and is identified by the user identification unit 54.
  • the driving assistant is determined by the age estimated by the user identification unit 54.
  • the passenger is a user (a simple passenger) other than the driver's license holder and the driver's assistant among the users in the vehicle 1. Children under the age of 18 and elderly people over the age of 65 are assumed as passengers. The passenger is determined by the age estimated by the user identification unit 54.
  • the driving command reception pattern is provided with three stages: regular reception, limited reception, and reception refusal.
  • the driving command inputted by the driver's license holder sitting in the driver's seat is always targeted for reception.
  • the driving command input by the driver's license holder sitting in the front passenger seat and the driving command input by the driver's license holder sitting in the rear seat are targets of limited reception.
  • the driving command input by the driving assistant sitting in the front passenger seat and the driving command input by the driving assistant sitting in the rear seat are targets of limited reception.
  • the normal operation command is not accepted, and only the emergency operation command is accepted because it is a target of limited acceptance.
  • the driving command input by the passenger sitting in the front passenger seat and the driving command input by the passenger sitting in the rear seat are subject to reception refusal.
  • the execution control unit 56 of FIG. 8 controls the reception of the driving command based on the information of the reception pattern.
  • the execution control unit 56 executes the received voice command, and controls each unit to perform processing according to the voice command.
  • the execution control unit 56 causes the operation control unit 31 to perform processing corresponding to the operation command when the operation command is executed. In addition, when the navigation control command is executed, the execution control unit 56 causes the navigation control unit 33 to perform processing in accordance with the navigation control command.
  • the execution control unit 56 When the music reproduction operation command is executed, the execution control unit 56 causes the music reproduction control unit 34 to perform processing in accordance with the music reproduction operation command. When the air conditioning command is executed, the execution control unit 56 causes the air conditioning control unit 26 to perform a process according to the air conditioning command.
  • the user information storage unit 57 stores user information including the determination result of the order by the user order determination unit 55.
  • the seating position specified by the speaker position specifying unit 53 in addition to the driving command acceptance order of each user who input the voice command and the presence or absence of the driver's license acquisition Information such as the age of the user estimated by the identification unit 54 is also included.
  • the user information including the sitting position and the estimated age may be specified based on the conversation between the users in the car and stored in the user information storage unit 57. For example, when a certain destination is set, user information is accumulated from departure to arrival.
  • priority is set to each user who is subject to limited reception based on the information stored in the user information storage unit 57. .
  • acceptance of the emergency command is controlled in accordance with the priority.
  • FIG. 11 is a diagram illustrating an example of the priority.
  • the driver's license sitting in the rear seat to the driver's license seat sitting in the front passenger seat Priority is set higher than the acquirer.
  • the driver's licensee when the driver's licensee is sitting in the front passenger seat or the rear seat, the driver's licensee is set to have a higher priority than the driver's assistant.
  • the emergency driving command input by the former driver's license holder is preferentially received.
  • the order regarding reception of the driving command is set.
  • Both the driver's licensee and the driver's assistant may be sitting at the front passenger seat or the rear seat, and both may input an emergency driving command.
  • both the driver's licensee and the driver's assistant may be sitting at the front passenger seat or the rear seat, and both may input an emergency driving command.
  • Control processing> The process of the on-vehicle device 21 that controls each unit according to the voice command will be described with reference to the flowchart of FIG. 12.
  • the process of FIG. 12 is started, for example, when a sound is detected by the microphone array 12.
  • step S1 the speech recognition unit 51 determines whether or not a speech command is input based on the result of speech recognition, and waits until it is determined that a speech command is input.
  • step S1 If it is determined in step S1 that a voice command has been input, the process proceeds to steps S2 and S3. The processes of step S2 and step S3 are performed in parallel.
  • the input voice command is supplied to the command type determination unit 52 and the execution control unit 56.
  • step S2 the command type determination unit 52 determines the type of the input voice command.
  • step S3 the speaker position specifying unit 53 estimates the sound source direction.
  • step S4 the user identification unit 54 identifies the speaker based on the voice data supplied from each microphone.
  • the user identification unit 54 identifies that the input of the voice command is not due to the speech of the user who has registered the voice in advance unlike the voice in which the input voice is registered, the user identification unit 54 speaks based on the voice data. Estimate the age of the person.
  • step S5 the user rank determination unit 55 performs user rank determination processing.
  • the user priority determination process determines the priority of the user in receiving the driving command. The details of the user rank determination process will be described later with reference to the flowchart of FIG.
  • step S5 When the order of the user is determined in the user rank determination process of step S5 and the type of the voice command is specified in step S2, the process proceeds to step S6.
  • step S6 the execution control unit 56 performs voice command execution control processing.
  • the voice command execution control process performs a process according to the input voice command. Details of the voice command execution control process will be described later with reference to the flowchart of FIG.
  • step S6 When the voice command execution control process is performed in step S6, the process returns to step S1 and the subsequent processes are repeated. The processes after step S1 are repeated while the vehicle 1 is traveling.
  • step S11 the user rank determination unit 55 determines whether the user attribute of the voice commander is the driver's license acquirer. If the user identification unit 54 specifies that the input voice is a registered voice, it is determined that the user attribute of the voice commander is the driver's license acquirer.
  • step S12 the user order determining unit 55 determines that the sound source direction estimated by the speaker position specifying unit 53 is the driver's seat. It is determined whether or not it is a direction.
  • step S13 the user rank determination unit 55 determines that the person who inputs the voice command is a driver, and the rank is a target for always receiving a driving command. Be determined as
  • step S14 the user ranking determination unit 55 determines that the age estimated by the user identification unit 54 is 18 or more. , Determine if you are under 65 years old. Here, a range of 18 years old or older and less than 65 years old is used, but other age ranges may be used.
  • step S14 If it is determined in step S14 that the estimated age is 18 years or older and less than 65 years, it is determined that the user attribute of the voice commander is the driving assistant, and the process proceeds to step S15. Further, even if it is determined in step S12 that the sound source direction is not the driver's seat direction, the process proceeds to step S15.
  • step S15 the user order determination unit 55 determines whether the sound source direction estimated by the speaker position specification unit 53 is the direction of the front passenger seat.
  • step S16 the user rank determination unit 55 determines the rank of the input person of the voice command as the driving command limitation reception target person having the highest priority. Do.
  • step S15 when it is determined in step S15 that the sound source direction is not the direction of the assistant driver's seat, the seating position of the voice commander is the rear seat, and the process proceeds to step S17.
  • step S17 the user rank determination unit 55 determines whether there is a driving command limited reception subject in another seat.
  • the processing in steps S17 and S18 is processing performed after user information including the driving command reception priority of each user is stored in the user information storage unit 57.
  • step S18 the user ranking determination unit 55 limits the driving command in which the priority of the user who input the voice command is in another seat. It is determined whether it is lower than the priority of the person to be accepted.
  • step S18 If it is determined in step S18 that the priority of the user who has input the voice command is lower than the priority of the driving command limited receptionist in another seat, the user priority determination unit 55 inputs the voice command in step S19.
  • the person's rank is determined as the driving command limited reception target person.
  • step S20 the rank of the input person of the voice command is determined as the driving command acceptance denial target person.
  • step S17 If it is determined in step S17 that there is no driving command limited reception target person in another seat, or in step S18, the driving command limit reception in which the priority of the user who input the voice command is in another seat If it is determined that the priority is higher than the priority of the target person, in step S16, the rank of the input person of the voice command is determined as the driving command limited reception target who has the highest priority.
  • step S13, S16, S19, and S20 the process returns to step S5 in FIG. 12 and the subsequent processing is performed.
  • the seating position is taken into consideration as the determination criterion of the user's rank.
  • the priority of the seating position is higher in the front passenger seat than in the rear seat. That is, the priority of the front passenger seat is set higher from the viewpoint of the driver's easy understanding of the situation, the degree of visibility in the traveling direction, and the like.
  • user attributes are used as determination criteria of the user's rank. Whether or not the driver has a license and the age of the user are used to determine the user attribute.
  • the age of the user may be pre-registered as attribute information instead of being estimated based on the analysis result of the voice or the analysis result of the image.
  • the limited reception target person of the driving command may be determined in consideration of the number of passengers, the sex of the user, the traveling history, and the like.
  • the following three basic rules are set as how to decide the limited acceptance target of the driving command.
  • the person who can receive the emergency command is the person who is the limited reception target of the operation command with the highest priority, in principle 1 person.
  • the limited reception target person of the driving command is determined based on the sitting position.
  • a user whose user attribute is a driver's license acquirer or a driving assistant is a candidate for a driving command limited reception subject.
  • the first rule is set because the danger of unintended emergency stop and the like will increase if the emergency operation commands from all the operation command limited reception target persons are always received.
  • the priority of the front passenger seat is set higher than the priority of the rear seat.
  • priority is also set for each of a plurality of rear seats.
  • Each rear seat is prioritized by the vehicle designer or by the user, depending on the seat conditions (such as folding a part of the rear seat or placing luggage) and the number of passengers (number of rear seats) Be done.
  • the third rule is that the driver's license does not matter as long as the age is in the range of 18 years old or more and less than 65 years old.
  • the range of 18 years old or older and less than 65 years is a range of age where it is presumed that the danger during driving can be predicted.
  • children under the age of 18 and elderly people over the age of 65 will be exempted from those who are eligible to receive driving commands.
  • FIG. 14 is a diagram for explaining the priority of the driving command limited reception subject.
  • FIG. 14 the arrangement of each seat of the vehicle 1 is schematically shown.
  • the circle surrounding the letter “Luck” indicates the driver's seat, and the circle surrounding the number “1” indicates the passenger seat.
  • the rounded rectangles surrounding the numbers “2", “3” and “4" indicate the rear seats, respectively.
  • the numbers assigned to each seat represent the priority of each seat. Among the users aged 18 to 65, one user sitting in the seat with the highest priority in FIG. 14 is determined as the driving command limited reception target person.
  • Such determination is made, for example, when the father inputs a driving command such as "start driving” and the child and the mother have input a music reproduction operation command such as "playing a song of ". To be done.
  • user information indicating that the father is a driver's license acquirer and is sitting in the driver's seat is stored.
  • user information indicating that they are sitting in the front passenger seat and the rear seat (2) is not stored, and the mother information is stored.
  • User information is stored that satisfies age requirements and represents sitting in the back seat (3).
  • the mother sitting in the rear seat (3) at the right end is determined as the driving command limited reception subject.
  • Mr. A who is a male in his twenties, sits in the driver's seat and the passenger seat is vacant.
  • Mr. B who is a woman in her twenties, sits in the left rear seat (2)
  • Mr. C who is a man in her twenties, sits in the right rear seat (3)
  • Mr. D who is a female, is sitting. In this case, Mr. B sitting in the left rear seat (2) is determined as the driving command limited reception target person.
  • Mr. A inputs a driving command such as "Start driving”
  • Mr. B, Mr. C and Mr. D input an air conditioning command such as "Turn on the temperature of the air conditioner” If done.
  • the user information storage unit 57 stores user information indicating that Mr. A is a driver's license acquirer and is sitting in the driver's seat.
  • Mr. B and Mr. C a user who meets the condition of the age range of 18 years old or older and less than 65 years, and represents that they are sitting in the left rear seat (2) and the right rear seat (3) Information is stored.
  • Mr. D user information is stored that satisfies the condition of the age range of 18 years old or older and less than 65 years old, and represents sitting in the central rear seat (4).
  • Mr. B sitting in the rear seat (2) at the left end is determined as the driving command limited reception target person.
  • the attribute can not be determined unless the user speaks.
  • the attribute of the user may be determined based on the in-vehicle image captured by the camera 22 or sensor data output from a seating sensor that constitutes the sensor 23.
  • each determination described with reference to FIG. 13 is performed based on the age of the user identified by analyzing the image and the seating position.
  • step S31 the execution control unit 56 determines whether the input voice command is a driving command.
  • step S32 the execution control unit 56 determines whether the driver's utterance is made.
  • step S33 the execution control unit 56 receives and executes the input driving command. That is, it is determined that the input driving command is the driving command by the user who is always the target of reception, and is received.
  • step S34 the execution control unit 56 determines whether or not the user is the target of the limited acceptance. .
  • step S35 the execution control unit 56 determines whether the input driving command is an emergency driving command.
  • step S35 If it is determined in step S35 that the input operation command is an emergency operation command, the process proceeds to step S33. That is, it is determined that the input emergency operation command is an operation command by the user who is the target of limited acceptance, and is accepted.
  • step S34 when it is determined that the user does not speak by the user who is the target of limited acceptance, or when it is determined in step S35 that the input driving command is not the emergency driving command but the normal driving command, The process proceeds to step S36.
  • step S36 the execution control unit 56 refuses to receive the input operation command and does not execute it.
  • step S31 determines whether the input voice command is a driving command.
  • step S33 a navigation operation command, a music reproduction operation command, and an air conditioning command are accepted and executed.
  • step S33 After the process according to the voice command is performed in step S33, or after the acceptance of the voice command is rejected in step S36, the process returns to step S8 in FIG. 12, and the subsequent processes are performed.
  • the driver is the highest ranked user, and for other users, the ranking which is the reference of the reception of the driving command is set according to the attribute and the sitting position.
  • the accident frequently occurring area is identified from information such as a near-miss hat map managed by the navigation control unit 33.
  • the case where the upper limit number of the driving command limited reception target persons with high priority is 2 is considered.
  • the seat arrangement shown in FIG. 14 it is assumed that a 20-year-old man A sits in the driver's seat and a 20-year-old woman B sits in the passenger seat.
  • a female C in her twenties sits in the rear seat (2) on the left end and a male D in her twenties sits in the rear seat (3) on the right end.
  • Mr. B sitting in the assistant driver's seat is determined as a driving command limited reception target person of high priority.
  • Mr. C sitting in the rear seat (2) at the left end is also determined as a driving command limited reception subject who is given the same priority as Mr. B.
  • the order of the driving command limited reception subject may be determined according to the attribute of the user other than the age and the travel history.
  • the user of the rear seat Is also determined as a driving command limited reception target person having the same priority as the user at the front passenger seat.
  • the driving history is specified based on the user's attribute information.
  • the travel experience of the area being traveled is specified based on the travel history.
  • the information of the travel history of each user is managed, for example, by being included in the attribute information of each user.
  • the travel history includes information such as a travel route and travel date and time.
  • the case where the upper limit number of the driving command limited reception target persons with high priority is 2 is considered. It is assumed that a 45-year-old man sits in the driver's seat and an 18-year-old woman who does not have a driver's license in the passenger seat. In addition, it is assumed that a 43-year-old woman with a driver's license is sitting in the back seat.
  • the 18-year-old woman sitting in the front passenger seat is not only determined as a target person for driving command limitation reception according to the basic rule, but also the 43-year-old woman sitting in the back seat is a user sitting in the front passenger seat It is determined as a driving command limited acceptance target person having the same priority as in the above.
  • Such a determination of a driving command limited receptionist is based on the assumption that a person having a driver's license has knowledge of driving hazards. Also, it is based on the assumption that people who are rich in driving experience in the area currently traveling (for example, people who have traveled 10 hours or more) are familiar with the dangers of diving in the area.
  • the degree of tension may be estimated from the image at the time of speech or voice such as cry and be used as a trigger for emergency stop. Good.
  • the timing of acceptance of the emergency operation command by the user who is subject to limited acceptance is limited only to the timing when traffic accidents are likely to occur, such as intersections, roads with poor visibility, parking lots, starting of vehicles, etc. You may do so.
  • the situation where a traffic accident is likely to occur is determined by, for example, the execution control unit 56 based on the information on the current location and the traveling situation of the vehicle.
  • the number of users to be subjected to the limited reception of the emergency operation command may be limited.
  • the number of such users may be set to one in the same vehicle.
  • the result of the user's ranking may be used other than limiting the acceptance of the driving command.
  • BGM at a loud volume when the vehicle is traveling may interfere with driving.
  • the volume operation of BGM using the command for music reproduction operation the operation of the driver is more favored than the operation of other users in the vehicle based on the result of the ranking.
  • the information terminal having the agent function may be determined as the driving command limitation reception target person.
  • the on-vehicle device 21 accepts and executes limitedly the emergency operation command uttered by the information terminal having the agent function judging the situation.
  • the mobile unit on which the user is riding is assumed to be a car, it may be another mobile unit equipped with the on-vehicle device 21 such as a bicycle, a motorcycle, a train, or an airplane.
  • the above-described technology can also be applied when driving various moving bodies.
  • the devices to be controlled by the voice command are not limited to the devices mounted on the mobile.
  • the reception of the voice command described above is applied also in the case of operating a control device serving as a gateway of each device installed in a room such as a television receiver, an air conditioner (air conditioner), and a lighting device by a voice command. Is possible.
  • a disaster prevention device such as a sprinkler
  • a voice command such as "to extinguish"
  • the voice command for operating the sprinkler is accepted when an adult is a person who satisfies the condition of a predetermined age.
  • a child who does not satisfy the condition of the age is used as the input person, it can be accepted when a fire actually occurs, that is, in an emergency, but not accepted normally when a fire does not occur.
  • the control device is equipped with a function of controlling the reception of the voice command as described above as well as a function of detecting the occurrence of a fire.
  • the above-described process can be applied to the case where devices other than the device mounted on the mobile object are controlled by the voice command.
  • FIG. 16 is a block diagram showing an example of a hardware configuration of a computer that executes the series of processes described above according to a program.
  • the on-vehicle device 21 is configured by, for example, a computer having a configuration as shown in FIG.
  • a central processing unit (CPU) 1001, a read only memory (ROM) 1002, and a random access memory (RAM) 1003 are mutually connected by a bus 1004.
  • An input / output interface 1005 is further connected to the bus 1004.
  • the input / output interface 1005 is connected to an input unit 1006 including a keyboard, a mouse and the like, and an output unit 1007 including a display, a speaker and the like.
  • a storage unit 1008 such as a hard disk and a non-volatile memory
  • a communication unit 1009 such as a network interface
  • a drive 1010 for driving the removable medium 1011.
  • the CPU 1001 loads, for example, the program stored in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004, and executes the above-described series of processes. Is done.
  • the program executed by the CPU 1001 is provided, for example, via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting, recorded in the removable medium 1011 or installed in the storage unit 1008.
  • a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting
  • the program executed by the computer may be a program that performs processing in chronological order according to the order described in this specification, in parallel, or when processing is performed such as when a call is made. It may be a program to be performed.
  • the present technology can have a cloud computing configuration in which one function is shared and processed by a plurality of devices via a network.
  • each step described in the above-described flowchart can be executed by one device or in a shared manner by a plurality of devices.
  • the plurality of processes included in one step can be executed by being shared by a plurality of devices in addition to being executed by one device.
  • the present technology can also have the following configuration.
  • a receiver that receives a type of voice command related to control of the device;
  • An information processing apparatus comprising: a control unit that accepts the voice command whose input person is a user who does not receive the type of the voice command when the type of the voice command is an emergency command.
  • the information processing apparatus according to (1) further including: a voice recognition unit that detects the voice command by performing voice recognition.
  • the position specifying unit specifies a position of an input person of the voice command by estimating a sound source.
  • the voice command is a command related to control of a device mounted on a vehicle,
  • the control unit always receives the driving command when the attribute of the input person is a driver's license acquirer and the seating position is a driver's seat.
  • the control unit receives the operation command when the seating position is a seat other than the driver's seat, when the operation command is an emergency command, and does not receive the operation command when the operation command is not an emergency command.
  • the control unit receives the driving command when the driving command is an emergency command, and the control unit The information processing apparatus according to (7), which does not receive the command when it is not a command.
  • the information processing apparatus according to (8) further including: a determination unit that determines an attribute of a user of a predetermined age who does not have a driver's license as the driving assistant.
  • the control unit sets a priority for each user according to at least one of an attribute and a seating position when there are a plurality of users who receive when the operation command is an emergency command.
  • the information processing apparatus according to (8) or (9), wherein the driving command is received according to the priority.
  • the control unit switches the user who receives the driving command when the driving command is an emergency command, according to at least one of the driving condition and the driver's condition. Any one of (8) to (10) Information processor as described.
  • the control unit does not receive the driving command when the attribute of the input person is a passenger other than the driver's license holder and the driving assistant, the information according to any one of (8) to (11) Processing unit.
  • the information processing apparatus Receive the type of voice command related to control of the device, When the type of the voice command is an emergency command, the voice command whose input person is a user who does not receive the command when the type of the voice command is not an emergency command is received.
  • a receiver that receives a type of voice command related to control of the device;
  • a mobile unit equipped with an information processing apparatus comprising: a control unit that accepts a voice command whose input person is a user who is not accepted when the type of the voice command is a command for emergency or not a command for emergency.
  • Reference Signs List 1 vehicle 11 display 12 microphone array 21 in-vehicle device 22 camera 23 sensor 24 speaker 25 drive control unit 26 air conditioning control unit 51 voice recognition unit 52 command type determination unit 53 speaker position specification unit , 54 user identification unit, 55 user order determination unit, 56 execution control unit, 57 user information storage unit

