JP2018163578A - Car pickup control server, in-vehicle terminal, control method, and control program in active car pickup system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an active (active) car pickup system suitable for a user who travels over a short distance.SOLUTION: A car pickup control server 100 is comprised of: boarding request obtaining means 101 for obtaining a boarding request including a current point and a destination point from a user; vehicle information acquiring means 103 for acquiring vehicle information from a vehicle; user/vehicle matching means 104 for searching for a vehicle matching the boarding request; position information tracking means 102 for tracking position information of the user and the vehicle when a matching vehicle is found; and boarding point determining means 105 for predicting a traveling route of the user and determining a boarding point satisfying a predetermined condition for the user from a plurality of boarding point candidates which can get on the vehicle. Also, 3D map generating means 106 generates a 3D map around a current point of the user and the vicinity of the determined boarding point, and transmits the generated 3D map to the in-vehicle terminal of the vehicle.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an incoming system for efficiently picking up a user.

  2. Description of the Related Art Conventionally, a system for efficiently performing pick-up by a vehicle such as a taxi is known. For example, Patent Document 1 discloses a pick-up reservation system for realizing a pick-up service meeting a user's request and realizing an efficient pick-up service based on the reservation. In this pick-up reservation system, the information transmitted from the user terminal is associated with the user ID and stored in the user information table, and the reservation number and the reservation information transmitted from the user terminal (location information, (Preferred pick-up time, destination, etc.) are stored in the reservation information table, the pick-up time created based on the reservation information is notified to the user terminal, and the confirmation is input from the user terminal to confirm the reservation.

  Patent Document 2 discloses a vehicle allocation system that allows a user to easily check the current traveling situation of a taxi arriving and waits at a desired boarding position with peace of mind. According to this vehicle allocation system, the user terminal, the vehicle-mounted terminal, and the vehicle allocation management server are connected via a network, and the user terminal requests that the vehicle be allocated at the boarding position and boarding time desired by the user. A reservation request unit that transmits a vehicle allocation reservation request to the vehicle allocation management server is provided. An in-vehicle terminal that obtains the current position of the vehicle, a current position acquisition unit that transmits the current position of the acquired vehicle and the incoming vehicle start information indicating that the vehicle starts to pick up at the boarding position; Is provided. The vehicle allocation management server receives a vehicle allocation reservation request, and when it receives the vehicle start information from the in-vehicle terminal, the vehicle allocation status confirmation unit that generates the vehicle arrival prediction route from the current position to the vehicle location, An incoming vehicle information generation unit that transmits incoming vehicle information including a current position and an incoming vehicle predicted route to the user terminal is provided.

JP 2011-138300 A JP2015-138324A

  By the way, as the country has proposed in the public-private ITS concept / roadmap 2016, efforts toward the realization of “unmanned automated travel service in limited areas” are accelerating. This is intended to provide a service with an image similar to local public transport in a restricted area (limited area). Basically, it is assumed to be a means of transportation that connects the limited area to local public transport. There is a possibility of getting on and off from the front door of the house. Self-driving technology demonstrations on public roads by universities and companies are already underway, and if this trend is followed, it is expected that the service may start to spread in FY2020 as per the government roadmap. . However, there are still many difficult issues for fully unmanned automatic driving including general roads, and it is expected that humans will ride in limited areas and automation will continue.

The inventors are mainly aware of the following three social issues and are aiming at the early launch of an unmanned automatic travel service incorporated into the real world.
(1) Serious social issue of the era of lack of bus and taxi drivers
(2) Drivers' labor costs will be borne by the decrease in users, and areas where public transportation cannot be maintained will increase at an accelerated pace.
(3) Without new lifestyle-oriented transportation means, we cannot support the rapidly aging era Especially for social issues (3), we will conduct empirical studies on aging communities, etc. We are promoting specific activities.

  In the demonstration experiment, it came to recognition that as one of the specific issues of the automated travel service, a mechanism that meets the demands of users of short-distance vehicles as described above is important. Moreover, this does not depend on whether the vehicle is unmanned or manned.

  In the systems disclosed in Patent Documents 1 and 2, a user requests a pick-up service by specifying a desired boarding position, a desired boarding time, and the like in advance. However, a user who travels a short distance (a distance of about 15 to 30 minutes on foot) may be on foot, but many people want to ride a vehicle if possible. That is, it is not a distance that cannot be walked, but if the vehicle can be easily arranged, there is definitely a demand to ride the vehicle. For example, when you try to pick up a taxi, it is difficult to find an empty car and you start to walk to the destination, but you are often overtaken by an empty taxi while walking. However, it's hard to walk a taxi that doesn't know when it will come. In other words, there is a demand to get on the vehicle as soon as possible and easily to the destination regardless of the desired boarding position and the desired boarding time. Conventional pick-up services including the techniques described in Patent Documents 1 and 2 have not been able to meet such short-distance user requirements.