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computational Linguistics (AREA)
  • Transportation (AREA)
  • Navigation (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

The present technology pertains to an information processing device, an information processing method, a program, and a moving body for appropriately receiving a voice command. The information processing device of one aspect of the present technology identifies a type of a received voice command for controlling a device, and if the type of the voice command is an emergency command, the information processing device accepts a voice command that is input by a user who does not have an authorization to input a non-emergency command. The present technology is applicable to an automobile on which an on-vehicle device that can be operated by using a voice command is mounted.

Description

情報処理装置、情報処理方法、プログラム、および移動体INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, PROGRAM, AND MOBILE OBJECT
　本技術は、情報処理装置、情報処理方法、プログラム、および移動体に関し、特に、音声コマンドを適切に受け付けることができるようにした情報処理装置、情報処理方法、プログラム、および移動体に関する。 The present technology relates to an information processing apparatus, an information processing method, a program, and a moving object, and more particularly, to an information processing apparatus, an information processing method, a program, and a moving object capable of appropriately receiving a voice command.
　近年、音声認識機能を搭載した車載機器が多くなってきている。ユーザは、BGMの操作や、目的地の設定などのカーナビゲーションシステムの操作を音声により行うことができる。自動運転機能が注目されていることから、将来的には、車両の運転をも音声によって行うことができるようになることが予想される。 In recent years, a large number of in-vehicle devices equipped with a voice recognition function. The user can perform an operation of BGM and an operation of a car navigation system such as setting of a destination by voice. It is expected that in the future, it will be possible to drive the vehicle by voice as the automatic driving function is focused.
　特許文献１には、音声コマンドの発話者が運転者でない場合にはカーナビゲーションシステムの画面操作を可能にするなど、コマンドを発話したユーザが運転者かどうかを判断して挙動を変化させる技術が開示されている。 Patent Document 1 discloses a technology for changing the behavior by determining whether the user who utters a command is a driver, such as enabling screen operation of a car navigation system when the speaker of a voice command is not a driver. It is disclosed.
特開２０１２－０７８４９７号公報JP, 2012-078497, A
　アクセルやブレーキの操作などは、操作を誤ると車内や車外に危険を及ぼしかねない。 The operation of the accelerator and the brake may pose a danger inside and outside the vehicle if the operation is mistaken.
　音声による車両の運転を想定した場合、運転者だけでなく同乗者全員の発話によるコマンドを受け付けるようにしてしまうと、意見が分かれたり、同乗者である子供がいたずらしたりするなどして、結果として、危険な走行になってしまうおそれがある。 Assuming that driving of the vehicle by voice is assumed, if the command by the speech of all the passengers as well as the driver is accepted, the opinion may be divided or the child who is the passenger may mischief, etc. There is a risk of dangerous driving.
　反対に、運転者の発話によるコマンドのみを受け付けるようにしてしまうと、非常時に、同乗者が代わりに車両を操作することができなくなってしまう。例えば、急病により運転者が運転不能になってしまった場合や運転者が運転操作を誤ってしまった場合などの非常時には、そのような同乗者による操作が必要になる。 On the contrary, if only the command by the driver's utterance is accepted, the passenger can not operate the vehicle instead in an emergency. For example, in an emergency such as when the driver has become unable to drive due to a sudden illness or when the driver makes a mistake in the driving operation, such operation by a passenger is required.
　本技術はこのような状況に鑑みてなされたものであり、音声コマンドを適切に受け付けることができるようにするものである。 The present technology has been made in view of such a situation, and is configured to be able to appropriately receive a voice command.
　本技術の一側面の情報処理装置は、機器の制御に関する音声コマンドの種別を受信する受信部と、前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける制御部とを備える。 An information processing apparatus according to one aspect of the present technology includes a receiving unit that receives a type of a voice command related to control of a device, and a user who does not receive the command when the type of the voice command is an emergency command. And a control unit that receives the voice command to be an input person.
　本技術の一側面においては、機器の制御に関する音声コマンドの種別が受信され、前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドが受け付けられる。 In one aspect of the present technology, when the type of a voice command related to control of a device is received and the type of the voice command is an emergency command, the voice whose input person is a user who does not receive the command when it is not an emergency command. The command is accepted.
　本技術によれば、音声コマンドを適切に受け付けることができる。 According to the present technology, a voice command can be appropriately received.
　なお、ここに記載された効果は必ずしも限定されるものではなく、本開示中に記載されたいずれかの効果であってもよい。 In addition, the effect described here is not necessarily limited, and may be any effect described in the present disclosure.
本技術の一実施形態に係る車載機器を搭載した車両の運転席近傍の内装を示す図である。It is a figure showing the interior of the driver's seat vicinity of the vehicles carrying the in-vehicle device concerning one embodiment of this art. 音声コマンドの例を示す図である。It is a figure which shows the example of a voice command. 運転コマンドを用いた操作の例を示す図である。It is a figure which shows the example of the operation which used the driving | operation command. 運転コマンドを用いた操作の他の例を示す図である。It is a figure which shows the other example of the operation which used the driving | operation command. 運転コマンドを用いた操作の他の例を示す図である。It is a figure which shows the other example of the operation which used the driving | operation command. 運転コマンド以外の音声コマンドを用いた操作の例を示す図である。It is a figure which shows the example of the operation using audio | voice command other than a drive command. 車両の構成例を示す図である。It is a figure showing an example of composition of vehicles. 図７の音声コマンド実行制御部の機能構成例を示すブロック図である。It is a block diagram which shows the function structural example of the audio | voice command execution control part of FIG. 音声コマンドの受け付けパターンの例を示す図である。It is a figure which shows the example of the reception pattern of an audio | voice command. 運転コマンドの受け付けパターンの例を示す図である。It is a figure which shows the example of the reception pattern of a driving | operation command. 優先度の例を示す図である。It is a figure which shows the example of a priority. 車載機器の制御処理について説明するフローチャートである。It is a flow chart explaining control processing of in-vehicle apparatus. 図１２のステップＳ５において行われるユーザ順位判定処理について説明するフローチャートである。It is a flowchart explaining the user order | rank determination processing performed in FIG.12 S5. 運転補助者の優先順位を説明する図である。It is a figure explaining the priority of a driving assistance person. 図１２のステップＳ６において行われる音声コマンド実行制御処理について説明するフローチャートである。It is a flowchart explaining the audio | voice command execution control processing performed in FIG.12 S6. コンピュータの構成例を示すブロック図である。It is a block diagram showing an example of composition of a computer.
　以下、本技術を実施するための形態について説明する。説明は以下の順序で行う。
　１．音声コマンドを用いた操作
　２．車載機器の構成
　３．車載機器の動作
　４．変形例 Hereinafter, modes for carrying out the present technology will be described. The description will be made in the following order.
1. Operation using voice command Configuration of in-vehicle device 3. Operation of in-vehicle device 4. Modified example
＜＜１．音声コマンドを用いた操作＞＞
　図１は、本技術の一実施形態に係る車載機器を搭載した車両１の運転席近傍の内装を示す図である。 << 1. Operation using voice command >>
FIG. 1 is a view showing interiors in the vicinity of a driver's seat of a vehicle 1 equipped with on-vehicle devices according to an embodiment of the present technology.
　図１に示すように、運転席に座るユーザ（運転者）から見て前方にあるダッシュボードの略中央にはディスプレイ１１が設けられる。ディスプレイ１１には、現在位置を含むエリアの地図、BGMの操作に用いられるメニュー画面などの各種の情報が表示される。 As shown in FIG. 1, a display 11 is provided substantially in the center of the dashboard in front of the user (driver) who sits in the driver's seat. The display 11 displays various information such as a map of an area including the current position and a menu screen used for BGM operation.
　また、ダッシュボードには、マイクアレイ（マイクロホンアレイ）を構成するマイク１２－１乃至１２－４が所定の距離を空けて設けられる。各マイクは、運転席、助手席、後部座席の各席に座るユーザの音声を検出する。 Further, on the dashboard, the microphones 12-1 to 12-4 constituting the microphone array (microphone array) are provided at a predetermined distance. Each microphone detects the voice of the user sitting in each of the driver's seat, the passenger's seat, and the rear seat.
　発話者の方向を音声から推定するため、２個以上のマイクが設けられる。図１においては４個のマイクが示されているが、車両１には、ダッシュボード以外の位置にもマイクが設けられる。 Two or more microphones are provided to estimate the direction of the speaker from the speech. Although four microphones are shown in FIG. 1, the vehicle 1 is also provided with microphones at positions other than the dashboard.
　ダッシュボードの内側などの所定の位置に設けられた車載機器は、マイクにより検出されたユーザの音声を解析することによって発話者の方向を特定するとともに、音声コマンドを検出し、音声コマンドに応じた処理を実行する。ユーザは、車載機器の操作をハンズフリーで行うことができる。 The in-vehicle device provided at a predetermined position such as the inside of the dashboard identifies the direction of the speaker by analyzing the voice of the user detected by the microphone, detects the voice command, and detects the voice command according to the voice command. Execute the process The user can operate the on-vehicle device hands-free.
　図２は、車載機器が受付可能な音声コマンドの例を示す図である。 FIG. 2 is a diagram showing an example of voice commands that can be received by the on-vehicle device.
　図２に示すように、音声コマンドには、運転コマンド、ナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドが含まれる。 As shown in FIG. 2, the voice command includes an operation command, a navigation operation command, a music reproduction operation command, and an air conditioning command.
　運転コマンドは、運転に関する音声コマンドである。運転コマンドには、例えば、発進を指示する「発進」、停車を指示する「停止」、左に曲がることを指示する「左に曲がって」、右に曲がることを指示する「右に曲がって」、速度を上げることを指示する「速度を上げて」、速度を落とすことを指示する「速度を落として」が含まれる。 The driving command is a voice command related to driving. The driving command includes, for example, “start” instructing start, “stop” instructing stop, “turn left” instructing to turn left, and “turn right” instructing to turn right , "Increase in speed", which instructs to increase the speed, and "Decrease in speed", which instructs to decrease the speed.
　車載機器は、運転コマンドを実行することによって、車両１の駆動を制御し、運転者による手足を使った操作によらずに、車両１を発進させたり、停止させたりする。このように、運転者は、ステアリングやペダル（アクセルペダル、ブレーキペダル）などを自ら操作して運転するだけでなく、運転コマンドを利用して運転することもできる。車両１には、運転コマンドに応じて走行する自動運転の機能も搭載されている。 The on-vehicle device controls the drive of the vehicle 1 by executing the driving command, and starts or stops the vehicle 1 regardless of the operation by the driver using the hands and feet. As described above, the driver can drive not only by operating the steering or the pedal (accelerator pedal, brake pedal), etc., but also by using the driving command. The vehicle 1 is also equipped with a function of automatic driving that travels according to a driving command.
　運転コマンドには、通常運転コマンドと非常用運転コマンドがある。非常用運転コマンドは、例えば、危険を回避するときに用いられる非常用の運転コマンドである。非常用運転コマンド以外の運転コマンドが通常運転コマンドとなる。 The operation commands include a normal operation command and an emergency operation command. The emergency operation command is, for example, an emergency operation command used when avoiding a danger. Operation commands other than emergency operation commands are normal operation commands.
　ナビゲーション操作用コマンドは、ナビゲーションシステムの操作に関する音声コマンドである。ナビゲーション操作用コマンドには、「○○まで行って」、「自宅に帰って」、「近くの駐車場を案内して」などの、目的地の設定を指示するコマンドが含まれる。 The navigation operation command is a voice command related to the operation of the navigation system. The navigation operation command includes a command to instruct setting of a destination, such as “go to ○”, “go home”, “guide a nearby parking lot”, and the like.
　音楽再生操作用コマンドは、BGMの操作に関する音声コマンドである。音楽再生操作用コマンドには、例えば、曲の再生開始を指示する「〇〇を再生して」、曲の再生を停止することを指示する「再生を停止して」が含まれる。音楽ではなく、ラジオの操作に関するコマンドやテレビの操作に関するコマンドなどの各種のメディアの操作に関するコマンドが音楽再生操作用コマンドに含まれるようにしてもよい。 The command for music reproduction operation is a voice command related to the operation of BGM. The music playback operation command includes, for example, “play back OO” instructing to start playback of a song, and “stop playback” instructing to stop playback of a song. Instead of music, commands relating to the operation of various media such as commands relating to the operation of a radio and commands relating to the operation of a television may be included in the command for music reproduction operation.
　空調コマンドは、エアコン（エアーコンディショナー）の操作に関する音声コマンドである。空調コマンドには、例えば、エアコンをつけることを指示する「エアコンをつけて」、車内の温度を上げることを指示する「温度を上げて」、車内の温度を下げることを指示する「温度を下げて」、風量を上げることを指示する「風量を上げて」、風量を下げることを指示する「風量を下げて」が含まれる。 The air conditioning command is a voice command related to the operation of the air conditioner (air conditioner). The air conditioning command includes, for example, "turn on the air conditioner" instructing to turn on the air conditioner, "turn up the temperature" to instruct to raise the temperature in the car, and "turn off temperature to instruct to lower the temperature in the car “Increase the air flow” to instruct to increase the air flow, and “Decrease the air flow” to instruct to decrease the air flow.
　このような音声コマンドにより操作を行う場合、ユーザは、車内での会話と区別させるため、起動ワードを発話したり、音声認識開始ボタンを操作したり、所定のジェスチャーをとったり、視線を所定の方向に向けたりするなどのトリガを入力する。ユーザは、このようなトリガ動作を行った後、音声コマンドを発話することになる。非常用運転コマンドの入力時にはトリガ動作が省略されるようにしてもよい。 When performing an operation by such a voice command, the user utters an activation word, operates a voice recognition start button, takes a predetermined gesture, or makes a gaze in a predetermined direction in order to distinguish it from conversation in a car Enter a trigger, such as pointing at. The user speaks a voice command after performing such a trigger operation. The trigger operation may be omitted when the emergency operation command is input.
　このように、ユーザは、各種の音声コマンドを用いて車両１の操作を行うことができる。音声コマンドとして他の種別のコマンドが含まれるようにしてもよい。 Thus, the user can operate the vehicle 1 using various voice commands. Other types of commands may be included as voice commands.
　ところで、運転コマンドを用いた操作に誤りがあった場合、車両１に乗っているユーザだけでなく、周囲に危険を及ぼす可能性がある。車載機器は、運転コマンドについては、入力者が誰であるのかなどに応じて、その受け付けを制御する機能を有する。 By the way, when there is an error in the operation using the driving command, not only the user on the vehicle 1 but also the surroundings may be dangerous. The in-vehicle device has a function of controlling acceptance of the operation command according to who the input person is.
　具体的には、自動車運転免許を保有しているユーザが運転者として運転席に座っている場合、その運転者が入力する運転コマンドについては、常時受け付けられる。 Specifically, when a user who holds a car driver's license is sitting in the driver's seat as a driver, a driving command input by the driver is always accepted.
　一方、自動車運転免許を保有しているユーザや、年齢の条件などの所定の条件を満たすユーザが助手席や後部座席に座っている場合、そのユーザが入力する運転コマンドについては、限定的にコマンドが受け付けられる。例えば、非常用運転コマンドのみが受け付けられ、通常運転コマンドについては受け付けられない。 On the other hand, when a user who holds a car driver's license or a user who meets a predetermined condition such as age conditions is sitting in the front passenger seat or the rear seat, the command for the driving command input by the user is limited. Is accepted. For example, only the emergency operation command is accepted, and the normal operation command is not accepted.
　なお、このような受け付けの制限の対象となる音声コマンドは、操作に誤りがあった場合に周囲などに危険を及ぼすと考えられる運転コマンドだけである。他の音声コマンドであるナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドについては、誰による入力であっても常時受け付けられる。 In addition, the voice command used as the object of the restriction | limiting of such reception is only the driving command considered to pose danger to a periphery etc., when there exists an error in operation. Other voice commands, such as a navigation operation command, a music reproduction operation command, and an air conditioning command, are always accepted regardless of who input.
　図３は、運転コマンドを用いた操作の例を示す図である。 FIG. 3 is a diagram showing an example of an operation using a driving command.
　例えば、速度を落とすことを指示する通常運転コマンドが運転者により入力された場合、車載機器は、その通常運転コマンドを受け付け、実行する。車載機器は、車両１の速度を落とすための制御を行う。 For example, when a normal driving command instructing to reduce the speed is input by the driver, the in-vehicle device receives and executes the normal driving command. The in-vehicle device performs control to reduce the speed of the vehicle 1.
　速度を落とすことを指示する通常運転コマンドは、図３の吹き出し＃１１に示すように、「もう少しスピードを落として運転して」などの発話を行うことによって入力される。 The normal operation command instructing to reduce the speed is input by making an utterance such as "Drop some more speed and drive" as shown in the balloon # 11 of FIG.
　ここで、通常運転コマンドを入力したユーザが運転者であることは、マイクアレイにより検出された音声に基づいて特定された音源の方向が、運転席の方向であることに基づいて特定される。 Here, the fact that the user who has input the normal driving command is the driver is specified based on the fact that the direction of the sound source specified based on the sound detected by the microphone array is the direction of the driver's seat.
　また、通常運転コマンドを入力したユーザが運転者であることは、マイクアレイにより検出された音声が、予め登録された音声であることに基づいて特定される。運転者となる可能性のある、運転免許を持っているユーザの音声については、車載機器に予め登録されており、登録された音声に基づいて話者認識が行われる。 Further, the fact that the user who has input the normal driving command is the driver is specified based on the fact that the voice detected by the microphone array is a voice registered in advance. The voice of the user who has a driver's license, which may become a driver, is pre-registered in the on-vehicle device, and speaker recognition is performed based on the registered voice.
　このように、車載機器においては、発話の音源方向に基づいて、音声コマンドを入力したユーザが、運転者であるのか、助手席に座っているユーザであるのか、後部座席に座っているユーザであるのか、が特定される。また、少なくとも運転者については、話者認識により、予め登録されたユーザであるか否かが特定される。 As described above, in the on-vehicle device, whether the user who has input the voice command based on the sound source direction of the speech is the driver or the user sitting in the front passenger seat or the user sitting in the rear seat It is identified if there is. In addition, with regard to at least the driver, it is specified by speaker recognition whether or not the user is a user registered in advance.
　音声コマンドの入力者が運転者であるか否かが音源方向だけに基づいて判断されるとした場合、運転免許を持っていないユーザが運転席に座っているといったように、なりすましの可能性がある。また、音声コマンドの入力者が運転者であるか否かが話者認識だけに基づいて判断されるとした場合、運転席以外に座っている人の音声に反応する可能性がある。 If it is judged based on only the sound source direction whether the input person of the voice command is the driver or not, there is a possibility of impersonation such as a user without a driver's license is sitting in the driver's seat. is there. In addition, when it is determined based on only the speaker recognition whether or not the input person of the voice command is the driver, there is a possibility of reacting to the voice of the person sitting other than the driver's seat.
　音声コマンドの入力者が運転者であるか否かの判断が音源方向の推定と話者認識の結果に基づいて行われるようにすることにより、より確実に、運転者による音声コマンドを受け付けることが可能になる。 The voice command by the driver can be received more reliably by determining whether the input person of the voice command is the driver based on the estimation of the sound source direction and the result of the speaker recognition. It will be possible.
　図４は、運転コマンドを用いた操作の他の例を示す図である。 FIG. 4 is a diagram showing another example of the operation using the driving command.
　図４に示す状態は、お父さん、お母さん、子供の３人が車両１に乗っている状態である。図４の例においては、助手席にお母さんが座っていて、後部座席に子供が座っているものとされている。運転者はお父さんである。また、お母さんは運転免許を持っていないとする。 In the state shown in FIG. 4, three persons, a father, a mother and a child, are in the vehicle 1. In the example of FIG. 4, it is assumed that the mother is sitting in the front passenger seat and the child is sitting in the back seat. The driver is father. Also, suppose that your mother does not have a driver's license.
　例えば、吹き出し＃１２に示すように、速度を落とすことを指示する通常運転コマンドが助手席にいるお母さんにより入力された場合、車載機器は、通常運転コマンドの入力者が運転補助者であることに基づいて、通常運転コマンドの受け付けを拒否する。通常運転コマンドの受け付けが拒否されることにより、速度を落とすための制御は行われない。 For example, as shown in the balloon # 12, when the normal driving command instructing to reduce the speed is input by the mother in the front passenger seat, the in-vehicle apparatus is that the input person of the normal driving command is the driving assistant. On the basis of this, it refuses to accept the normal driving command. By refusing reception of the normal operation command, control for reducing the speed is not performed.
　運転補助者は、ユーザの属性の１つである。後述するように、車両１に乗っているユーザは、運転免許取得者、運転補助者、同乗者のうちのいずれかに分類される。 The driving assistant is one of the attributes of the user. As described later, the user on the vehicle 1 is classified into any one of a driver's license holder, a driving assistant, and a passenger.
　このように、運転者以外のユーザから入力された通常運転コマンドは、その受け付けが拒否される。通常運転コマンドの受け付けが制限されることにより、運転者の意図しない操作が行われるのを防ぐことができる。 Thus, the reception of the normal driving command input from a user other than the driver is rejected. By restricting the reception of the normal driving command, it is possible to prevent the driver's unintended operation from being performed.
　図５は、運転コマンドを用いた操作の他の例を示す図である。 FIG. 5 is a diagram showing another example of the operation using the driving command.
　図５に示す状態は、図４を参照して説明した状態と同じである。運転者がお父さんであり、お母さんと子供がそれぞれ助手席と後部座席に座っている。 The state shown in FIG. 5 is the same as the state described with reference to FIG. The driver is a father, and a mother and a child sit in the front passenger seat and the rear seat respectively.
　例えば、緊急停止を指示する非常用運転コマンドが助手席にいるお母さんにより入力された場合、車載機器は、入力された運転コマンドが非常用運転コマンドであることに基づいて、非常用運転コマンドを受け付け、実行する。車載機器は、車両１を緊急停止させるための制御を行う。 For example, when the emergency operation command instructing an emergency stop is input by the mother in the passenger seat, the on-vehicle device receives the emergency operation command based on the input operation command being an emergency operation command. ,Run. The in-vehicle device performs control for stopping the vehicle 1 in an emergency.
　緊急停止を指示する非常用運転コマンドは、図５の吹き出し＃１３に示すように、「止まって！！」などの発話を行うことによって入力される。入力された運転コマンドが通常運転コマンドであるのか非常用運転コマンドであるのかは、例えば、発話の口調、音量、発話の内容などに基づいて特定される。カメラにより撮影された画像の解析結果や各種のセンサにより検出されたセンサデータの解析結果に基づいて、運転コマンドが通常運転コマンドであるのか非常用運転コマンドであるのかが特定されるようにしてもよい。 The emergency operation command instructing an emergency stop is input by making an utterance such as "Stop and !!" as shown in the balloon # 13 of FIG. Whether the input driving command is a normal driving command or an emergency driving command is specified based on, for example, the tone of the speech, the volume, the content of the speech, and the like. Even if it is specified whether the driving command is the normal driving command or the emergency driving command based on the analysis result of the image taken by the camera and the analysis result of the sensor data detected by the various sensors. Good.
　このように、非常用運転コマンドについては、運転補助者により入力された運転コマンドであっても受け付けられ、実行される。 As described above, the emergency driving command is accepted and executed even if it is the driving command input by the driving assistant.
　これにより、運転補助者は、運転者が急病により運転不能になってしまった場合や運転者が運転操作を誤ってしまった場合などの非常時に、運転コマンドを用いて車両１を運転することができる。図５の例においては、運転者であるお父さんは危険に気付いておらず、運転補助者であるお母さんが危険に気付いたものとされている。 As a result, the driving assistant can drive the vehicle 1 using the driving command in an emergency such as when the driver has become unable to drive due to a sudden illness or when the driver erroneously performs the driving operation. it can. In the example of FIG. 5, the father who is the driver is not aware of the danger, and the mother who is the driving assistant is aware of the danger.
　例えば、緊急停止の非常用運転コマンドを受け付けた場合、車載機器は、車両１が一般道を走行しているときには、その場で停止させる。また、車載機器は、車両１が高速道路を走行しているときには、路肩に寄せて停止させ、緊急停止したことをテールランプで後続の車両に通知するなどの制御を行う。 For example, when an emergency operation command for emergency stop is received, the on-vehicle device stops the vehicle 1 on the spot when the vehicle 1 is traveling on a general road. In addition, when the vehicle 1 is traveling on an expressway, the on-vehicle device performs control such as bringing it to a road shoulder and stopping it, and notifying a subsequent vehicle of the emergency stop with a tail lamp.
　図６は、運転コマンド以外の音声コマンドを用いた操作の例を示す図である。 FIG. 6 is a diagram showing an example of an operation using a voice command other than the driving command.
　例えば、再生中の曲の次の曲の再生を指示する音楽再生操作用コマンドが子供により入力された場合、車載機器は、その音楽再生操作用コマンドを受け付け、実行する。車載機器は、再生中の曲の次の曲を再生するための制御を行う。 For example, when a command for music playback operation instructing playback of the next song of a song being played is input by a child, the in-vehicle device receives and executes the command for music playback operation. The in-vehicle device performs control to reproduce the next song of the song being reproduced.
　再生中の曲の次の曲の再生を指示する音楽再生操作用コマンドは、図６の吹き出し＃１４に示すように、「次の曲を再生して」などの発話を行うことによって入力される。 The music playback operation command instructing playback of the next song of the song being played is input by making an utterance such as "play the next song" as shown in a balloon # 14 of FIG. .
　このように、運転コマンド以外の音声コマンドについては、入力者にかかわらず受け付けられ、実行される。音声コマンドを受け付けるかどうかは、音声コマンドの種別、ユーザの属性、および、発話方向に基づいて特定される着座位置などに基づいて決定されることになる。 As described above, voice commands other than driving commands are accepted and executed regardless of the user. Whether or not to receive the voice command is determined based on the type of voice command, the attribute of the user, the sitting position specified based on the speech direction, and the like.
　運転コマンドの受付対象者を運転者だけでなく他のユーザにも限定的に広げることにより、交通事故などの危険に他のユーザが気付いた場合や、運転者が急病で運転不能になった場合などであっても、他のユーザが車両１を運転することが可能になる。これにより、交通事故を未然に防ぐ可能性を高めることが可能になる。 When other users notice the danger such as a traffic accident or the driver suddenly becomes unable to drive due to a sudden illness by limiting the acceptance target persons of the driving command not only to the driver but also to other users. And so on, other users can drive the vehicle 1. This makes it possible to increase the possibility of preventing traffic accidents.
　また、どのユーザの運転コマンドを限定的に受け付けるかが車載機器により自動的に選択されるため、子供のいたずらなどによる、運転者の意図しない操作を防ぐことができる。 In addition, since it is automatically selected by the in-vehicle device which user's driving command is to be limitedly received, it is possible to prevent an operation unintended by the driver due to a child's mischief or the like.
　受け付けの制限となる音声コマンドは運転コマンドだけであるため、ナビゲーションシステムの操作、BGMの操作、空調の操作についてはハンズフリーで行うことができ、車内の機能を誰でも操作できるという利便性が損なわれることはない。 Since only the driving command is the voice command that is the restriction of acceptance, the operation of the navigation system, the operation of BGM, and the operation of air conditioning can be performed hands-free, and the convenience that anyone can operate the function in the car is lost. There is nothing to do.
＜＜２．車載機器の構成＞＞
　図７は、車両１の構成例を示す図である。 << 2. Configuration of in-vehicle device >>
FIG. 7 is a view showing a configuration example of the vehicle 1.
　図７に示すように、車両１には、車載機器２１、ディスプレイ１１、マイクアレイ１２の他に、カメラ２２、センサ２３、スピーカ２４、駆動制御部２５、および空調制御部２６が設けられる。情報処理装置としての車載機器２１に対して各部が接続される。 As shown in FIG. 7, the vehicle 1 is provided with a camera 22, a sensor 23, a speaker 24, a drive control unit 25, and an air conditioning control unit 26 in addition to the in-vehicle device 21, the display 11 and the microphone array 12. Each unit is connected to an on-vehicle device 21 as an information processing apparatus.
　カメラ２２は、車両１のバックミラー近傍などに取り付けられた車内カメラである。カメラ２２は、車内の様子を撮像し、撮像により得られた画像データを車載機器２１に出力する。 The camera 22 is an in-vehicle camera attached near the rearview mirror of the vehicle 1 or the like. The camera 22 captures an image of the inside of the vehicle, and outputs image data obtained by the capturing to the on-vehicle device 21.
　センサ２３は、車両１の各座席に取り付けられた着座センサである。センサ２３は、ユーザの着座状態を検出し、センサデータを車載機器２１に出力する。センサデータにより、例えば、着座の有無が表される。 The sensor 23 is a seating sensor attached to each seat of the vehicle 1. The sensor 23 detects the seating state of the user and outputs sensor data to the on-vehicle device 21. The sensor data represents, for example, the presence or absence of seating.
　センサデータに重量データが含まれるようにしてもよい。この場合、センサデータに基づいて、着座の有無だけでなく、着座しているユーザが大人であるか、子供であるか等を推定することが可能になる。 The sensor data may include weight data. In this case, it is possible to estimate not only the presence or absence of seating but also whether a seated user is an adult or a child based on sensor data.
　車両１にカメラ２２およびセンサ２３が設けられず、マイクアレイ１２からの音声データのみが車載機器２１に出力されるようにしてもよい。 The camera 22 and the sensor 23 may not be provided in the vehicle 1, and only audio data from the microphone array 12 may be output to the on-vehicle device 21.
　スピーカ２４は、音楽、ナビゲーションシステムの合成音声などの各種の音を出力する。車載機器２１がユーザの行動を支援するエージェントの機能を有しており、車載機器２１とユーザとの間で音声による対話が可能とされている場合、スピーカ２４からは、例えば、車載機器２１により生成された合成音声なども出力される。 The speaker 24 outputs various sounds such as music and synthesized voice of the navigation system. When the in-vehicle device 21 has the function of an agent that supports the user's action and voice interaction is enabled between the in-vehicle device 21 and the user, the speaker 24 may use, for example, the in-vehicle device 21. The generated synthesized voice is also output.
　駆動制御部２５は、車載機器２１による制御に従って、車両１の駆動系に関わる装置に制御信号を出力し、駆動させる。駆動制御部２５による制御信号の出力に応じて、エンジン、ステアリング、ブレーキなどの各部が駆動する。 The drive control unit 25 outputs a control signal to a device related to the drive system of the vehicle 1 according to control by the on-vehicle device 21 to drive the device. In accordance with the output of the control signal from the drive control unit 25, each unit such as an engine, a steering, and a brake is driven.
　空調制御部２６は、車載機器２１による制御に従って、エアコンなどの車両１の空調系に関わる装置に制御信号を出力し、駆動させる。駆動制御部２５による制御信号の出力に応じて、エアコンが駆動する。 The air conditioning control unit 26 outputs a control signal to an apparatus related to the air conditioning system of the vehicle 1 such as an air conditioner according to control by the on-vehicle device 21 to drive the apparatus. The air conditioner is driven according to the output of the control signal from the drive control unit 25.
　このような各部を制御する車載機器２１においては、運転制御部３１、音声コマンド実行制御部３２、ナビゲーション制御部３３、および音楽再生制御部３４が実現される。これらの構成のうちの少なくともいずれかは、車載機器２１を構成するコンピュータにより所定のプログラムが実行されることによって実現される。 In the on-vehicle device 21 that controls each of these units, the operation control unit 31, the voice command execution control unit 32, the navigation control unit 33, and the music reproduction control unit 34 are realized. At least one of these configurations is realized by execution of a predetermined program by a computer configuring the on-vehicle device 21.
　運転制御部３１は、駆動制御部２５を制御し、運転者の操作に応じた走行に関する制御、運転支援に関する制御などを行う。運転支援に関する制御として、例えば、衝突回避、衝突緩和、車間距離に基づく追従走行、車速維持走行、衝突警告、レーン逸脱警告等を含むADAS(Advanced Driver Assistance System)の機能を実現するための制御が行われる。 The drive control unit 31 controls the drive control unit 25 and performs control related to traveling according to the driver's operation, control related to drive support, and the like. As control related to driving support, for example, control for realizing the function of an advanced driver assistance system (ADAS) including collision avoidance, collision mitigation, follow-up traveling based on inter-vehicle distance, vehicle speed maintenance traveling, collision warning, lane departure warning, etc. To be done.
　また、車両１が自動運転機能を有する場合、運転制御部３１は、運転者の操作によらずに自律的に走行するための制御を行う。 In addition, when the vehicle 1 has an automatic driving function, the driving control unit 31 performs control for traveling autonomously without the operation of the driver.
　音声コマンド実行制御部３２は、マイクアレイ１２により集音されたユーザの音声を解析することによって音声コマンドを検出し、実行する。音声コマンド実行制御部３２は、音声コマンドに応じた処理を、例えば、駆動制御部２５、空調制御部２６、ナビゲーション制御部３３、音楽再生制御部３４の各部に行わせる。 The voice command execution control unit 32 detects and executes a voice command by analyzing the voice of the user collected by the microphone array 12. The voice command execution control unit 32 causes each of the drive control unit 25, the air conditioning control unit 26, the navigation control unit 33, and the music reproduction control unit 34 to perform processing according to the voice command, for example.
　ナビゲーション制御部３３は、車両１のナビゲーションシステムを制御する。例えば、ナビゲーション制御部３３は、GPS(Global Positioning System)により車両１の現在位置を測定し、現在位置の近傍の地図をディスプレイ１１に表示させる。 The navigation control unit 33 controls the navigation system of the vehicle 1. For example, the navigation control unit 33 measures the current position of the vehicle 1 by GPS (Global Positioning System), and causes the display 11 to display a map near the current position.
　また、ナビゲーション制御部３３は、ユーザにより入力された目的地を設定し、目的地までの経路を案内する。経路の案内は、ディスプレイ１１の表示とスピーカ２４からの音声を用いて行われる。 Further, the navigation control unit 33 sets a destination input by the user, and guides a route to the destination. The route guidance is performed using the display on the display 11 and the sound from the speaker 24.
　音楽再生制御部３４は、車両１に搭載される音響機器（カーステレオ）を用いた音楽再生に関する処理を制御する。音楽再生制御部３４は、例えば車載機器２１に設けられたメモリに記憶された音楽を再生する。 The music reproduction control unit 34 controls processing related to music reproduction using an audio device (car stereo) mounted on the vehicle 1. The music reproduction control unit 34 reproduces music stored in, for example, a memory provided in the in-vehicle device 21.
　図８は、図７の音声コマンド実行制御部３２の機能構成例を示すブロック図である。 FIG. 8 is a block diagram showing an example of a functional configuration of the voice command execution control unit 32 of FIG.
　音声コマンド実行制御部３２は、音声認識部５１、コマンド種別判断部５２、話者位置特定部５３、ユーザ識別部５４、ユーザ順位決定部５５、実行制御部５６、およびユーザ情報記憶部５７から構成される。 The voice command execution control unit 32 includes a voice recognition unit 51, a command type determination unit 52, a speaker position specification unit 53, a user identification unit 54, a user rank determination unit 55, an execution control unit 56, and a user information storage unit 57. Be done.
　音声認識部５１は、マイクアレイ１２から供給された音声データを用いて音声認識を行い、音声コマンドを検出する。音声認識部５１により検出された音声コマンドは、コマンド種別判断部５２と実行制御部５６に供給される。 The voice recognition unit 51 performs voice recognition using voice data supplied from the microphone array 12 to detect a voice command. The voice command detected by the voice recognition unit 51 is supplied to the command type determination unit 52 and the execution control unit 56.
　コマンド種別判断部５２は、音声認識部５１により検出された音声コマンドの種別を判断する。コマンド種別判断部５２においては、音声コマンドの種別を表す情報が生成され、取得（受信）される。コマンド種別判断部５２により判断されたコマンド種別の情報は、実行制御部５６に供給される。 The command type determination unit 52 determines the type of voice command detected by the voice recognition unit 51. In the command type determination unit 52, information representing the type of voice command is generated and acquired (received). Information on the command type determined by the command type determination unit 52 is supplied to the execution control unit 56.
　コマンド種別判断部５２が出力するコマンド種別の情報により、入力された音声コマンドが、運転コマンド、ナビゲーション操作用コマンド、音楽再生操作用コマンド、および空調コマンドのうちのどのコマンドであるのかが表される。 The information of the command type output from the command type determination unit 52 indicates which of the operation command, the navigation operation command, the music reproduction operation command, and the air conditioning command the input voice command is. .
　音声コマンド実行制御部３２に音声認識部５１が設けられず、外部のサーバの音声認識機能を用いて、音声コマンドが認識されるようにしてもよい。 The voice recognition unit 51 may not be provided in the voice command execution control unit 32, and voice commands may be recognized using a voice recognition function of an external server.
　この場合、マイクアレイ１２により検出された音声データは、図示せぬ通信部を介してサーバに送信され、サーバによる音声認識の結果が車載機器２１に対して送信されてくる。音声認識結果には、音声コマンドの内容と種別を表す情報が含まれる。音声コマンドの内容を表す情報は実行制御部５６により受信され、音声コマンドの種別を表す情報はコマンド種別判断部５２により受信される。 In this case, the voice data detected by the microphone array 12 is sent to the server via the communication unit (not shown), and the result of the voice recognition by the server is sent to the on-vehicle device 21. The speech recognition result includes information indicating the content and type of the speech command. Information representing the content of the voice command is received by the execution control unit 56, and information representing the type of the voice command is received by the command type determination unit 52.
　話者位置特定部５３は、マイクアレイ１２を構成する各マイクから供給された音声データに基づいて、発話の音源方向を推定する。話者位置特定部５３は、推定した音源方向に基づいて、発話を行ったユーザの着座位置を特定し、着座位置を表す情報をユーザ順位決定部５５に出力する。話者位置特定部５３が出力する情報により、発話を行ったユーザが、運転席、助手席、後部座席のうちのどの席に座っているのかが表される。 The speaker position specifying unit 53 estimates the sound source direction of the speech based on the voice data supplied from each of the microphones of the microphone array 12. The speaker position specifying unit 53 specifies the sitting position of the user who made the speech based on the estimated sound source direction, and outputs information representing the sitting position to the user order determining unit 55. The information output from the speaker position identification unit 53 indicates which of the driver's seat, the assistant's seat, and the rear seat the user who made the speech is sitting at.
　なお、センサ２３から供給されたセンサデータに基づいて、各ユーザが運転席、助手席、後部座席のいずれの座席に座っているかが特定され、特定された座席の位置をも考慮して、発話を行ったユーザの着座位置が特定されるようにしてもよい。 In addition, based on the sensor data supplied from the sensor 23, it is specified which of the driver's seat, the front passenger's seat, and the rear seat the user is sitting on, and the utterance is performed in consideration of the position of the identified seat The seating position of the user who performed the above may be specified.
　ユーザ識別部５４は、各マイクから供給された音声データに基づいて、話者を識別する。ユーザ識別部５４は、運転免許を持っているユーザの音声に関する情報を有している。運転免許を持っているユーザの音声は、例えば車両１の購入時に予め登録される。 The user identification unit 54 identifies a speaker based on voice data supplied from each microphone. The user identification unit 54 has information on the voice of the user who holds the driver's license. The voice of the user who holds the driver's license is registered in advance, for example, when the vehicle 1 is purchased.
　また、ユーザ識別部５４は、運転免許を持っているユーザの音声として登録されている音声とは異なる音声が入力された場合、その音声の発話を行ったユーザの年齢を音声データに基づいて推定する。 In addition, when a voice different from the voice registered as the voice of the user having the driver's license is input, the user identification unit 54 estimates the age of the user who uttered the voice based on the voice data. Do.
　ユーザ識別部５４は、話者を表す情報（話者が誰であるのかを表す情報）、または、話者の年齢を表す情報をユーザ順位決定部５５に出力する。運転免許を持っているユーザの音声が入力された場合には、そのユーザの識別情報がユーザ順位決定部５５に供給され、運転免許を持っていないユーザの音声が入力された場合には、そのユーザの年齢を表す情報がユーザ順位決定部５５に供給されることになる。 The user identification unit 54 outputs information indicating the speaker (information indicating who the speaker is) or information indicating the age of the speaker to the user ranking determination unit 55. When the voice of the user who has the driver's license is input, the identification information of the user is supplied to the user ranking determination unit 55, and when the voice of the user who does not have the driver's license is input, Information indicating the age of the user is supplied to the user ranking determination unit 55.
　なお、カメラ２２から供給された画像データを解析することによって、話者の識別や年齢の推定が行われるようにしてもよい。この場合、ユーザ識別部５４には、各ユーザの顔の特徴を表す情報や、年齢の推定に用いられる情報が予め登録される。 Note that, by analyzing the image data supplied from the camera 22, identification of a speaker or estimation of the age may be performed. In this case, information representing the features of the face of each user and information used to estimate the age are registered in the user identification unit 54 in advance.
　各ユーザが持つ携帯電話機と車載機器２１の間で通信を行うことによってユーザが識別されるようにしてもよいし、車載機器２１に対するユーザの操作に基づいてユーザが識別されるようにしてもよい。 The user may be identified by communicating between the mobile phone possessed by each user and the in-vehicle device 21, or the user may be identified based on the user's operation on the in-vehicle device 21. .
　ユーザ順位決定部５５は、話者位置特定部５３により特定された話者の着座位置とユーザ識別部５４により識別されたユーザの属性に基づいて運転コマンドの受け付け順位を判定する。ユーザ順位決定部５５により、音声コマンドを入力したユーザが、運転コマンドの常時受付対象者、限定受付対象者、受付拒否対象者のうちのいずれの順位のユーザであるのかが判定される。 The user rank determination unit 55 determines the reception order of driving commands based on the seating position of the speaker identified by the speaker position identification unit 53 and the attribute of the user identified by the user identification unit 54. The user ranking determination unit 55 determines which of the rankings the user who has input the voice command is the person who always receives the driving command, the person who receives the limited reception, and the person who receives the restriction.
　ユーザ順位決定部５５によるユーザ順位の判定の詳細については後述する。ユーザ順位決定部５５は、音声コマンドを入力したユーザの順位情報を実行制御部５６に出力する。ユーザ順位決定部５５によるユーザ順位の判定結果はユーザ情報記憶部５７にも供給され、記憶される。 Details of the determination of the user rank by the user rank determination unit 55 will be described later. The user ranking determination unit 55 outputs, to the execution control unit 56, the ranking information of the user who has input the voice command. The determination result of the user rank by the user rank determination unit 55 is also supplied to the user information storage unit 57 and stored.