  Accordingly, in the present invention, in view of the above-mentioned problems, an active suitable for a user who travels over a short distance that can be applied to a current manned traveling service such as a taxi while looking to realize a future unmanned automatic traveling service. The objective is to provide a passive (active) passenger-receiving system.

  In order to solve the above problems, the present invention provides the following solution.

(1) A reception control server in a reception system capable of tracking and getting on a user whose vehicle is moving, and a boarding request acquisition means for acquiring a boarding request including a current point and a destination point from the user Vehicle information acquisition means for acquiring vehicle information including position information from the vehicle, user / vehicle matching means for searching for a vehicle that matches the boarding request, and when the matching vehicle is found, the user And a position information tracking means for starting tracking of the position information of the vehicle, predicting a movement route of the user, and a plurality of boarding point candidates that the user can ride on the vehicle on the movement route. Boarding point determination means for determining boarding points that satisfy a predetermined condition.

(2) In the configuration of (1), the boarding point satisfying the predetermined condition is a point where the walking distance to the destination point is the longest from the user's standpoint, or a point where the destination arrives earliest, It is a point that excludes a point that is not suitable for stopping from the viewpoint of the driver of the vehicle, or a point that has a reasonable reason from the standpoint of the provider of the dispatch service.

(3) In the configuration of (1) or (2) above, when a plurality of matching vehicle candidates are found in the user / vehicle matching means, a vehicle that matches from the plurality of vehicle candidates after determining the boarding point One unit is determined.

(4) In any one of the configurations from (1) to (3), the boarding point determination means starts moving when the user changes the travel route or when the user is on standby. Sometimes, the boarding point is newly determined.

(5) In any one of the constitutions (1) to (4), the boarding point determination means includes means for confirming with the vehicle or another vehicle whether there is a problem with the boarding point. It is characterized by that.
(6) In any one of the constitutions (1) to (4), a 3D map generating means for generating a 3D map around the current location of the user and around the determined boarding location is provided. The transmitted 3D map is transmitted to the in-vehicle terminal of the vehicle.

(7) In the configuration of (6), the 3D map generation unit generates a 3D map that can remove or see through images of buildings, such as houses, buildings, bridges, stations, and other buildings. And

(8) In the configuration of (6) or (7), the 3D map is displayed on an in-vehicle terminal of the vehicle when the vehicle and the user approach within a predetermined distance.

(9) A boarding control server in a boarding system capable of boarding a user who is moving toward a destination, and boarding request acquisition means for acquiring a boarding request including the current location and the destination from the user Vehicle information acquisition means for acquiring vehicle information including position information from the vehicle, user / vehicle matching means for searching for a vehicle that matches the boarding request, a movement path of the user is predicted, and the movement path The board includes a boarding point determination unit that determines boarding points that satisfy a predetermined condition from a plurality of boarding point candidates that the user can board the vehicle.

(10) A vehicle-mounted terminal of a reception system that can track and board a user who is moving, and receives a boarding request including a current point and a destination point from the user terminal of the user A request receiving means; a user location information tracking means for tracking location information of the user terminal; and a plurality of routes for predicting a travel route of the user terminal and allowing the user to board the vehicle on the travel route. Boarding point determination means for determining a boarding point that satisfies a predetermined condition for the user from the boarding point candidates.

(11) A control method of a reception system that can track and get on a user who is moving, and obtains a boarding request including a current point and a destination point from the user terminal of the user. Obtaining vehicle information including position information from the in-vehicle terminal of the vehicle; searching for a vehicle that matches the boarding request; and if the matching vehicle is found, the user terminal and the in-vehicle terminal Starting the tracking of the position information, predicting the movement route of the user terminal, and from the plurality of boarding point candidates that the user can ride on the vehicle to the user on the movement route. Determining a boarding point that satisfies a predetermined condition.

(12) A control program for causing a computer to execute each step of the control method described in 10 above.

  ADVANTAGE OF THE INVENTION According to this invention, the active (active) receiving system suitable for the user who moves a short distance can be provided.

It is a figure which shows the basic image of the active pick-up service which concerns on embodiment of this invention. It is a figure which shows the function structure of the active vehicle receiving system which concerns on the 1st Embodiment of this invention. It is a figure which shows the data used with the active vehicle receiving system which concerns on the 1st Embodiment of this invention. It is a figure which shows the main process flow of an incoming vehicle control server. It is a figure which shows the modification of the main process flow of a vehicle control server. It is a figure which shows the detail of the processing flow for determining the boarding point in an incoming vehicle control server. It is a figure which shows the example of a screen of 3D map displayed on a vehicle-mounted terminal. It is a figure which shows the function structure of the active vehicle receiving system which concerns on the 2nd Embodiment of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the accompanying drawings. In the subsequent drawings, the same numbers or symbols are assigned to the same elements throughout the description of the embodiments. In the functional configuration diagram, an arrow between functional blocks represents a data flow direction or a process flow direction.

(Basic image)
FIG. 1 is a diagram showing a basic image of an active pick-up service according to an embodiment of the present invention. “Active pick-up” does not mean that the vehicle is dispatched at a predetermined boarding position or boarding time as in the conventional pick-up system, but the user's boarding position is predicted and the vehicle itself is moved toward that position. It is a system for moving actively (actively) efficiently. At this time, the user may be waiting at a specific place or may be moving on foot toward the destination point. The outline will be described below.

  As shown in FIG. 1, it is assumed that the user 20 is moving to the destination point on foot without waiting to find a vacant vehicle at the departure point and issuing a boarding request to the system. At this time, it is assumed that the vehicle 10 is in the vicinity of the point B and is moving toward the north. It is assumed that the vehicle 10 knows the current location and the destination location of the user, predicts the travel route from the current location (point A) of the user to the destination location, and can pick up the user 20 along the route. To calculate the optimal travel route. At this time, when there are a plurality of predicted movement paths of the user 20, a point on each path that can be picked up is obtained.

  For example, in the example of FIG. 1, when the user 20 is predicted to move along the road 1, the X1 point, the X2 point, the X3 point, and the like are candidates for the pickup point. For example, in order to pip up at the point X1, the vehicle 10 goes north on the road 3, goes straight at the intersection 35 and the intersection 32, turns right at the intersection 31, enters the road 1, and reaches the user 20 at the point X1. catch up. In addition, when picking up at the X2 point, the vehicle 10 also makes a right turn at the intersection 31, the route via the intersection 41, the intersection 35 turns right and enters the road 5, turns left at the intersection 45 and enters the road 4, and the intersection Compare the route 41 to the right and return to the road 1 and select the one with the earlier arrival time. The same applies when picking up at point X3. However, if there is almost no difference in the arrival time to X1, X2, and X3 due to traffic conditions, etc., the walking distance of the user 20 is made as short as possible, that is, the point where the distance to the destination point is long is set as the pickup point. select.

  On the other hand, if it is predicted that the user 20 will move along the road 2 and it is determined that it is impossible to pick up in the section from the intersection 32 to the intersection 42 (indicated by hatching in the figure), or When this section is a narrow road where vehicles cannot enter, the Y1 point is a candidate for the first pickup point. At this time, the vehicle 10 makes a right turn at the intersection 35 and reaches the Y1 point via the intersection 45 and the intersection 42. The same applies when picking up at the Y2 point. That is, in this service, the vehicle 10 side obtains a plurality of pick-up candidate points where the user can ride for each predicted movement path of the user 20, determines a pick-up point satisfying a predetermined condition from among them, and determines the vehicle 10 Go to the user 20 and pick up. Here, the movement prediction route includes a user's movement route and an estimated time of arrival at each point along the route.

  By doing in this way, for the vehicle 10, it is possible to reduce the waiting time for waiting for customers, and even if you are on the front, if you are heading in the same direction, you can also ride together It is also possible to go to the pick-up point immediately from the point of departure of the previous customer. In addition, it is useful for the user 20 to get a little closer to the destination point because the fare is cheaper, and even if a suitable vehicle is not found, it is a walking distance to the destination point. You can wait for the vehicle to pick up while walking with peace of mind.

  However, the terminal ID is transmitted to the vehicle 10 when a boarding request is issued from the user terminal of the user 20 so that the user 20 can be identified when the vehicle 10 comes close. Here, the name and neck name of the user 20 are stored in the user terminal, and when the vehicle 10 comes close to the user 20, for example, “Mr. You may make it call like this.

(First embodiment)
FIG. 2 is a diagram illustrating a functional configuration of an active vehicle receiving system (hereinafter referred to as “the present system”) according to the first embodiment of the present invention. In this system, the incoming vehicle control server 100 is connected via a network 30 to the in-vehicle terminal 10 mounted on the vehicle and the user terminal 20 possessed by the user by wireless communication.