　実行制御部５６は、音声コマンドの入力者の順位をユーザ順位決定部５５から供給された情報に基づいて特定する。また、実行制御部５６は、音声コマンドの種別をコマンド種別判断部５２から供給された情報に基づいて特定し、音声コマンドの種別と入力者の運転コマンド受け付け順位に基づいて、音声コマンドの受け付けを制御する。 The execution control unit 56 specifies the order of the input person of the voice command based on the information supplied from the user order determination unit 55. In addition, the execution control unit 56 identifies the type of voice command based on the information supplied from the command type determination unit 52, and receives the voice command based on the type of voice command and the operation command acceptance order of the input person. Control.
　上述したように、音声コマンドのうち、ナビゲーション操作用コマンド、音楽再生操作用コマンド、および空調コマンドについては、音声コマンドの入力者が誰であっても受け付けられる。また、運転コマンドについては、適宜、その受け付けが制限される。 As described above, among the voice commands, the navigation operation command, the music reproduction operation command, and the air conditioning command can be accepted by anyone who has input the voice command. In addition, the acceptance of the operation command is appropriately limited.
　図９は、運転コマンドを含む各音声コマンドの受け付けパターンの例を示す図である。 FIG. 9 is a diagram showing an example of a reception pattern of each voice command including the driving command.
　図９のテーブルにおいて、白抜きの丸印はコマンドが受け付けられることを示し、バツ印はコマンドの受け付けが拒否されることを示す。 In the table of FIG. 9, white circles indicate that the command is accepted, and crosses indicate that the acceptance of the command is rejected.
　図９に示すように、運転コマンドの常時受付の対象となるユーザ（運転者）が入力する音声コマンドは、通常運転コマンド、非常用運転コマンド、ナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドの全てが受け付けられる。 As shown in FIG. 9, the voice command inputted by the user (driver) who is the target of regular reception of the driving command is a normal driving command, an emergency driving command, a navigation operation command, a music reproduction operation command, an air conditioning command All of are accepted.
　運転コマンドの限定受付の対象となるユーザが入力する音声コマンドは、通常運転コマンドについては受け付け拒否となり、非常用運転コマンド、ナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドについては受け付けられる。 The voice command input by the user as the target of limited reception of the operation command is not accepted for the normal operation command, and the emergency operation command, the navigation operation command, the music reproduction operation command, and the air conditioning command are received.
　運転コマンドの受付拒否の対象となるユーザが入力する音声コマンドは、通常運転コマンドと非常用運転コマンドについては受け付け拒否となり、ナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドについては受け付けられる。 The voice command input by the user who is the object of rejection of acceptance of the operation command is the acceptance rejection for the normal operation command and the emergency operation command, and the navigation operation command, the music reproduction operation command, and the air conditioning command are accepted.
　図１０は、運転コマンドの受け付けパターンの例を示す図である。 FIG. 10 is a diagram showing an example of a reception pattern of a driving command.
　図１０の縦軸は着座位置を示し、横軸はユーザの属性を示す。着座位置は、運転席、助手席、後部座席の３つに分類される。ユーザの属性は、運転免許取得者、運転補助者、および同乗者の３つに分類される。 The vertical axis in FIG. 10 indicates the seating position, and the horizontal axis indicates the attribute of the user. The seating position is classified into three: driver's seat, passenger's seat, and rear seat. The attributes of the user are classified into three: driver's licensee, driver's assistant, and passenger.
　運転免許取得者は、運転免許を取得しているユーザである。運転免許を取得しているユーザの音声は、車載機器２１に事前に登録され、ユーザ識別部５４により識別される。 The driver's license holder is a user who has obtained a driver's license. The voice of the user who has obtained the driver's license is registered in advance in the on-vehicle device 21 and is identified by the user identification unit 54.
　運転補助者は、車両１に乗っているユーザのうち、運転免許を取得しているかどうかは不明であるが、車内外に危険がないか気を配るなどの、運転のサポートが可能なユーザである。運転補助者は、ユーザ識別部５４で推定された年齢により決定される。 Among the users who are in the vehicle 1, it is unknown whether the driver's license has been obtained or not, but it is a user who can support driving, such as paying attention to the danger inside and outside the vehicle. is there. The driving assistant is determined by the age estimated by the user identification unit 54.
　同乗者は、車両１に乗っているユーザのうち、運転免許取得者と運転補助者以外のユーザ（単なる同乗者）である。１８歳未満の子供や６５歳以上の高齢者が同乗者として想定される。同乗者は、ユーザ識別部５４で推定された年齢により決定される。 The passenger is a user (a simple passenger) other than the driver's license holder and the driver's assistant among the users in the vehicle 1. Children under the age of 18 and elderly people over the age of 65 are assumed as passengers. The passenger is determined by the age estimated by the user identification unit 54.
　運転コマンドの受け付けパターンには、常時受付、限定受付、受付拒否の３段階が設けられる。 The driving command reception pattern is provided with three stages: regular reception, limited reception, and reception refusal.
　図１０の左下隅に示すように、運転席に座っている運転免許取得者が入力する運転コマンドは、常時受付の対象となる。 As shown in the lower left corner of FIG. 10, the driving command inputted by the driver's license holder sitting in the driver's seat is always targeted for reception.
　また、左列に示すように、助手席に座っている運転免許取得者が入力する運転コマンドと、後部座席に座っている運転免許取得者が入力する運転コマンドは、限定受付の対象となる。同様に、中央列に示すように、助手席に座っている運転補助者が入力する運転コマンドと、後部座席に座っている運転補助者が入力する運転コマンドは、限定受付の対象となる。 In addition, as shown in the left column, the driving command input by the driver's license holder sitting in the front passenger seat and the driving command input by the driver's license holder sitting in the rear seat are targets of limited reception. Similarly, as shown in the center row, the driving command input by the driving assistant sitting in the front passenger seat and the driving command input by the driving assistant sitting in the rear seat are targets of limited reception.
　限定受付の対象であるから、運転コマンドのうち、通常運転コマンドは受け付けられずに、非常用運転コマンドだけが受け付けられる。 Among the operation commands, the normal operation command is not accepted, and only the emergency operation command is accepted because it is a target of limited acceptance.
　右列に示すように、助手席に座っている同乗者が入力する運転コマンドと、後部座席に座っている同乗者が入力する運転コマンドは、受付拒否の対象となる。 As shown in the right column, the driving command input by the passenger sitting in the front passenger seat and the driving command input by the passenger sitting in the rear seat are subject to reception refusal.
　なお、運転補助者と同乗者が運転席に座ることは想定されていない。図１０において、これらの属性と着座位置に対応する部分に色が付されていることは、受け付けパターンが設定されていないことを表す。 In addition, it is not assumed that a driver's assistant and a passenger sit in a driver's seat. In FIG. 10, the fact that the portions corresponding to these attributes and the seating position are colored means that the reception pattern is not set.
　図８の実行制御部５６は、このような受け付けパターンの情報に基づいて、運転コマンドの受け付けを制御することになる。実行制御部５６は、受け付けた音声コマンドを実行し、音声コマンドに応じた処理を行わせるために各部を制御する。 The execution control unit 56 of FIG. 8 controls the reception of the driving command based on the information of the reception pattern. The execution control unit 56 executes the received voice command, and controls each unit to perform processing according to the voice command.
　実行制御部５６は、運転コマンドを実行した場合、運転コマンドに応じた処理を運転制御部３１に行わせる。また、実行制御部５６は、ナビゲーション操作用コマンドを実行した場合、ナビゲーション操作用コマンドに応じた処理をナビゲーション制御部３３に行わせる。 The execution control unit 56 causes the operation control unit 31 to perform processing corresponding to the operation command when the operation command is executed. In addition, when the navigation control command is executed, the execution control unit 56 causes the navigation control unit 33 to perform processing in accordance with the navigation control command.
　実行制御部５６は、音楽再生操作用コマンドを実行した場合、音楽再生操作用コマンドに応じた処理を音楽再生制御部３４に行わせる。実行制御部５６は、空調コマンドを実行した場合、空調コマンドに応じた処理を空調制御部２６に行わせる。 When the music reproduction operation command is executed, the execution control unit 56 causes the music reproduction control unit 34 to perform processing in accordance with the music reproduction operation command. When the air conditioning command is executed, the execution control unit 56 causes the air conditioning control unit 26 to perform a process according to the air conditioning command.
　ユーザ情報記憶部５７は、ユーザ順位決定部５５による順位の判定結果を含むユーザ情報を記憶する。ユーザ情報記憶部５７が記憶するユーザ情報には、音声コマンドを入力した各ユーザの運転コマンド受け付け順位、運転免許の取得の有無の他に、話者位置特定部５３により特定された着座位置、ユーザ識別部５４により推定されたユーザの年齢などの情報も含まれる。 The user information storage unit 57 stores user information including the determination result of the order by the user order determination unit 55. In the user information stored in the user information storage unit 57, the seating position specified by the speaker position specifying unit 53, in addition to the driving command acceptance order of each user who input the voice command and the presence or absence of the driver's license acquisition Information such as the age of the user estimated by the identification unit 54 is also included.
　着座位置、推定年齢を含むユーザ情報が車内にいるユーザ同士の会話に基づいて特定され、ユーザ情報記憶部５７に記憶されるようにしてもよい。例えば、ある目的地が設定された場合、出発から到着までの間、ユーザ情報が蓄積される。 The user information including the sitting position and the estimated age may be specified based on the conversation between the users in the car and stored in the user information storage unit 57. For example, when a certain destination is set, user information is accumulated from departure to arrival.
　ユーザ情報が蓄積されることにより、車内にいるユーザ全員について、どのような属性のユーザが、どこの席に座っているのかが取得される。 By accumulating user information, it is possible to obtain what kind of attribute the user is sitting in, for all the users in the car.
　運転コマンドの限定受付の対象となるユーザが複数人いる場合、ユーザ情報記憶部５７に記憶されている情報に基づいて、限定受け付けの対象となる各ユーザに優先度（優先順位）が設定される。実行制御部５６においては、非常用コマンドの受け付けが優先度に従って制御される。 When there are a plurality of users who are subject to limited reception of the driving command, priority (priority) is set to each user who is subject to limited reception based on the information stored in the user information storage unit 57. . In the execution control unit 56, acceptance of the emergency command is controlled in accordance with the priority.
　図１１は、優先度の例を示す図である。 FIG. 11 is a diagram illustrating an example of the priority.
　図１１の左列に示すように、助手席と後部座席のそれぞれに運転免許取得者が座っている場合、助手席に座っている運転免許取得者に対して、後部座席に座っている運転免許取得者より高い優先度が設定される。 As shown in the left column of FIG. 11, when the driver's license seat is sitting in each of the front passenger seat and the rear seat, the driver's license sitting in the rear seat to the driver's license seat sitting in the front passenger seat Priority is set higher than the acquirer.
　助手席に座っている運転免許取得者と後部座席に座っている運転免許取得者により非常用運転コマンドが入力された場合、前者の助手席に座っている運転免許取得者により入力された非常用運転コマンドが優先的に受け付けられる。 When an emergency driving command is input by the driver's license holder sitting in the front passenger seat and the driver's license holder sitting in the rear seat, the emergency input by the driver's license holder sitting in the former passenger seat The driving command is preferentially received.
　また、図１１の吹き出しに示すように、運転免許取得者が助手席または後部座席に座っている場合、運転免許取得者に対して、運転補助者より高い優先度が設定される。 Further, as shown by the balloon in FIG. 11, when the driver's licensee is sitting in the front passenger seat or the rear seat, the driver's licensee is set to have a higher priority than the driver's assistant.
　運転免許取得者と運転補助者により非常用運転コマンドが入力された場合、前者の運転免許取得者により入力された非常用運転コマンドが優先的に受け付けられる。 When an emergency driving command is input by the driver's license holder and the driving assistant, the emergency driving command input by the former driver's license holder is preferentially received.
　このように、ユーザの属性と着座位置を組み合わせて用いることによって、運転コマンドの受け付けに関する順位が設定される。 As described above, by combining and using the attribute of the user and the seating position, the order regarding reception of the driving command is set.
　運転免許取得者と運転補助者の両者が助手席または後部座席に座っていて、その両者により非常用運転コマンドが入力される場合がある。また、助手席と後部座席のそれぞれに運転免許取得者が座っていて、その両者により非常用運転コマンドが入力される場合がある。 Both the driver's licensee and the driver's assistant may be sitting at the front passenger seat or the rear seat, and both may input an emergency driving command. In addition, there may be a case where a driver's license person sits in each of the front passenger seat and the rear seat, and an emergency driving command is input by both of them.
　このような優先度を参照することにより、限定受け付けの対象となる複数のユーザにより非常用運転コマンドが同じタイミングで入力された場合であっても、適切な非常用運転コマンドの受け付けが可能になる。 By referring to such priority, even when emergency operation commands are input at the same timing by a plurality of users who are subject to limited acceptance, it is possible to receive an appropriate emergency operation command. .
＜＜３．車載機器の動作＞＞
　ここで、以上のような構成を有する車載機器２１の動作について説明する。 << 3. Operation of in-vehicle device >>
Here, the operation of the on-vehicle device 21 having the above-described configuration will be described.
＜３－１．制御処理＞
　図１２のフローチャートを参照して、音声コマンドに応じて各部を制御する車載機器２１の処理について説明する。図１２の処理は、例えば、マイクアレイ１２により音声が検出されたときに開始される。 <3-1. Control processing>
The process of the on-vehicle device 21 that controls each unit according to the voice command will be described with reference to the flowchart of FIG. 12. The process of FIG. 12 is started, for example, when a sound is detected by the microphone array 12.
　ステップＳ１において、音声認識部５１は、音声認識の結果に基づいて、音声コマンドが入力されたか否かを判定し、音声コマンドが入力されたと判定するまで待機する。 In step S1, the speech recognition unit 51 determines whether or not a speech command is input based on the result of speech recognition, and waits until it is determined that a speech command is input.
　音声コマンドが入力されたとステップＳ１において判定された場合、処理はステップＳ２，Ｓ３に進む。ステップＳ２とステップＳ３の処理が並行して行われる。入力された音声コマンドはコマンド種別判断部５２と実行制御部５６に供給される。 If it is determined in step S1 that a voice command has been input, the process proceeds to steps S2 and S3. The processes of step S2 and step S3 are performed in parallel. The input voice command is supplied to the command type determination unit 52 and the execution control unit 56.
　ステップＳ２において、コマンド種別判断部５２は、入力された音声コマンドの種別を判断する。 In step S2, the command type determination unit 52 determines the type of the input voice command.
　ステップＳ３において、話者位置特定部５３は、音源方向を推定する。 In step S3, the speaker position specifying unit 53 estimates the sound source direction.
　ステップＳ４において、ユーザ識別部５４は、各マイクから供給された音声データに基づいて話者を識別する。また、ユーザ識別部５４は、入力された音声が登録された音声と異なり、音声コマンドの入力が事前に音声を登録したユーザの発話によるものではないことを特定した場合、音声データに基づいて話者の年齢を推定する。 In step S4, the user identification unit 54 identifies the speaker based on the voice data supplied from each microphone. In addition, when the user identification unit 54 identifies that the input of the voice command is not due to the speech of the user who has registered the voice in advance unlike the voice in which the input voice is registered, the user identification unit 54 speaks based on the voice data. Estimate the age of the person.
　ステップＳ５において、ユーザ順位決定部５５はユーザ順位判定処理を行う。ユーザ順位判定処理により、運転コマンド受け付けにおけるユーザの優先順位が決定される。ユーザ順位判定処理の詳細については、図１３のフローチャートを参照して後述する。 In step S5, the user rank determination unit 55 performs user rank determination processing. The user priority determination process determines the priority of the user in receiving the driving command. The details of the user rank determination process will be described later with reference to the flowchart of FIG.
　ステップＳ５のユーザ順位判定処理においてユーザの順位が決定されるとともに、ステップＳ２において音声コマンドの種別が特定された場合、処理はステップＳ６に進む。 When the order of the user is determined in the user rank determination process of step S5 and the type of the voice command is specified in step S2, the process proceeds to step S6.
　ステップＳ６において、実行制御部５６は音声コマンド実行制御処理を行う。音声コマンド実行制御処理により、入力された音声コマンドに応じた処理が行われる。音声コマンド実行制御処理の詳細については、図１５のフローチャートを参照して後述する。 In step S6, the execution control unit 56 performs voice command execution control processing. The voice command execution control process performs a process according to the input voice command. Details of the voice command execution control process will be described later with reference to the flowchart of FIG.
　ステップＳ６において音声コマンド実行制御処理が行われた場合、ステップＳ１に戻り、それ以降の処理が繰り返される。ステップＳ１以降の処理が、車両１の走行中、繰り返し行われる。 When the voice command execution control process is performed in step S6, the process returns to step S1 and the subsequent processes are repeated. The processes after step S1 are repeated while the vehicle 1 is traveling.
＜３－２．ユーザ順位判定処理＞
　図１３のフローチャートを参照して、図１２のステップＳ５において行われるユーザ順位判定処理について説明する。 <3-2. User rank determination process>
The user rank determination process performed in step S5 of FIG. 12 will be described with reference to the flowchart of FIG.
　ここでは、音声コマンドを入力するときの発話に基づいてユーザの順位を判定する場合の処理について説明するが、会話の音声に基づいてユーザの順位を判定する場合も同様にして行われる。 Here, although the process in the case of determining a user's rank based on the speech at the time of inputting a voice command is explained, it is carried out similarly when determining the user's rank based on the voice of conversation.
　ステップＳ１１において、ユーザ順位決定部５５は、音声コマンドの入力者のユーザ属性が運転免許取得者であるか否かを判定する。入力された音声が登録された音声であることがユーザ識別部５４により特定されている場合、音声コマンドの入力者のユーザ属性が運転免許取得者であると判定される。 In step S11, the user rank determination unit 55 determines whether the user attribute of the voice commander is the driver's license acquirer. If the user identification unit 54 specifies that the input voice is a registered voice, it is determined that the user attribute of the voice commander is the driver's license acquirer.
　音声コマンドの入力者のユーザ属性が運転免許取得者であるとステップＳ１１において判定した場合、ステップＳ１２において、ユーザ順位決定部５５は、話者位置特定部５３により推定された音源方向が運転席の方向であるか否かを判定する。 When it is determined in step S11 that the user attribute of the voice commander is the driver's license acquirer, in step S12, the user order determining unit 55 determines that the sound source direction estimated by the speaker position specifying unit 53 is the driver's seat. It is determined whether or not it is a direction.
　音源方向が運転席の方向であるとステップＳ１２において判定した場合、ステップＳ１３において、ユーザ順位決定部５５は、音声コマンドの入力者が運転者であると判定し、その順位を運転コマンド常時受付対象者として決定する。 When it is determined in step S12 that the sound source direction is the driver's seat direction, in step S13, the user rank determination unit 55 determines that the person who inputs the voice command is a driver, and the rank is a target for always receiving a driving command. Be determined as
　一方、ステップＳ１１において、音声コマンドの入力者のユーザ属性が運転免許取得者ではないと判定した場合、ステップＳ１４において、ユーザ順位決定部５５は、ユーザ識別部５４により推定された年齢が１８歳以上、６５歳未満であるか否かを判定する。ここでは、１８歳以上、６５歳未満の範囲が用いられているが、他の年齢の範囲であってもよい。 On the other hand, when it is determined in step S11 that the user attribute of the voice commander is not the driver's license acquirer, in step S14, the user ranking determination unit 55 determines that the age estimated by the user identification unit 54 is 18 or more. , Determine if you are under 65 years old. Here, a range of 18 years old or older and less than 65 years old is used, but other age ranges may be used.
　ステップＳ１４において、推定された年齢が１８歳以上、６５歳未満であると判定された場合、音声コマンドの入力者のユーザ属性は運転補助者であると判定し，処理はステップＳ１５に進む。また、ステップＳ１２において、音源方向が運転席の方向ではないと判定された場合においても、処理はステップＳ１５に進む。 If it is determined in step S14 that the estimated age is 18 years or older and less than 65 years, it is determined that the user attribute of the voice commander is the driving assistant, and the process proceeds to step S15. Further, even if it is determined in step S12 that the sound source direction is not the driver's seat direction, the process proceeds to step S15.
　ステップＳ１５において、ユーザ順位決定部５５は、話者位置特定部５３により推定された音源方向が助手席の方向であるか否かを判定する。 In step S15, the user order determination unit 55 determines whether the sound source direction estimated by the speaker position specification unit 53 is the direction of the front passenger seat.
　音源方向が助手席の方向であるとステップＳ１５において判定した場合、ステップＳ１６において、ユーザ順位決定部５５は、音声コマンドの入力者の順位を、優先順位が最も高い運転コマンド限定受付対象者として決定する。 When it is determined in step S15 that the sound source direction is the direction of the front passenger seat, in step S16, the user rank determination unit 55 determines the rank of the input person of the voice command as the driving command limitation reception target person having the highest priority. Do.
　一方、ステップＳ１５において、音源方向が助手席の方向ではないと判定された場合、音声コマンドの入力者の着座位置は後部座席となり、処理はステップＳ１７に進む。 On the other hand, when it is determined in step S15 that the sound source direction is not the direction of the assistant driver's seat, the seating position of the voice commander is the rear seat, and the process proceeds to step S17.