  As shown in the figure, the reception control server 100 includes a boarding request acquisition unit 101, a position information tracking unit 102, a vehicle information acquisition unit 103, a user / vehicle matching unit 104, a boarding point determination unit 105, a 3D map generation unit 106, a building Equal removal / perspective display means 107 and terminal transmission means 108 are provided. Further, the database includes a vehicle DB 111 that stores information on vehicles registered in the system, a registered user DB 112 that stores information on users registered in the system, and a 3D map data DB 113. These databases may be outside the incoming vehicle control server 100. However, the user does not necessarily have to be registered in this system. Hereinafter, functional configurations of the in-vehicle terminal 10, the user terminal 20, and the incoming vehicle control server 100 will be described in order.

  The in-vehicle terminal 10 is a terminal mounted on a vehicle, and although not shown in the figure, wireless communication means that can communicate with the receiving control server 100, position information that acquires its own position information and transmits it to the receiving control server 100 An input device and a display device, which are input / output means for the occupant, are provided. The in-vehicle terminal 10 may include means for directly communicating with the user terminal 20 via the Internet. Moreover, you may incorporate in the car navigation system.

  The user terminal 20 is a terminal carried by the user, and although not shown in the figure, a wireless communication means that can communicate with the receiving control server 100, a position that acquires its own position information and transmits it to the receiving control server 100 An information transmission means, an input device which is input / output means for a user, and a display device are provided. The user terminal 20 may include means for directly communicating with the in-vehicle terminal 10 via the Internet. The user terminal 20 is typically a smartphone, a tablet terminal, a mobile phone, or the like.

  The vehicle control server 100 (hereinafter, simply referred to as a server) is a server of a business operator that operates a regional traffic system, and is registered in a taxi company system, an on-demand bus business system, and this system. It is connected to the terminal of the vehicle owner, a map database system, a road information system, etc. Hereinafter, the functional configuration of the server will be described in order.

  The boarding request acquisition unit 101 receives the boarding request from the user terminal 20 and informs the user / vehicle matching unit 104 of the boarding request information. The boarding request can be transmitted not only to users registered in this system but also to unregistered users. The information included in the boarding request includes a user ID (in the case of a registered user), a terminal ID, a current location, a departure location, a destination location, the number of passengers, desired conditions, etc., as shown in FIG. However, since default values are set for terminals other than the terminal ID, current location, and destination location, they can be omitted.

  The position information tracking unit 102 acquires the position information of the user terminal 20 when receiving a boarding request from the user terminal 20. If a vehicle that matches the boarding request is found, position information of the vehicle is acquired, and thereafter tracking of the positions of the user terminal 20 and the in-vehicle terminal 10 is started until the user gets off.

  The vehicle information acquisition unit 103 acquires vehicle information of all vehicles currently operating in the vicinity of the area in order to search for a vehicle that matches the boarding request. The acquired vehicle information is referred to the vehicle DB 111 that stores the data of the registered vehicle, and it is confirmed that the received vehicle information is from the registered vehicle. The vehicle information acquisition unit 103 also receives current data that is not registered in the vehicle DB 111 and reflects it in the vehicle DB 111 if necessary. The current status data is the latest status data, for example, during passenger transportation, waiting, refueling, or a temporary failure such as puncture. These data can be acquired from a vehicle probe (vehicle sensor) or the like. The data registered in the vehicle DB 111 includes vehicle ID, affiliation, type, attribute, vehicle type, boarding capacity, fuel consumption, manager (or owner), travel history, etc. as shown in FIG. is there.

  If the user / vehicle matching means 104 is the location information of the user terminal 20 and the in-vehicle terminal 10, the vehicle information received from each vehicle, the vehicle DB 111, and the boarding request from the registered user, the registered user DB 112 is also used. Referring to the vehicle, the vehicle that matches the user's boarding request (matches the boarding conditions) is searched. If there is a matched vehicle as a result of the search, the position information tracking unit 102 is made to track the position information of the in-vehicle terminal 10 and the user terminal 20 thereafter.

  In addition, as shown in FIG. 3C, the registered user DB 112 uses the user ID, the user's address name, gender, age, presence / absence of smoking, availability of car sharing, ride history, and services of this system. The acquisition points given by doing are stored. Such information is not essential, but as the amount of information increases, the possibility of finding a more matched vehicle increases.

  The boarding point determination means 105 is based on the search result of the user / vehicle matching means 104 and the data from the position information tracking means 102, and a plurality of boardings on which user images can be boarded for each movement predicted route of the user. A boarding position that satisfies a predetermined condition for the user is determined from the candidate points (pickup points). The details of the boarding point determination process will be described later.

  The 3D map generation unit 106 generates a 3D map for displaying the 3D map around the current location of the user and the stereoscopic image around the boarding position determined by the boarding point determination unit 105 on the in-vehicle terminal 10. When it is desired to check the user's situation from the vehicle side, a 2D map is not sufficient, so a 3D map is used. However, with a normal 3D map, it is not possible to confirm the appearance of the user beyond the “buildings” (houses, buildings, bridges, stations, other buildings), so the 3D map used here is a building Etc. are composed of frame images, and images obtained by removing or seeing through images of frames such as buildings are used.

  By using such a 3D map, the user can easily confirm from the vehicle side. For example, it is possible to visually check where and in what state the user is moving, whether it is moving, or whether it is in a building. A display example of this 3D map will be described later.

  The building removal / perspective display means 107 is called from the 3D map generation means 106 and performs processing for removing a frame image of a building or the like from the 3D map and displaying the frame image. As a result, a user who is moving in a building or the like whose visibility is blocked by the building or the like (for example, a pedestrian moving in a pedestrian bridge) can be easily confirmed. The 3D map generation method itself uses a known technique.

  The terminal transmission unit 108 transmits the generated 3D map and other necessary information to the in-vehicle terminal 10 and, in some cases, the user terminal 20.

  The above-described functional configuration of the present system is merely an example, and one functional block (database and function processing unit) may be divided, or a plurality of functional blocks may be configured as one functional block. Each function processing unit reads a computer program stored in a storage device such as a ROM (Read Only Memory), flash memory, SSD (Solid State Drive), or hard disk by a CPU (Central Processing Unit) built in the device. This is realized by a computer program executed by the CPU. That is, the processing unit of each function reads and writes necessary data such as a table from a database (DB; Data Base) stored in a storage device or a storage area in a memory, and in some cases, a related program This is realized by controlling hardware (for example, an input / output device, a display device, and a communication interface device). Further, the database (DB) in the embodiment of the present invention may be a commercial database, but it simply means a collection of tables and files, and the internal structure of the database itself is not questioned. The program here may be a server-side program (control program) or a terminal-side program (application).

  FIG. 4A is a diagram illustrating a main processing flow of the incoming vehicle control server. In the following processing flow, the order of some steps may be changed as long as the relationship between the input and output of each step is not impaired. Hereinafter, each step will be described sequentially. However, the reference numerals shown in FIG. 2 are omitted here.

Step S10: Wait until a boarding request is received from the user terminal. The boarding request includes at least the terminal ID, the current location of the user, and the destination location. The boarding point may not be included.
Step S11: When a boarding request is received, related user information (for example, whether or not smoking is permitted, whether or not to allow sharing) is acquired.
Step S12: Search for a vehicle that matches the boarding request and user information.
Step S13: It is determined whether a matched vehicle is found.
Step S14: If no matched vehicle is found, a message to that effect is sent to the user terminal and the process returns to step S10. At this time, the user can instruct the vehicle search to continue until the destination is reached.

  Step S15: When a matched vehicle is found, a process of determining a boarding point that satisfies a predetermined condition for picking up a user from a plurality of boarding point candidates is performed. The details of the boarding point determination process will be described with reference to the next figure.

  Step S16: 3D map data around the current location of the user and around the boarding location are acquired. The boarding point may be a candidate point instead of the determined point. From this 3D map data, it is possible to confirm the current user situation and the situation of the boarding point (or boarding candidate point) from the vehicle side. In addition to the 3D map data, an in-vehicle camera of another vehicle, an image of a boarding point taken by a fixed point camera (security camera) in the city, and the like may be transmitted to the vehicle and displayed.

Step S17: A 3D map that can be displayed by removing or seeing through an image of a building or the like is generated.
Step S18: The generated 3D map is transmitted to the in-vehicle terminal (in some cases also to the user terminal). In addition, you may perform 3D map production | generation with respect to the user's present location periphery in step S16-S18, and transmission before step S15.

  Step S19: It is confirmed whether there is any problem as a boarding candidate point as a boarding point (whether a predetermined condition is satisfied). Here, “predetermined conditions” is considered from the standpoint of the user (pedestrian), from the standpoint of the driver of the car to be dispatched, from the standpoint of the provider providing the dispatch service. The case can be considered at various angles. Boarding point candidates may be optimal from the user's perspective but not optimal from the driver's perspective. For example, if a user gets tired of walking, he / she wants the car to be dispatched to the place, but the place may be a place where the driver thinks that the road width is narrow and the traffic volume is not suitable for stopping. In addition, it is reasonable that the service provider dares not to select a point that satisfies the “predetermined condition” for the user and the driver even if the point satisfying the predetermined condition is a candidate from the standpoint of the user and the driver. If there is an appropriate reason (for example, personnel costs and fuel economy costs can be reduced), it is determined that “predetermined conditions are satisfied”. Therefore, confirmation is requested from the user, the driver of the vehicle or other vehicle, or the provider of the dispatch service, and if there is a problem, the process returns to step S15 to determine another boarding point. If there is no problem, the process proceeds to step S20, and after determining the boarding point, it waits until receiving another boarding request.