　ステップＳ１７において、ユーザ順位決定部５５は、他の座席に運転コマンド限定受付対象者がいるか否かを判定する。なお、ステップＳ１７，Ｓ１８の処理は、各ユーザの運転コマンド受け付け優先順位を含むユーザ情報がユーザ情報記憶部５７に蓄積された後に行われる処理となる。 In step S17, the user rank determination unit 55 determines whether there is a driving command limited reception subject in another seat. The processing in steps S17 and S18 is processing performed after user information including the driving command reception priority of each user is stored in the user information storage unit 57.
　他の座席に運転コマンド限定受付対象者がいるとステップＳ１７において判定した場合、ステップＳ１８において、ユーザ順位決定部５５は、音声コマンドを入力したユーザの優先順位が、他の座席にいる運転コマンド限定受付対象者の優先順位より低いか否かを判定する。 When it is determined in step S17 that there is a driving command limited reception target person in another seat, in step S18, the user ranking determination unit 55 limits the driving command in which the priority of the user who input the voice command is in another seat. It is determined whether it is lower than the priority of the person to be accepted.
　音声コマンドを入力したユーザの優先順位が、他の座席にいる運転コマンド限定受付対象者の優先順位より低いとステップＳ１８において判定した場合、ステップＳ１９において、ユーザ順位決定部５５は、音声コマンドの入力者の順位を運転コマンド限定受付対象者として決定する。 If it is determined in step S18 that the priority of the user who has input the voice command is lower than the priority of the driving command limited receptionist in another seat, the user priority determination unit 55 inputs the voice command in step S19. The person's rank is determined as the driving command limited reception target person.
　推定された年齢が１８歳以上、６５歳未満ではないとステップＳ１４において判定された場合、ステップＳ２０において、音声コマンドの入力者の順位が運転コマンド受付拒否対象者として決定される。 If it is determined in step S14 that the estimated age is not more than 18 years old and less than 65 years old, in step S20, the rank of the input person of the voice command is determined as the driving command acceptance denial target person.
　なお、ステップＳ１７において、他の座席に運転コマンド限定受付対象者がいないと判定された場合、または、ステップＳ１８において、音声コマンドを入力したユーザの優先順位が、他の座席にいる運転コマンド限定受付対象者の優先順位より高いと判定された場合、ステップＳ１６において、音声コマンドの入力者の順位を優先順位が最も高い運転コマンド限定受付対象者として決定する。 If it is determined in step S17 that there is no driving command limited reception target person in another seat, or in step S18, the driving command limit reception in which the priority of the user who input the voice command is in another seat If it is determined that the priority is higher than the priority of the target person, in step S16, the rank of the input person of the voice command is determined as the driving command limited reception target who has the highest priority.
　ステップＳ１３，Ｓ１６，Ｓ１９，Ｓ２０において順位が決定された場合、図１２のステップＳ５に戻り、それ以降の処理が行われる。 If the order is determined in steps S13, S16, S19, and S20, the process returns to step S5 in FIG. 12 and the subsequent processing is performed.
　このように、ユーザの順位の判断基準として着座位置が考慮される。着座位置の優先順位は、助手席の方が後部座席より高くなる。つまり、運転者の状況の把握のしやすさ、進行方向の視界の程度などの観点から、助手席の優先順位の方が高く設定される。 Thus, the seating position is taken into consideration as the determination criterion of the user's rank. The priority of the seating position is higher in the front passenger seat than in the rear seat. That is, the priority of the front passenger seat is set higher from the viewpoint of the driver's easy understanding of the situation, the degree of visibility in the traveling direction, and the like.
　また、ユーザの順位の判断基準として、ユーザ属性が用いられる。ユーザ属性の判定には運転免許を持っているか否かと、ユーザの年齢が用いられる。ユーザの年齢については、音声の解析結果や画像の解析結果に基づいて推定されるのではなく、属性情報として事前登録されるようにしてもよい。 In addition, user attributes are used as determination criteria of the user's rank. Whether or not the driver has a license and the age of the user are used to determine the user attribute. The age of the user may be pre-registered as attribute information instead of being estimated based on the analysis result of the voice or the analysis result of the image.
　乗車人数、ユーザの性別、走行履歴などを考慮して運転コマンドの限定受付対象者が決定されるようにしてもよい。 The limited reception target person of the driving command may be determined in consideration of the number of passengers, the sex of the user, the traveling history, and the like.
　運転コマンドの限定受付対象者の決定の具体例について説明する。 A specific example of the determination of the limited reception target person of the driving command will be described.
　運転コマンドの限定受付対象者の決め方として、次の３つの基本ルールが設定される。
　１．非常用コマンドを受け付けられるのは、最も優先度の高い運転コマンドの限定受付対象者、原則１名とする。
　２．運転コマンドの限定受付対象者は、着座位置を基本として決定される。
　３．ユーザ属性が運転免許取得者、または、運転補助者であるユーザが運転コマンド限定受付対象者の候補となる。 The following three basic rules are set as how to decide the limited acceptance target of the driving command.
1. The person who can receive the emergency command is the person who is the limited reception target of the operation command with the highest priority, in principle 1 person.
2. The limited reception target person of the driving command is determined based on the sitting position.
3. A user whose user attribute is a driver's license acquirer or a driving assistant is a candidate for a driving command limited reception subject.
　第１のルールは、常に運転コマンド限定受付対象者全員からの非常用運転コマンドを受け付けていると、意図しない緊急停止などの危険性が高まってしまうために設定される。 The first rule is set because the danger of unintended emergency stop and the like will increase if the emergency operation commands from all the operation command limited reception target persons are always received.
　第２のルールは、運転者の状況を把握しやすいなどの上述したメリットがあるため、助手席の優先度の方が、後部座席の優先度より高く設定される。また、複数ある後部座席のそれぞれにも優先度が設定される。座席の状態（後部座席の一部を倒したり荷物を置いたりするなど）や乗車定員（後部座席の数）に応じて、車両設計者により、またはユーザにより、後部座席のそれぞれに優先度が設定される。 Since the second rule has the above-mentioned merits such as easy understanding of the driver's situation, the priority of the front passenger seat is set higher than the priority of the rear seat. In addition, priority is also set for each of a plurality of rear seats. Each rear seat is prioritized by the vehicle designer or by the user, depending on the seat conditions (such as folding a part of the rear seat or placing luggage) and the number of passengers (number of rear seats) Be done.
　第３のルールは、１８歳以上、６５歳未満の範囲内の年齢であれば運転免許の有無は問わないものとするものである。１８歳以上、６５歳未満の範囲は、運転時の危険が予測できると推測される年齢の範囲である。１８歳未満の子供や６５歳以上の高齢者は、運転コマンド限定受付対象者から原則除外されることになる。 The third rule is that the driver's license does not matter as long as the age is in the range of 18 years old or more and less than 65 years old. The range of 18 years old or older and less than 65 years is a range of age where it is presumed that the danger during driving can be predicted. As a rule, children under the age of 18 and elderly people over the age of 65 will be exempted from those who are eligible to receive driving commands.
　図１４は、運転コマンド限定受付対象者の優先順位を説明するための図である。 FIG. 14 is a diagram for explaining the priority of the driving command limited reception subject.
　図１４においては、車両１の各座席の配置が模式的に表されている。「運」の文字を囲む丸は運転席を示し、「１」の数字を囲む丸は助手席を示す。「２」、「３」、「４」の数字を囲む角丸長方形はそれぞれ後部座席を示す。 In FIG. 14, the arrangement of each seat of the vehicle 1 is schematically shown. The circle surrounding the letter "Luck" indicates the driver's seat, and the circle surrounding the number "1" indicates the passenger seat. The rounded rectangles surrounding the numbers "2", "3" and "4" indicate the rear seats, respectively.
　各座席に付された数字は、各座席の優先度を表す。１８歳以上、６５歳未満のユーザのうち、図１４において優先度が最も高い席に座っている１人のユーザが、運転コマンド限定受付対象者として決定される。 The numbers assigned to each seat represent the priority of each seat. Among the users aged 18 to 65, one user sitting in the seat with the highest priority in FIG. 14 is determined as the driving command limited reception target person.
　後部座席に複数のユーザがいる場合も同様である。 The same is true when there are multiple users in the back seat.
　例えば、運転席に４３歳のお父さんが座り、助手席に１２歳の子供が座っているものとする。また、左端の後部座席（２）に３歳の子供が座り、右端の後部座席（３）に４２歳のお母さんが座っているものとする。この場合、右端の後部座席に座っているお母さんが、運転コマンド限定受付対象者として決定される。 For example, it is assumed that a 43-year-old father sits in the driver's seat and a 12-year-old child sits in the passenger seat. In addition, it is assumed that a 3-year-old child sits in the left rear seat (2) and a 42-year-old mother sits in the right rear seat (3). In this case, the mother sitting in the rear seat at the right end is determined as the driving command limited reception target person.
　このような判定は、例えば、お父さんが「運転を始めて」などの運転コマンドを入力し、子供とお母さんが「～の曲を再生して」などの音楽再生操作用コマンドを入力していた場合に行われる。 Such determination is made, for example, when the father inputs a driving command such as "start driving" and the child and the mother have input a music reproduction operation command such as "playing a song of ...". To be done.
　ユーザ情報記憶部５７には、お父さんが運転免許取得者であり、運転席に座っていることを表すユーザ情報が記憶される。また、２人の子供については、それぞれ、１８歳以上、６５歳未満の範囲の年齢の条件を満たさず、助手席と後部座席（２）に座っていることを表すユーザ情報が記憶され、お母さんについては、年齢の条件を満たし、後部座席（３）に座っていることを表すユーザ情報が記憶される。 In the user information storage unit 57, user information indicating that the father is a driver's license acquirer and is sitting in the driver's seat is stored. In addition, with regard to the two children, user information indicating that they are sitting in the front passenger seat and the rear seat (2) is not stored, and the mother information is stored. , User information is stored that satisfies age requirements and represents sitting in the back seat (3).
　ユーザ情報記憶部５７に記憶されているこれらのユーザ情報に基づいて、上述したように、右端の後部座席（３）に座っているお母さんが運転コマンド限定受付対象者として決定される。 Based on the user information stored in the user information storage unit 57, as described above, the mother sitting in the rear seat (3) at the right end is determined as the driving command limited reception subject.
　また、運転席に２０代の男性であるＡさんが座り、助手席が空席であるものとする。また、左端の後部座席（２）に２０代の女性であるＢさんが座り、右端の後部座席（３）に２０代の男性であるＣさんが座り、中央の後部座席（４）に２０代の女性であるＤさんが座っているものとする。この場合、左端の後部座席（２）に座っているＢさんが、運転コマンド限定受付対象者として決定される。 In addition, it is assumed that Mr. A, who is a male in his twenties, sits in the driver's seat and the passenger seat is vacant. In addition, Mr. B, who is a woman in her twenties, sits in the left rear seat (2), Mr. C, who is a man in her twenties, sits in the right rear seat (3), her 20s in the center rear seat (4) It is assumed that Mr. D, who is a female, is sitting. In this case, Mr. B sitting in the left rear seat (2) is determined as the driving command limited reception target person.
　このような判定は、例えば、Ａさんが「運転を始めて」などの運転コマンドを入力し、ＢさんとＣさんとＤさんが「エアコンの温度を上げて」などの空調コマンドを入力していた場合に行われる。 For such determination, for example, Mr. A inputs a driving command such as "Start driving", and Mr. B, Mr. C and Mr. D input an air conditioning command such as "Turn on the temperature of the air conditioner" If done.
　ユーザ情報記憶部５７には、Ａさんが運転免許取得者であり、運転席に座っていることを表すユーザ情報が記憶される。また、ＢさんとＣさんについては、１８歳以上、６５歳未満の範囲の年齢の条件を満たし、それぞれ左端の後部座席（２）と右端の後部座席（３）に座っていることを表すユーザ情報が記憶される。Ｄさんについては、１８歳以上、６５歳未満の範囲の年齢の条件を満たし、中央の後部座席（４）に座っていることを表すユーザ情報が記憶される。 The user information storage unit 57 stores user information indicating that Mr. A is a driver's license acquirer and is sitting in the driver's seat. In addition, for Mr. B and Mr. C, a user who meets the condition of the age range of 18 years old or older and less than 65 years, and represents that they are sitting in the left rear seat (2) and the right rear seat (3) Information is stored. As for Mr. D, user information is stored that satisfies the condition of the age range of 18 years old or older and less than 65 years old, and represents sitting in the central rear seat (4).
　ユーザ情報記憶部５７に記憶されているこれらのユーザ情報に基づいて、上述したように、左端の後部座席（２）に座っているＢさんが運転コマンド限定受付対象者として決定される。 Based on these pieces of user information stored in the user information storage unit 57, as described above, Mr. B sitting in the rear seat (2) at the left end is determined as the driving command limited reception target person.
　なお、運転免許を取得しているユーザや乗車歴の長いユーザが着座位置に関わらず優先されるなど、運転コマンド限定受付対象者の決定の仕方として様々な方法を採用することが可能である。また、図１４に示す優先度は適宜変更可能である。 In addition, it is possible to adopt various methods as a method of determination of a driving command limited reception target person, such as a user who has acquired a driver's license and a user with a long history of riding being prioritized regardless of the sitting position. Also, the priority shown in FIG. 14 can be changed as appropriate.
　以上の処理においては、ユーザが声を出さない限り、属性の判定を行うことができない。カメラ２２により撮影された車内の画像や、センサ２３を構成する着座センサから出力されたセンサデータに基づいてユーザの属性が判定されるようにしてもよい。 In the above process, the attribute can not be determined unless the user speaks. The attribute of the user may be determined based on the in-vehicle image captured by the camera 22 or sensor data output from a seating sensor that constitutes the sensor 23.
　例えば、画像を解析することにより、発話を行ったユーザの年齢、着座位置を推定可能である。図１３を参照して説明した各判定が、画像を解析することにより特定されたユーザの年齢、着座位置に基づいて行われる。 For example, by analyzing the image, it is possible to estimate the age of the user who made the utterance and the sitting position. Each determination described with reference to FIG. 13 is performed based on the age of the user identified by analyzing the image and the seating position.
＜３－３．音声コマンド実行制御処理＞
　図１５のフローチャートを参照して、図１２のステップＳ６において行われる音声コマンド実行制御処理について説明する。 <3-3. Voice command execution control processing>
The voice command execution control process performed in step S6 of FIG. 12 will be described with reference to the flowchart of FIG.
　ステップＳ３１において、実行制御部５６は、入力された音声コマンドが運転コマンドであるか否かを判定する。 In step S31, the execution control unit 56 determines whether the input voice command is a driving command.
　入力された音声コマンドが運転コマンドであるとステップＳ３１において判定した場合、ステップＳ３２において、実行制御部５６は、運転者による発話であるか否かを判定する。 If it is determined in step S31 that the input voice command is a driving command, in step S32, the execution control unit 56 determines whether the driver's utterance is made.
　入力された運転コマンドが運転者による発話であるとステップＳ３２において判定した場合、ステップＳ３３において、実行制御部５６は、入力された運転コマンドを受け付け、実行する。すなわち、入力された運転コマンドが、常時受付の対象となるユーザによる運転コマンドであると判断され、受け付けられることになる。 If it is determined in step S32 that the input driving command is a driver's utterance, in step S33, the execution control unit 56 receives and executes the input driving command. That is, it is determined that the input driving command is the driving command by the user who is always the target of reception, and is received.
　一方、ステップＳ３２において、入力された運転コマンドが運転者による発話ではないと判定した場合、ステップＳ３４において、実行制御部５６は、限定受付の対象となるユーザによる発話であるか否かを判定する。 On the other hand, when it is determined in step S32 that the input driving command is not the driver's utterance, in step S34, the execution control unit 56 determines whether or not the user is the target of the limited acceptance. .
　限定受付の対象となるユーザによる発話であるとステップＳ３４において判定した場合、ステップＳ３５において、実行制御部５６は、入力された運転コマンドが非常用運転コマンドであるか否かを判定する。 If it is determined in step S34 that the user's utterance is a target of limited acceptance, in step S35, the execution control unit 56 determines whether the input driving command is an emergency driving command.
　入力された運転コマンドが非常用運転コマンドであるとステップＳ３５において判定した場合、処理はステップＳ３３に進む。すなわち、入力された非常用運転コマンドが、限定受付の対象となるユーザによる運転コマンドであると判断され、受け付けられることになる。 If it is determined in step S35 that the input operation command is an emergency operation command, the process proceeds to step S33. That is, it is determined that the input emergency operation command is an operation command by the user who is the target of limited acceptance, and is accepted.
　ステップＳ３４において、限定受付の対象となるユーザによる発話ではないと判定された場合、または、ステップＳ３５において、入力された運転コマンドが非常用運転コマンドではなく通常運転コマンドであると判定された場合、処理はステップＳ３６に進む。 In step S34, when it is determined that the user does not speak by the user who is the target of limited acceptance, or when it is determined in step S35 that the input driving command is not the emergency driving command but the normal driving command, The process proceeds to step S36.
　ステップＳ３６において、実行制御部５６は、入力された運転コマンドの受け付けを拒否し、実行しない。 In step S36, the execution control unit 56 refuses to receive the input operation command and does not execute it.
　ステップＳ３１において、入力された音声コマンドが運転コマンドではないと判定された場合も、処理はステップＳ３３に進む。この場合、ステップＳ３３において、ナビゲーション操作用コマンド、音楽再生操作用コマンド、空調コマンドが受け付けられ、実行されることになる。 Also in the case where it is determined in step S31 that the input voice command is not a driving command, the process proceeds to step S33. In this case, in step S33, a navigation operation command, a music reproduction operation command, and an air conditioning command are accepted and executed.
　ステップＳ３３において音声コマンドに応じた処理が行われた後、または、ステップＳ３６において音声コマンドの受け付けが拒否された後、図１２のステップＳ８に戻り、それ以降の処理が行われる。 After the process according to the voice command is performed in step S33, or after the acceptance of the voice command is rejected in step S36, the process returns to step S8 in FIG. 12, and the subsequent processes are performed.
　以上の一連の処理により、各ユーザに順位付けを行い、運転コマンドの受け付けを入力者の順位に従って適切に行うことが可能となる。運転者が最も順位の高いユーザとなり、他のユーザについては、属性と着座位置に応じて、運転コマンドの受け付けの基準となる順位が設定されることになる。 By the above-described series of processes, it is possible to rank the users and appropriately receive the driving command according to the rank of the input person. The driver is the highest ranked user, and for other users, the ranking which is the reference of the reception of the driving command is set according to the attribute and the sitting position.
＜＜４．変形例＞＞
＜４－１．運転コマンド限定受付対象者の決め方について＞
　優先度が最も高い運転コマンド限定受付対象者の決め方の変形例について説明する。 << 4. Modified example >>
<4-1. About how to decide the target person of driving command limitation acceptance>
A modification of how to determine the driving command limited reception subject having the highest priority will be described.
・変形例１
　駐車場などで車両が後退している場合に限り、後部座席のユーザが優先度の高い運転コマンド限定受付対象者として決定されるようにしてもよい。 ・ Modified example 1
Only when the vehicle is moving backward in a parking lot or the like, the user of the rear seat may be determined as a high priority driving command limited reception subject.
　駐車場などでは、車両の前方だけでなく車両の横方向や後方にも危険があり、後部座席に座っているユーザの方が、そのような車両の横方向や後方の危険を察知しやすいと考えられる。後部座席のユーザを一時的に運転コマンド限定受付対象者として優先順位を上げ、後部座席のユーザからの非常用運転コマンドを受け付けることができるようにすることにより、そのような車両の横方向や後方の危険を回避することが可能になる。 In a parking lot etc., there is a danger not only in front of the vehicle but also in the side direction and back of the vehicle, and it is easier for the user sitting in the back seat to detect the danger of side and rear of such vehicle Conceivable. By temporarily raising the priority of the rear seat user as the driving command limited reception target person so that the emergency driving command from the rear seat user can be received, the lateral direction and the rear direction of such a vehicle can be obtained. It is possible to avoid the danger of
　また、車両１が事故多発エリアを走行している場合に限り、優先度の高い運転コマンド限定受付対象者の数を増やすようにしてもよい。事故多発エリアについては、ナビゲーション制御部３３が管理するヒヤリ・ハットマップなどの情報から特定される。 In addition, only when the vehicle 1 travels in the accident-prone area, the number of driving command limited reception target persons having high priority may be increased. The accident frequently occurring area is identified from information such as a near-miss hat map managed by the navigation control unit 33.
　例えば、優先度の高い運転コマンド限定受付対象者の上限数を２人とした場合について考える。図１４に示す座席配置において、運転席に２０代の男性のＡさんが座り、助手席に２０代の女性のＢさんが座っているものとする。また、左端の後部座席（２）に２０代の女性のＣさんが座り、右端の後部座席（３）に２０代の男性のＤさんが座っているものとする。 For example, the case where the upper limit number of the driving command limited reception target persons with high priority is 2 is considered. In the seat arrangement shown in FIG. 14, it is assumed that a 20-year-old man A sits in the driver's seat and a 20-year-old woman B sits in the passenger seat. In addition, it is assumed that a female C in her twenties sits in the rear seat (2) on the left end and a male D in her twenties sits in the rear seat (3) on the right end.
　この場合、基本ルールに従って、通常の走行時は、助手席に座っているＢさんだけが優先順位の高い運転コマンド限定受付対象者として決定される。また、事故多発エリアの走行中は、左端の後部座席（２）に座っているＣさんも、Ｂさんと同等の優先度を付与された運転コマンド限定受付対象者として決定される。 In this case, according to the basic rule, during normal traveling, only Mr. B sitting in the assistant driver's seat is determined as a driving command limited reception target person of high priority. In addition, while traveling in the accident-prone area, Mr. C sitting in the rear seat (2) at the left end is also determined as a driving command limited reception subject who is given the same priority as Mr. B.
　優先度の高い運転コマンド限定受付対象者の数を増やすことにより、複数人で、車両１の安全に注意を払うことが可能になる。 By increasing the number of driving command limited reception target persons having high priority, it is possible for a plurality of people to pay attention to the safety of the vehicle 1.