  FIG. 4B is a diagram illustrating a modification of the main processing flow of the incoming vehicle control server. In the processing flow of FIG. 4A, a user's travel route is predicted, a vehicle that matches the travel route is determined first, and then a plurality of boarding position candidates are obtained from the vehicle location and the user location. The final boarding point was decided from. However, in the processing flow of FIG. 4B, after determining the boarding point, one (optimum) matching vehicle is determined from among a plurality of vehicle candidates that match the boarding point. That is, a plurality of vehicle candidates are determined according to the determination of the place, and an optimal vehicle is determined from the vehicle candidates in a relatively short time.

  Hereinafter, although the sequential description is omitted, an outline of the processing flow of FIG. 4B will be described. First, in step S12A, a boarding request including the current location and the destination location of the user is received, and the vehicle candidate that matches the condition is searched with the user information taken into account. However, the boarding point has not been determined at this time. If no matching boarding candidate is found in steps S13 to S13A, or if only one vehicle is found even if it is found, the process proceeds to step S14 or step S15A, and the subsequent processing is the same as in FIG. 4A. Process.

  However, when a plurality of matching boarding candidates are found in steps S13 to S13A, the process moves to steps S15B to S17B, where a plurality of boarding point candidates are extracted from the user's predicted movement route, and the user is selected from the candidates. The user selects a boarding point, confirms that the selected boarding point has no problem, and determines a final boarding point. Then, in step S18A, an optimal vehicle for the boarding point determined from the previously searched vehicle candidates is determined. After that, the process moves to step S19A, and a 3D map of the determined boarding point is generated and transmitted. As described above, since the vehicle is determined after the boarding point is determined as in the general method, matching between the vehicle and the user is simplified.

  FIG. 5 is a diagram showing details of a processing flow of boarding point determination of the incoming vehicle control server. Hereinafter, each step will be described sequentially.

Step S21: Acquire the current location, destination location, travel speed, and travel direction of the user (user terminal). At this time, it is possible to confirm the situation such as whether the user is moving toward the destination point, whether the user is waiting near the current point, or whether the user is walking along the way.
Step S22: If the user has started to move on foot, a movement route to the user's destination point is predicted. When the user is waiting at the current location, the travel route from the current location to the destination location is predicted.
Step S23: A plurality of points on the movement predicted route of the user from the current point of the vehicle are selected as boarding point candidates.
Step S24: A point that satisfies a predetermined condition (for example, a point having the longest walking distance to the destination point or a point that arrives at the destination point earliest) is obtained from the selected candidate points.
Step S25: A movement start instruction is issued to the vehicle toward the optimum point, and thereafter the user's position and movement route are continuously acquired every predetermined time until the user gets on.

  Step S26: It is confirmed whether or not the user has changed the travel route. If the travel route has been changed, the process returns to step S22 to re-predict the travel route to the user's destination point. At this time, the boarding point is newly determined again. In addition, when a user who has been waiting near the current point or a user who has stopped moving for some reason at a point in the middle starts moving, it is regarded as a change of the moving route.

Step S27: When the user has not changed the travel route, it is determined whether or not the distance between the user and the vehicle has approached within a predetermined range (for example, about 50 to 200 m). That is, it is determined whether there is a user in a range that can be visually confirmed.
Step S28: When the user approaches within a predetermined distance, the final boarding point is finely adjusted and determined from the latest moving speed and moving direction of the user and the vehicle. This is because there may be a row of parked vehicles at the boarding point.

(Screen example)
FIG. 6 is a diagram illustrating an example of a screen displayed on the in-vehicle terminal. As described above, this system can use the 3D map for checking the status of the current location of the user and the status of the scheduled location (pickup location).

  FIG. 6A shows an image obtained by removing all images such as buildings on the 3D map, FIG. 6B shows an image where buildings and the like are left, and FIG. 6C shows an image such as buildings. Only the frame (3D image without texture) is left so that the other side of the building or the like can be seen through. These screens can be switched at any time automatically by the system or by an operator's instruction. For example, FIG. 6C may be used if there are relatively few buildings or the like, and FIGS. 6A and 6B may be used if there are many buildings or the like.

  As illustrated, the position of the user 20 on the other side of the building or the like can be confirmed from the vehicle 10. In particular, it is also effective for grasping a positional relationship having a difference in elevation (for example, when a user is moving on an elevator, a staircase, a passage, or a pedestrian bridge in a building). In such a case, although illustration is omitted, a display such as “Customer is moving in the building” may be displayed. It should be noted that the image of the person in the figure is an image and is not actually displayed only by 3D map data, but by using a large number of vehicle-mounted cameras, fixed-point cameras (security cameras) in the city, Images of people walking in the city can also be combined into a 3D map. It is also possible to confirm a user who stops at a store in the building while moving to the destination.

(Second Embodiment)
FIG. 7 is a diagram showing a functional configuration of an active vehicle control system according to the second embodiment of the present invention. In the first embodiment, the main function is on the incoming control server side, but in the second embodiment, the main function is provided on the in-vehicle terminal side. Specifically, on the in-vehicle terminal 10A side of the second embodiment, the vehicle information transmitting unit 11, the boarding request receiving unit 12, the user location information tracking unit 13, the boarding point determining unit 14, the 3D map generating unit 15, 3D A map data DB 16, a building removal / perspective display means 17, and a user terminal transmission means 18 are provided. The basic functions are the same as those in the first embodiment, so only the outline will be described below.

  The vehicle information transmission unit 11 transmits vehicle information including its own location information to the vehicle information acquisition unit 103 of the incoming control server 100A periodically or in response to a request from the server. When the boarding request acquisition unit 101 acquires the boarding request from the user terminal 20, the boarding request acquisition unit 101 calls the user / vehicle matching unit 104, and the user / vehicle matching unit 104 passes the boarding request information and the vehicle information acquisition unit 103. Based on the acquired vehicle information, the vehicle DB 111 acquired from the server, and the registered user DB 112, a vehicle that matches the boarding request is searched.

  When a matched vehicle is found, the boarding request is transmitted to the in-vehicle terminal 10A of the vehicle. When the boarding request receiving means 12 of the in-vehicle terminal 10A receives this boarding request, the boarding request receiving means 12 starts the user position information tracking means 13 and starts tracking the position information of the user terminal 20. Thereafter, the user position information tracking unit 13 calls the boarding point determination unit 14 to determine the boarding point from the boarding point candidates. When the boarding point is determined, a 3D map around the boarding point is generated by the 3D map generation unit 15, the 3D map data DB 16, and the building removal / perspective display unit 17. The generated 3D map is transmitted to the user terminal 20 by the user terminal transmission means 18. Note that a vehicle that has been matched once may be newly matched each time the tracking information of the user is updated. This is because other vehicles may be more efficient (appropriate under predetermined conditions) depending on road conditions and traffic conditions.

  In the second embodiment, since most of the server side processing is performed on the vehicle side, the load on the server side is significantly reduced.

(Effect of embodiment)
According to the present system, it is possible to provide an incoming vehicle system that can be picked up by moving away from the vehicle for a moving user. For the vehicle side, it is possible to reduce the waiting time for waiting for customers, and even if there are passengers on board, if they are heading in the same direction, they can ride together or pick up immediately from the point of departure of the passengers You can also go to. In addition, it is useful for the user side to get a little closer to the destination point because the fare is cheaper, and even if a suitable vehicle is not found, it is a walking distance to the destination point , You can wait for the pickup while walking with peace of mind.

  In addition, a 3D map around the current location of the user and around the boarding location is generated so that the situation of the user to be picked up can be easily confirmed from the vehicle side, and this 3D map removes images of buildings and the like that block the view. Or making it possible to see through a building or the like makes it easier to find a user even in a place with many buildings. Further, even when the user deviates from the expected movement route, it is possible to immediately determine the boarding point on the changed movement route and deal with it.

(Application examples)
In the above-described embodiment, the description is made with a manned vehicle in mind, but the present invention can also be applied to an unmanned vehicle (in this case, display of a 3D map on an in-vehicle terminal is unnecessary). Also, the present invention can be applied to a case where a human is chasing another moving human.

  As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. Further, it is apparent from the description of the scope of claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  In the above-described embodiment, the present invention is a product invention, and the incoming vehicle control server and the in-vehicle terminal in the active incoming vehicle system have been described. However, the present invention is an invention of a method (control method of an incoming vehicle system) or the above control method. It can also be understood as an invention of a program that causes a computer to execute each stage included in the vehicle (a control program for an incoming vehicle system).