　このように、進行方向などの走行状態や走行中の場所などの、車両１の各種の状況に応じて、優先度の高い運転コマンド限定受付対象者が切り替えられるようにすることが可能である。 As described above, it is possible to switch the person who is subject to the reception of the driving command limitation reception object with high priority according to various conditions of the vehicle 1 such as the traveling state such as the traveling direction and the traveling place.
・変形例２
　年齢以外のユーザの属性や、走行履歴に応じて、運転コマンド限定受付対象者の順位が決定されるようにしてもよい。 ・ Modification 2
The order of the driving command limited reception subject may be determined according to the attribute of the user other than the age and the travel history.
　例えば、助手席に座っているユーザよりも後部座席に座っているユーザの方が、運転歴が長かったり、車両１の走行中のエリアの走行経験が豊富であったりする場合、後部座席のユーザについても、助手席のユーザと同等の優先度を持った運転コマンド限定受付対象者として決定される。 For example, if the user who sits in the rear seat has a longer driving history than the user who sits in the passenger seat, or if the traveling experience of the area in which the vehicle 1 is traveling is rich, the user of the rear seat Is also determined as a driving command limited reception target person having the same priority as the user at the front passenger seat.
　この場合、運転歴は、ユーザの属性情報に基づいて特定される。また、走行中のエリアの走行経験は、走行履歴に基づいて特定される。各ユーザの走行履歴の情報は、例えば、各ユーザの属性情報に含めて管理される。走行履歴には、走行経路、走行日時などの情報が含まれる。 In this case, the driving history is specified based on the user's attribute information. In addition, the travel experience of the area being traveled is specified based on the travel history. The information of the travel history of each user is managed, for example, by being included in the attribute information of each user. The travel history includes information such as a travel route and travel date and time.
　例えば、優先度の高い運転コマンド限定受付対象者の上限数を２人とした場合について考える。運転席に４５歳の男性が座り、助手席に運転免許を持っていない１８歳の女性が座っているものとする。また、後部座席に運転免許を持っている４３歳の女性が座っているものとする。 For example, the case where the upper limit number of the driving command limited reception target persons with high priority is 2 is considered. It is assumed that a 45-year-old man sits in the driver's seat and an 18-year-old woman who does not have a driver's license in the passenger seat. In addition, it is assumed that a 43-year-old woman with a driver's license is sitting in the back seat.
　この場合、助手席に座っている１８歳の女性が基本ルールに従って運転コマンド限定受付対象者として決定されるだけでなく、後部座席に座っている４３歳の女性も、助手席に座っているユーザと同等の優先度を持った運転コマンド限定受付対象者として決定される。 In this case, the 18-year-old woman sitting in the front passenger seat is not only determined as a target person for driving command limitation reception according to the basic rule, but also the 43-year-old woman sitting in the back seat is a user sitting in the front passenger seat It is determined as a driving command limited acceptance target person having the same priority as in the above.
　このような運転コマンド限定受付対象者の決定は、運転免許を持っている人は、運転時の危険についての知識があるとの仮定に基づくものである。また、現在走行中のエリアの走行経験が豊富な人（例えば１０時間以上の走行経験がある人）は、そのエリアに潜む危険について熟知しているとの仮定に基づくものである。 Such a determination of a driving command limited receptionist is based on the assumption that a person having a driver's license has knowledge of driving hazards. Also, it is based on the assumption that people who are rich in driving experience in the area currently traveling (for example, people who have traveled 10 hours or more) are familiar with the dangers of diving in the area.
　優先度の高い運転コマンド限定受付対象者の数を増やすことにより、複数人で、車両１の安全に注意を払うことが可能になる。 By increasing the number of driving command limited reception target persons having high priority, it is possible for a plurality of people to pay attention to the safety of the vehicle 1.
　このように、年齢以外のユーザの属性や、走行履歴などに基づいて、運転コマンド限定受付対象者が切り替えられるようにすることが可能である。 As described above, it is possible to switch the driving command limitation reception target person based on the attribute of the user other than the age, the traveling history, and the like.
・変形例３
　運転者が運転不能になった場合、基本ルールに基づく判断では運転コマンド限定受付対象者が不在となるときに限り、ユーザの属性に関わらず、所定のユーザが運転コマンド限定受付対象者として決定されるようにしてもよい。 ・ Modification 3
When the driver becomes inoperable, it is determined based on the basic rule that the predetermined user is determined as the driving command limited reception target person only when the driving command limited reception target person is absent regardless of the user attribute. You may
　この場合、１８歳未満の子どもや６５歳以上の高齢者も、例外的に運転コマンド限定受付対象者として決定されることになる。このように、運転コマンド限定受付対象者の範囲を各種の状況に応じて切り替えることが可能である。 In this case, children under the age of 18 and elderly people over the age of 65 are exceptionally determined as driving command limited reception persons. Thus, it is possible to switch the range of the driving command limited reception target person according to various situations.
＜４－２．他の応用例＞
　危険の回避に必要な非常用運転コマンドが限定受付の対象として受け付けられるものとしたが、発話時の画像や、叫び声などの音声から緊迫度を推定し、緊急停止のトリガとするようにしてもよい。 <4-2. Other application example>
Although the emergency driving command necessary for avoiding dangers is accepted as the target of limited reception, the degree of tension may be estimated from the image at the time of speech or voice such as cry and be used as a trigger for emergency stop. Good.
　また、限定受付の対象となるユーザによる非常用運転コマンドの受け付けのタイミングが、交差点、見通しの悪い道路、駐車場、車両の発進時など、交通事故が起きやすい状況にあるタイミングのみに制限されるようにしてもよい。交通事故が起きやすい状況は、現在地の情報や車両の走行状況に基づいて例えば実行制御部５６により判断される。 In addition, the timing of acceptance of the emergency operation command by the user who is subject to limited acceptance is limited only to the timing when traffic accidents are likely to occur, such as intersections, roads with poor visibility, parking lots, starting of vehicles, etc. You may do so. The situation where a traffic accident is likely to occur is determined by, for example, the execution control unit 56 based on the information on the current location and the traveling situation of the vehicle.
　また、非常用運転コマンドの限定受付の対象となるユーザの人数に制限が設けられるようにしてもよい。例えば、そのようなユーザの人数は、同一の車両内で１名までとするなどの設定が考えられる。 In addition, the number of users to be subjected to the limited reception of the emergency operation command may be limited. For example, the number of such users may be set to one in the same vehicle.
　さらに、ユーザの順位付けの結果が、運転コマンドの受け付けを制限すること以外に用いられるようにしてもよい。 Furthermore, the result of the user's ranking may be used other than limiting the acceptance of the driving command.
　例えば、車両走行時の大音量でのBGMは、運転の妨げになる可能性がある。音楽再生操作用コマンドを用いたBGMの音量操作については、順位付けの結果に基づいて、運転者に操作の方が、車内の他のユーザの操作よりも優遇される。 For example, BGM at a loud volume when the vehicle is traveling may interfere with driving. With regard to the volume operation of BGM using the command for music reproduction operation, the operation of the driver is more favored than the operation of other users in the vehicle based on the result of the ranking.
　車載機器２１以外のエージェント機能を有する情報端末をユーザが運転中に使用している場合、そのエージェント機能を有する情報端末が運転コマンド限定受付対象者として決定されるようにしてもよい。この場合、車載機器２１は、エージェント機能を有する情報端末が状況を判断して発話した非常用運転コマンドを限定的に受け付け、実行することになる。 When the user uses an information terminal having an agent function other than the in-vehicle device 21 during driving, the information terminal having the agent function may be determined as the driving command limitation reception target person. In this case, the on-vehicle device 21 accepts and executes limitedly the emergency operation command uttered by the information terminal having the agent function judging the situation.
　ユーザが乗っている移動体が車であるものとしたが、自転車、バイク、電車、飛行機などの、車載機器２１を搭載した他の移動体であってもよい。各種の移動体を運転する場合にも、上述した技術を適用可能である。 Although the mobile unit on which the user is riding is assumed to be a car, it may be another mobile unit equipped with the on-vehicle device 21 such as a bicycle, a motorcycle, a train, or an airplane. The above-described technology can also be applied when driving various moving bodies.
　音声コマンドによって制御する対象となる機器は、移動体に搭載された機器に限られない。例えば、テレビジョン受像機、エアコン（エアーコンディショナー）、照明機器などの室内に設置された各機器のゲートウェイとなる制御装置を音声コマンドによって操作する場合にも、上述した音声コマンドの受け付けを適用することが可能である。 The devices to be controlled by the voice command are not limited to the devices mounted on the mobile. For example, the reception of the voice command described above is applied also in the case of operating a control device serving as a gateway of each device installed in a room such as a television receiver, an air conditioner (air conditioner), and a lighting device by a voice command. Is possible.
　例えば、スプリンクラーなどの防災機器の動作を音声コマンドによって制御する場合について説明する。火災などの発生時、「消火して」などの音声コマンドを制御装置に入力することによって、スプリンクラーを稼働させることができる。 For example, the case where the operation of a disaster prevention device such as a sprinkler is controlled by a voice command will be described. In the event of a fire or the like, the sprinkler can be operated by inputting a voice command such as "to extinguish" into the control device.
　スプリンクラーを稼働させるための音声コマンドは、所定の年齢の条件を満たす大人を入力者とする場合には受け付けられる。一方、年齢の条件を満たさない子供を入力者とする場合、実際に火災が起きているとき、すなわち非常時には受け付けられるが、火災が起きていない通常時には受け付けられない。 The voice command for operating the sprinkler is accepted when an adult is a person who satisfies the condition of a predetermined age. On the other hand, when a child who does not satisfy the condition of the age is used as the input person, it can be accepted when a fire actually occurs, that is, in an emergency, but not accepted normally when a fire does not occur.
　制御装置には、上述したようにして音声コマンドの受け付けを制御する機能とともに、火災の発生の有無を検出する機能も搭載されている。 The control device is equipped with a function of controlling the reception of the voice command as described above as well as a function of detecting the occurrence of a fire.
　このように、移動体に搭載された機器以外の機器を音声コマンドによって制御する場合にも、上述した処理を適用することが可能である。 As described above, the above-described process can be applied to the case where devices other than the device mounted on the mobile object are controlled by the voice command.
・コンピュータの構成例
　上述した一連の処理は、ハードウェアにより実行することもできるし、ソフトウェアにより実行することもできる。一連の処理をソフトウェアにより実行する場合には、そのソフトウェアを構成するプログラムが、専用のハードウェアに組み込まれているコンピュータ、または汎用のパーソナルコンピュータなどに、プログラム記録媒体からインストールされる。 Computer Configuration Example The above-described series of processes may be performed by hardware or software. When the series of processes are executed by software, a program constituting the software is installed from a program recording medium in a computer incorporated in dedicated hardware, a general-purpose personal computer, or the like.
　図１６は、上述した一連の処理をプログラムにより実行するコンピュータのハードウェアの構成例を示すブロック図である。 FIG. 16 is a block diagram showing an example of a hardware configuration of a computer that executes the series of processes described above according to a program.
　車載機器２１は、例えば、図１６に示すような構成を有するコンピュータにより構成される。 The on-vehicle device 21 is configured by, for example, a computer having a configuration as shown in FIG.
　CPU(Central Processing Unit)１００１、ROM(Read Only Memory)１００２、RAM(Random Access Memory)１００３は、バス１００４により相互に接続されている。 A central processing unit (CPU) 1001, a read only memory (ROM) 1002, and a random access memory (RAM) 1003 are mutually connected by a bus 1004.
　バス１００４には、さらに、入出力インタフェース１００５が接続されている。入出力インタフェース１００５には、キーボード、マウスなどよりなる入力部１００６、ディスプレイ、スピーカなどよりなる出力部１００７が接続される。また、入出力インタフェース１００５には、ハードディスクや不揮発性のメモリなどよりなる記憶部１００８、ネットワークインタフェースなどよりなる通信部１００９、リムーバブルメディア１０１１を駆動するドライブ１０１０が接続される。 An input / output interface 1005 is further connected to the bus 1004. The input / output interface 1005 is connected to an input unit 1006 including a keyboard, a mouse and the like, and an output unit 1007 including a display, a speaker and the like. Further, connected to the input / output interface 1005 are a storage unit 1008 such as a hard disk and a non-volatile memory, a communication unit 1009 such as a network interface, and a drive 1010 for driving the removable medium 1011.
　以上のように構成されるコンピュータでは、CPU１００１が、例えば、記憶部１００８に記憶されているプログラムを入出力インタフェース１００５及びバス１００４を介してRAM１００３にロードして実行することにより、上述した一連の処理が行われる。 In the computer configured as described above, the CPU 1001 loads, for example, the program stored in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004, and executes the above-described series of processes. Is done.
　CPU１００１が実行するプログラムは、例えばリムーバブルメディア１０１１に記録して、あるいは、ローカルエリアネットワーク、インターネット、デジタル放送といった、有線または無線の伝送媒体を介して提供され、記憶部１００８にインストールされる。 The program executed by the CPU 1001 is provided, for example, via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting, recorded in the removable medium 1011 or installed in the storage unit 1008.
　コンピュータが実行するプログラムは、本明細書で説明する順序に沿って時系列に処理が行われるプログラムであっても良いし、並列に、あるいは呼び出しが行われたとき等の必要なタイミングで処理が行われるプログラムであっても良い。 The program executed by the computer may be a program that performs processing in chronological order according to the order described in this specification, in parallel, or when processing is performed such as when a call is made. It may be a program to be performed.
　本技術の実施の形態は、上述した実施の形態に限定されるものではなく、本技術の要旨を逸脱しない範囲において種々の変更が可能である。 The embodiments of the present technology are not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present technology.
　例えば、本技術は、１つの機能をネットワークを介して複数の装置で分担、共同して処理するクラウドコンピューティングの構成をとることができる。 For example, the present technology can have a cloud computing configuration in which one function is shared and processed by a plurality of devices via a network.
　また、上述のフローチャートで説明した各ステップは、１つの装置で実行する他、複数の装置で分担して実行することができる。 Further, each step described in the above-described flowchart can be executed by one device or in a shared manner by a plurality of devices.
　さらに、１つのステップに複数の処理が含まれる場合には、その１つのステップに含まれる複数の処理は、１つの装置で実行する他、複数の装置で分担して実行することができる。 Furthermore, in the case where a plurality of processes are included in one step, the plurality of processes included in one step can be executed by being shared by a plurality of devices in addition to being executed by one device.
　なお、本明細書に記載された効果はあくまで例示であって限定されるものでは無く、また他の効果があってもよい。 In addition, the effect described in this specification is an illustration to the last, is not limited, and may have other effects.
・構成の組み合わせ例
　本技術は、以下のような構成をとることもできる。 -Example of combination of configuration The present technology can also have the following configuration.
（１）
　機器の制御に関する音声コマンドの種別を受信する受信部と、
　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける制御部と
　を備える情報処理装置。
（２）
　音声認識を行うことによって、前記音声コマンドを検出する音声認識部をさらに備える
　前記（１）に記載の情報処理装置。
（３）
　前記音声コマンドの入力者の車内での位置を特定する位置特定部をさらに備え、
　前記制御部は、前記音声コマンドの受け付けを、入力者の属性と位置に応じて制御する
　前記（２）に記載の情報処理装置。
（４）
　前記位置特定部は、音源を推定することによって、前記音声コマンドの入力者の位置を特定する
　前記（３）に記載の情報処理装置。
（５）
　前記音声コマンドは、車両に搭載された機器の制御に関するコマンドであり、
　前記音声コマンドの種別には、前記車両の運転に関する運転コマンドが含まれる
　前記（３）または（４）に記載の情報処理装置。
（６）
　前記制御部は、入力者の属性が運転免許取得者であり、着座位置が運転席である場合、前記運転コマンドを常時受け付ける
　前記（５）に記載の情報処理装置。
（７）
　前記制御部は、着座位置が運転席以外の席である場合、前記運転コマンドが、非常用のコマンドであるときには受け付け、非常用のコマンドでないときには受け付けない
　前記（６）に記載の情報処理装置。
（８）
　前記制御部は、入力者の属性が運転免許取得者または運転補助者であり、着座位置が運転席以外の座席である場合、前記運転コマンドが、非常用のコマンドであるときには受け付け、非常用のコマンドでないときには受け付けない
　前記（７）に記載の情報処理装置。
（９）
　運転免許を有していない所定の年齢のユーザの属性を前記運転補助者として決定する決定部をさらに備える
　前記（８）に記載の情報処理装置。
（１０）
　前記制御部は、前記運転コマンドが非常用のコマンドである場合に受け付けるユーザが複数いるとき、それぞれのユーザに対して、属性と着座位置のうちの少なくともいずれかに応じて優先順位を設定し、前記優先順位に応じて前記運転コマンドを受け付ける
　前記（８）または（９）に記載の情報処理装置。
（１１）
　前記制御部は、前記運転コマンドが非常用のコマンドである場合に受け付けるユーザを、走行状況と運転者の状況のうちの少なくともいずれかに応じて切り替える
　前記（８）乃至（１０）のいずれかに記載の情報処理装置。
（１２）
　前記制御部は、入力者の属性が、前記運転免許取得者と前記運転補助者以外の同乗者である場合、前記運転コマンドを受け付けない
　前記（８）乃至（１１）のいずれかに記載の情報処理装置。
（１３）
　情報処理装置が、
　機器の制御に関する音声コマンドの種別を受信し、
　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける
　情報処理方法。
（１４）
　コンピュータに、
　機器の制御に関する音声コマンドの種別を受信し、
　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける
　処理を実行させるためのプログラム。
（１５）
　機器の制御に関する音声コマンドの種別を受信する受信部と、
　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける制御部と
　を備える情報処理装置を搭載した移動体。 (1)
A receiver that receives a type of voice command related to control of the device;
An information processing apparatus, comprising: a control unit that accepts the voice command whose input person is a user who does not receive the type of the voice command when the type of the voice command is an emergency command.
(2)
The information processing apparatus according to (1), further including: a voice recognition unit that detects the voice command by performing voice recognition.
(3)
It further comprises a position specifying unit for specifying the position in the car of the input person of the voice command,
The information processing apparatus according to (2), wherein the control unit controls reception of the voice command according to an attribute and a position of an input person.
(4)
The information processing apparatus according to (3), wherein the position specifying unit specifies a position of an input person of the voice command by estimating a sound source.
(5)
The voice command is a command related to control of a device mounted on a vehicle,
The information processing apparatus according to (3) or (4), wherein a type of the voice command includes a driving command related to driving of the vehicle.
(6)
The information processing apparatus according to (5), wherein the control unit always receives the driving command when the attribute of the input person is a driver's license acquirer and the seating position is a driver's seat.
(7)
The information processing apparatus according to (6), wherein the control unit receives the operation command when the seating position is a seat other than the driver's seat, when the operation command is an emergency command, and does not receive the operation command when the operation command is not an emergency command.
(8)
When the attribute of the input person is a driver's license holder or a driving assistant and the seating position is a seat other than the driver's seat, the control unit receives the driving command when the driving command is an emergency command, and the control unit The information processing apparatus according to (7), which does not receive the command when it is not a command.
(9)
The information processing apparatus according to (8), further including: a determination unit that determines an attribute of a user of a predetermined age who does not have a driver's license as the driving assistant.
(10)
The control unit sets a priority for each user according to at least one of an attribute and a seating position when there are a plurality of users who receive when the operation command is an emergency command. The information processing apparatus according to (8) or (9), wherein the driving command is received according to the priority.
(11)
The control unit switches the user who receives the driving command when the driving command is an emergency command, according to at least one of the driving condition and the driver's condition. Any one of (8) to (10) Information processor as described.
(12)
The control unit does not receive the driving command when the attribute of the input person is a passenger other than the driver's license holder and the driving assistant, the information according to any one of (8) to (11) Processing unit.
(13)
The information processing apparatus
Receive the type of voice command related to control of the device,
When the type of the voice command is an emergency command, the voice command whose input person is a user who does not receive the command when the type of the voice command is not an emergency command is received.
(14)
On the computer
Receive the type of voice command related to control of the device,
When the type of the voice command is an emergency command, a program for executing processing for receiving the voice command whose input person is a user who does not receive the command when the command is not an emergency command.
(15)
A receiver that receives a type of voice command related to control of the device;
A mobile unit equipped with an information processing apparatus, comprising: a control unit that accepts a voice command whose input person is a user who is not accepted when the type of the voice command is a command for emergency or not a command for emergency.
　１　車両，　１１　ディスプレイ，　１２　マイクアレイ，　２１　車載機器，　２２　カメラ，　２３　センサ，　２４　スピーカ，　２５　駆動制御部，　２６　空調制御部，　５１　音声認識部，　５２　コマンド種別判断部，　５３　話者位置特定部，　５４　ユーザ識別部，　５５　ユーザ順位決定部，　５６　実行制御部，　５７　ユーザ情報記憶部 Reference Signs List 1 vehicle 11 display 12 microphone array 21 in-vehicle device 22 camera 23 sensor 24 speaker 25 drive control unit 26 air conditioning control unit 51 voice recognition unit 52 command type determination unit 53 speaker position specification unit , 54 user identification unit, 55 user order determination unit, 56 execution control unit, 57 user information storage unit

Claims (15)

  1. 　機器の制御に関する音声コマンドの種別を受信する受信部と、
    　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける制御部と
    　を備える情報処理装置。     A receiver that receives a type of voice command related to control of the device;
    An information processing apparatus, comprising: a control unit that accepts the voice command whose input person is a user who does not receive the type of the voice command when the type of the voice command is an emergency command.
  2. 　音声認識を行うことによって、前記音声コマンドを検出する音声認識部をさらに備える
    　請求項１に記載の情報処理装置。     The information processing apparatus according to claim 1, further comprising a voice recognition unit that detects the voice command by performing voice recognition.
  3. 　前記音声コマンドの入力者の位置を特定する位置特定部をさらに備え、
    　前記制御部は、前記音声コマンドの受け付けを、入力者の属性と位置に応じて制御する
    　請求項１に記載の情報処理装置。     It further comprises a position specifying unit for specifying the position of the input person of the voice command,
    The information processing apparatus according to claim 1, wherein the control unit controls reception of the voice command in accordance with an attribute and a position of an input person.
  4. 　前記位置特定部は、音源を推定することによって、前記音声コマンドの入力者の位置を特定する
    　請求項３に記載の情報処理装置。     The information processing apparatus according to claim 3, wherein the position specifying unit specifies a position of an input person of the voice command by estimating a sound source.
  5. 　前記音声コマンドは、車両に搭載された機器の制御に関するコマンドであり、
    　前記音声コマンドの種別には、前記車両の運転に関する運転コマンドが含まれる
    　請求項３に記載の情報処理装置。     The voice command is a command related to control of a device mounted on a vehicle,
    The information processing apparatus according to claim 3, wherein a type of the voice command includes a driving command related to driving of the vehicle.
  6. 　前記制御部は、入力者の属性が運転免許取得者であり、着座位置が運転席である場合、前記運転コマンドを常時受け付ける
    　請求項５に記載の情報処理装置。     The information processing apparatus according to claim 5, wherein, when the attribute of the input person is a driver's license acquirer and the seating position is a driver's seat, the control unit constantly receives the driving command.
  7. 　前記制御部は、着座位置が運転席以外の席である場合、前記運転コマンドが、非常用のコマンドであるときには受け付け、非常用のコマンドでないときには受け付けない
    　請求項６に記載の情報処理装置。     The information processing apparatus according to claim 6, wherein, when the seating position is a seat other than the driver's seat, the control unit receives the operation command when the command is an emergency command and does not receive the operation command when the operation command is not an emergency command.
  8. 　前記制御部は、入力者の属性が運転免許取得者または運転補助者であり、着座位置が運転席以外の座席である場合、前記運転コマンドが、非常用のコマンドであるときには受け付け、非常用のコマンドでないときには受け付けない
    　請求項７に記載の情報処理装置。     When the attribute of the input person is a driver's license holder or a driving assistant and the seating position is a seat other than the driver's seat, the control unit receives the driving command when the driving command is an emergency command, and the control unit The information processing apparatus according to claim 7, wherein the information processing apparatus is not accepted when it is not a command.
  9. 　運転免許を有していない所定の年齢のユーザの属性を前記運転補助者として決定する決定部をさらに備える
    　請求項８に記載の情報処理装置。     The information processing apparatus according to claim 8, further comprising a determination unit configured to determine an attribute of a user of a predetermined age who does not have a driver's license as the driving assistant.
  10. 　前記制御部は、前記運転コマンドが非常用のコマンドである場合に受け付けるユーザが複数いるとき、それぞれのユーザに対して、属性と着座位置のうちの少なくともいずれかに応じて優先順位を設定し、前記優先順位に応じて前記運転コマンドを受け付ける
    　請求項８に記載の情報処理装置。     The control unit sets a priority for each user according to at least one of an attribute and a seating position when there are a plurality of users who receive when the operation command is an emergency command. The information processing apparatus according to claim 8, wherein the operation command is received according to the priority.
  11. 　前記制御部は、前記運転コマンドが非常用のコマンドである場合に受け付けるユーザを、走行状況と運転者の状況のうちの少なくともいずれかに応じて切り替える
    　請求項８に記載の情報処理装置。     The information processing apparatus according to claim 8, wherein the control unit switches a user who receives the driving command when the driving command is an emergency command according to at least one of a driving situation and a driver's situation.
  12. 　前記制御部は、入力者の属性が、前記運転免許取得者と前記運転補助者以外の同乗者である場合、前記運転コマンドを受け付けない
    　請求項８に記載の情報処理装置。     The information processing apparatus according to claim 8, wherein the control unit does not receive the driving command when the attribute of the input person is a passenger other than the driver's license acquirer and the driving assistant.
  13. 　情報処理装置が、
    　機器の制御に関する音声コマンドの種別を受信し、
    　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける
    　情報処理方法。     The information processing apparatus
    Receive the type of voice command related to control of the device,
    When the type of the voice command is an emergency command, the voice command whose input person is a user who does not receive the command when the type of the voice command is not an emergency command is received.
  14. 　コンピュータに、
    　機器の制御に関する音声コマンドの種別を受信し、
    　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける
    　処理を実行させるためのプログラム。     On the computer
    Receive the type of voice command related to control of the device,
    When the type of the voice command is an emergency command, a program for executing processing for receiving the voice command whose input person is a user who does not receive the command when the command is not an emergency command.
  15. 　機器の制御に関する音声コマンドの種別を受信する受信部と、
    　前記音声コマンドの種別が非常用のコマンドである場合、非常用のコマンドでないときには受け付けないユーザを入力者とする前記音声コマンドを受け付ける制御部と
    　を備える情報処理装置を搭載した移動体。     A receiver that receives a type of voice command related to control of the device;
    A mobile unit equipped with an information processing apparatus, comprising: a control unit that accepts a voice command whose input person is a user who is not accepted when the type of the voice command is a command for emergency or not a command for emergency.
PCT/JP2018/035260 2017-10-06 2018-09-25 Information processing device, information processing method, program, and moving body WO2019069731A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-196347 2017-10-06
JP2017196347 2017-10-06