10 on-vehicle terminal (first embodiment) or vehicle 20 user terminal (or user)
30 Network 100 Pick-up control server (first embodiment)
101 boarding request acquisition means 102 position information tracking means 103 vehicle information acquisition means 104 user / vehicle matching means 105 boarding point determination means (first embodiment)
106 3D map generation means (first embodiment)
107 Building removal / perspective display means (first embodiment)
108 Terminal transmission means 111 Vehicle DB
112 Registered User DB
113 3D map data DB (first embodiment)
100A Pick-up control server (second embodiment)
10A In-vehicle terminal (second embodiment)
DESCRIPTION OF SYMBOLS 11 Vehicle information transmission means 12 Boarding request reception means 13 User position information tracking means 14 Boarding point determination means (2nd Embodiment)
15 3D map generating means (second embodiment)
16 3D map data DB (second embodiment)
17 Building removal / perspective display means (second embodiment)
18 User terminal transmission means

Claims (12)

An incoming vehicle control server in an incoming vehicle system capable of tracking and getting on a user while the vehicle is moving,
Boarding request acquisition means for acquiring a boarding request including a current point and a destination point from the user;
Vehicle information acquisition means for acquiring vehicle information including position information from the vehicle;
A user / vehicle matching means for searching for a vehicle that matches the boarding request;
If the matching vehicle is found, the location information tracking means for starting tracking the location information of the user and the vehicle;
Boarding point determination means for predicting the user's travel route, and determining a boarding point satisfying a predetermined condition from a plurality of boarding point candidates that the user can board the vehicle on the travel route;
An incoming vehicle control server comprising:   A boarding point that satisfies the predetermined condition is a point that has the longest walking distance to the destination point from the viewpoint of the user, a point that arrives at the destination point earliest, or a point that is not suitable for stopping from the driver of the vehicle 2. The incoming vehicle control server according to claim 1, wherein the incoming vehicle control server is a point that has a reasonable reason from the standpoint of a vehicle dispatch service provider.   3. The incoming vehicle control according to claim 1, wherein when a plurality of matching vehicle candidates are found in the user / vehicle matching means, one matching vehicle is determined from the plurality of vehicle candidates after the boarding point is determined. server.   The boarding point determination means newly determines the boarding point when the user changes a moving route or when the user starts moving from standby. 4. The incoming vehicle control server according to any one of up to 3.   The said pick-up point determination means is provided with the means to confirm with the said vehicle or another vehicle whether there is a problem in a boarding point, The pick-up vehicle of any one of Claim 1 to 4 characterized by the above-mentioned. Control server.   2. A 3D map generating unit that generates a 3D map around the current location of the user and around the determined boarding location, and transmits the generated 3D map to an in-vehicle terminal of the vehicle. The incoming vehicle control server according to any one of items 1 to 5.   6. The incoming vehicle control server according to claim 5, wherein the 3D map generation unit generates a 3D map from which an image of a building such as a house, a building, a bridge, a station, or other structures can be removed or seen through. .   The incoming vehicle control server according to claim 6 or 7, wherein the 3D map is displayed on an in-vehicle terminal of the vehicle when the vehicle and the user approach within a predetermined distance. An incoming vehicle control server in an incoming vehicle system capable of getting a user who is moving toward a destination point,
Boarding request acquisition means for acquiring a boarding request including a current point and a destination point from the user;
Vehicle information acquisition means for acquiring vehicle information including position information from the vehicle;
A user / vehicle matching means for searching for a vehicle that matches the boarding request;
Boarding point determination means for predicting the user's travel route, and determining a boarding point satisfying a predetermined condition from a plurality of boarding point candidates that the user can board the vehicle on the travel route;
An incoming vehicle control server comprising: An in-vehicle terminal of a receiving system that can track and get on a user while the vehicle is moving,
Boarding request receiving means for receiving a boarding request including a current location and a destination location from the user terminal of the user;
User location information tracking means for tracking location information of the user terminal;
A boarding point determination that predicts the travel route of the user terminal and determines a boarding point that satisfies a predetermined condition for the user from a plurality of boarding point candidates that the user can board the vehicle on the travel route. Means,
A vehicle-mounted terminal comprising: A control method of a reception system that can track and get on a user while a vehicle is moving,
Obtaining a boarding request including a current location and a destination location from the user terminal of the user;
Obtaining vehicle information including position information from the in-vehicle terminal of the vehicle;
Searching for a vehicle that matches the boarding request;
When the matching vehicle is found, starting tracking of location information of the user terminal and the in-vehicle terminal;
Predicting a travel route of the user terminal, and determining a boarding point that satisfies a predetermined condition for the user from a plurality of boarding point candidates that the user can board the vehicle on the travel route; ,
The control method characterized by including.   A control program for causing a computer to execute each step of the control method according to claim 11.

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