Publications (1)

Publication Number Publication Date
WO2019069731A1 true WO2019069731A1 (en) 2019-04-11

Family

ID=65994777

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/035260 WO2019069731A1 (en) 2017-10-06 2018-09-25 Information processing device, information processing method, program, and moving body

Country Status (1)

Country Link
WO (1) WO2019069731A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021041800A (en) * 2019-09-10 2021-03-18 株式会社Ｓｕｂａｒｕ Vehicular control device
CN113053034A (en) * 2019-12-27 2021-06-29 本田技研工业株式会社 Vehicle operation right management device, vehicle operation right management method, and storage medium
CN115356682A (en) * 2022-08-21 2022-11-18 嘉晨云控新能源(上海)有限公司 Sound source position sensing device and method based on accurate positioning
WO2023090057A1 (en) * 2021-11-17 2023-05-25 ソニーグループ株式会社 Information processing device, information processing method, and information processing program
WO2024009465A1 (en) * 2022-07-07 2024-01-11 パイオニア株式会社 Voice recognition device, program, voice recognition method, and voice recognition system
WO2024048180A1 (en) * 2022-08-30 2024-03-07 ソニーセミコンダクタソリューションズ株式会社 Information processing device, information processing method, and vehicle control system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000188795A (en) * 1998-12-22 2000-07-04 Matsushita Electric Ind Co Ltd Microphone device and voice recognition device using same, car navigation system and automatic driving system for automobile
JP2004354930A (en) * 2003-05-30 2004-12-16 Calsonic Kansei Corp Speech recognition system
US20150110287A1 (en) * 2013-10-18 2015-04-23 GM Global Technology Operations LLC Methods and apparatus for processing multiple audio streams at a vehicle onboard computer system
JP2016090655A (en) * 2014-10-30 2016-05-23 シャープ株式会社 Voice recognition robot system, voice recognition robot, controller for voice recognition robot, communication terminal for controlling voice recognition robot, and program
JP2016179810A (en) * 2015-03-23 2016-10-13 株式会社デンソー Automatic travel control device and automatic travel control system
WO2016183825A1 (en) * 2015-05-20 2016-11-24 华为技术有限公司 Method for positioning sounding location, and terminal device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000188795A (en) * 1998-12-22 2000-07-04 Matsushita Electric Ind Co Ltd Microphone device and voice recognition device using same, car navigation system and automatic driving system for automobile
JP2004354930A (en) * 2003-05-30 2004-12-16 Calsonic Kansei Corp Speech recognition system
US20150110287A1 (en) * 2013-10-18 2015-04-23 GM Global Technology Operations LLC Methods and apparatus for processing multiple audio streams at a vehicle onboard computer system
JP2016090655A (en) * 2014-10-30 2016-05-23 シャープ株式会社 Voice recognition robot system, voice recognition robot, controller for voice recognition robot, communication terminal for controlling voice recognition robot, and program
JP2016179810A (en) * 2015-03-23 2016-10-13 株式会社デンソー Automatic travel control device and automatic travel control system
WO2016183825A1 (en) * 2015-05-20 2016-11-24 华为技术有限公司 Method for positioning sounding location, and terminal device

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021041800A (en) * 2019-09-10 2021-03-18 株式会社Ｓｕｂａｒｕ Vehicular control device
US11783823B2 (en) 2019-09-10 2023-10-10 Subaru Corporation Vehicle control apparatus
CN113053034A (en) * 2019-12-27 2021-06-29 本田技研工业株式会社 Vehicle operation right management device, vehicle operation right management method, and storage medium
JP2021107173A (en) * 2019-12-27 2021-07-29 本田技研工業株式会社 Vehicle operation authority management device, vehicle operation authority management method and program
JP7198741B2 (en) 2019-12-27 2023-01-04 本田技研工業株式会社 VEHICLE OPERATING RIGHTS MANAGEMENT DEVICE, VEHICLE OPERATING RIGHTS MANAGEMENT METHOD AND PROGRAM
CN113053034B (en) * 2019-12-27 2023-02-28 本田技研工业株式会社 Vehicle operation right management device, vehicle operation right management method, and storage medium
WO2023090057A1 (en) * 2021-11-17 2023-05-25 ソニーグループ株式会社 Information processing device, information processing method, and information processing program
WO2024009465A1 (en) * 2022-07-07 2024-01-11 パイオニア株式会社 Voice recognition device, program, voice recognition method, and voice recognition system
CN115356682A (en) * 2022-08-21 2022-11-18 嘉晨云控新能源(上海)有限公司 Sound source position sensing device and method based on accurate positioning
WO2024048180A1 (en) * 2022-08-30 2024-03-07 ソニーセミコンダクタソリューションズ株式会社 Information processing device, information processing method, and vehicle control system

Similar Documents

Publication Publication Date Title
WO2019069731A1 (en) Information processing device, information processing method, program, and moving body
US9613639B2 (en) Communication system and terminal device
JP4380541B2 (en) Vehicle agent device
US20180174457A1 (en) Method and system using machine learning to determine an automotive driver&#39;s emotional state
CN110719865B (en) Driving support method, driving support program, and vehicle control device
US20220340166A1 (en) Presentation control device, presentation control program, and driving control device
JP7068986B2 (en) Agent system, agent control method, and program
JP7340940B2 (en) Agent device, agent device control method, and program
JP6604151B2 (en) Speech recognition control system
US20200152203A1 (en) Agent device, agent presentation method, and storage medium
JP2019131096A (en) Vehicle control supporting system and vehicle control supporting device
JP6075577B2 (en) Driving assistance device
KR20180052077A (en) Interaction method between user and autonomous driving system in fully autonomous driving
CN111007968A (en) Agent device, agent presentation method, and storage medium
JP7119846B2 (en) VEHICLE TRIP CONTROL METHOD AND TRIP CONTROL DEVICE
CN111731320B (en) Intelligent body system, intelligent body server, control method thereof and storage medium
JP7235554B2 (en) AGENT DEVICE, CONTROL METHOD OF AGENT DEVICE, AND PROGRAM
JP2021096717A (en) Information providing device, information providing method, and program
WO2020031241A1 (en) Voice dialogue device, voice dialogue system, and control method for voice dialogue system
JP7384604B2 (en) Vehicle control plan generation device
WO2023153314A1 (en) In-vehicle equipment control device and in-vehicle equipment control method
WO2023204076A1 (en) Acoustic control method and acoustic control device
JP7187812B2 (en) Equipment operation support device and operation support method
WO2023090057A1 (en) Information processing device, information processing method, and information processing program
KR20220055214A (en) Advanced Driver Assistance System and Vehicle having the advanced Driver Assistance System

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18863973

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18863973

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP