JP6889320B1 - Guidance device, guidance method and guidance program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately arrive at a meeting place of a vehicle and its user. SOLUTION: In the guidance device of the present invention, the remaining time until the vehicle arrives at the boarding place and the user boarding are synchronized so that the vehicle and the timing at which the user boarding the vehicle arrives at the boarding place of the vehicle are synchronized. It is characterized by including a remaining time comparison unit for transmitting a speed request to the vehicle or the user based on the magnitude relationship with the remaining time until the vehicle arrives at the place. Further, the route to the boarding place of the vehicle includes a waiting place where the vehicle can stand by while stopping, and the request for the vehicle includes a request for waiting for the vehicle at the waiting place. [Selection diagram] FIG. 9

Description

The present invention relates to a guidance device, a guidance method and a guidance program.

Recently, a technique in which a taxi user reserves a taxi using a computer and the taxi picks up the user based on the instruction of the computer has become widespread. The operation management device of Patent Document 1 collates the position information of the user with the operation schedule information of the railway to identify the train on which the user is boarding. The operation management device instructs the taxi to meet the user at the disembarkation station at the time when the train arrives at the disembarkation station of the user.

The vehicle allocation management system of Patent Document 2 shortens the taxi waiting (waiting for customers) time in a situation where many taxi waiting places assigned to each vehicle allocation area exist within a narrow range, such as in the city center. The vehicle allocation management system regards multiple adjacent waiting areas as one waiting area, centrally manages the waiting time of all taxis, and then waits for a vehicle allocation instruction from any vehicle allocation area. Assign taxis in ascending order.

The vehicle allocation system of Patent Document 3 instructs the taxi to arrive at the boarding point determined by the user at the boarding time determined by the user. If the taxi is expected to arrive at the boarding point earlier and there is no waiting area around it, the dispatch system will instruct the taxi to orbit around the boarding point.

JP-A-2018-60372 JP-A-2017-122980 Japanese Unexamined Patent Publication No. 2019-175403

In the future, it is expected that autonomous driving and unmanned driving will become the mainstream taxi driving methods. Then, it becomes more and more necessary for taxis and their users to meet at the boarding place in a timely manner as compared with the case of manned driving. Even in the case of manned driving, meeting at the right time leads to further improvement of user convenience and safety.

The operation management device of Patent Document 1 is intended for train passengers, and is not premised on calling a taxi to a place determined by a user in the city. The vehicle allocation management system of Patent Document 2 focuses on allocating a taxi to a user without having to wait for a long time in a waiting place, and does not mention that the user and the taxi meet thereafter.

The vehicle allocation system of Patent Document 3 makes a taxi go around the boarding point. However, this does not guarantee that the taxi will meet the user, and it is painful for the taxi driver to go around looking for a user who is uncertain whether or not he can meet.
Therefore, it is an object of the present invention that the vehicle and its user appropriately arrive at the meeting place.

In the guidance device of the present invention, the remaining time until the vehicle arrives at the boarding place and the user arrive at the boarding place so that the vehicle and the timing at which the user boarding the vehicle arrives at the boarding place of the vehicle are synchronized. A remaining time comparison unit for transmitting a speed request to the vehicle or the user based on the magnitude relationship with the remaining time up to is provided, and the remaining time comparison unit is provided by either the vehicle or the user before the boarding place. To determine the speed requirement by referring to the request pattern in which the combination of the request for the vehicle and the request for the user is stored in association with the combination of the first-come-first-served judgment indicating whether the vehicle arrives at the vehicle and the condition of the vehicle. It is a feature.
Other means will be described in the form for carrying out the invention.

According to the present invention, the vehicle and its user can properly arrive at the meeting place.

It is a figure explaining the structure of a guidance device and the like. It is a figure explaining the route of a user and a vehicle. It is a figure explaining the remaining time. This is an example of synchronization information. It is a figure explaining the comparison of the remaining time. It is a figure explaining the comparison of the remaining time. It is a figure explaining the comparison of the remaining time. It is a figure explaining the comparison of the remaining time. This is an example of a request pattern. It is a flowchart of the vehicle allocation reservation processing procedure. It is a flowchart of a guidance processing procedure.

Hereinafter, a mode for carrying out the present invention (referred to as “the present embodiment”) will be described in detail with reference to figures and the like. In this embodiment, a taxi picks up the user at the boarding place, and the user also moves to the boarding place on foot, in a wheelchair, or the like. However, the present invention is applicable not only to a taxi but also to an example in which a private vehicle picks up an arbitrary person at an arbitrary place. Hereinafter, the term "vehicle" is used exclusively, but this vehicle is unmanned such as a vehicle that is remotely controlled by a control center or the like and autonomously travels, or a vehicle that acquires a travel profile from the control center or the like and autonomously travels. In addition to mainly assuming taxis, manned taxis are also assumed. Further, the wheelchair-like "Slow Mobility" used by the user may be controlled by a control center or the like, or may be operated by the user.

(Configuration of guidance device, etc.)
FIG. 1 is a diagram illustrating a configuration and the like of the guidance device 1. The guidance device 1 is a general computer, and includes a central control device 11, an input device 12 such as a mouse and a keyboard, an output device 13 such as a display, a main storage device 14, an auxiliary storage device 15, and a communication device 16. These are connected to each other by a bus. The auxiliary storage device 15 stores the synchronization information 31 and the request pattern 32 (both described in detail later).

The user management unit 21, the vehicle management unit 22, the route generation unit 23, and the remaining time comparison unit 24 in the main storage device 14 are programs. The central control device 11 reads these programs from the auxiliary storage device 15 and loads them into the main storage device 14, thereby realizing the functions of the respective programs (details will be described later). The auxiliary storage device 15 may have a configuration independent of the guidance device 1. The guidance device 1 is arranged at, for example, a control center of a taxi operating company.

The guidance device 1 can be connected to the user terminal device 2 and the vehicle-mounted device 3 via the wireless network 4. The wireless network 4 may be a wired network. The user terminal device 2 is a computer carried by a vehicle user (taxi passenger). The user terminal device 2 may be mounted on the wheelchair together with a device for autonomously controlling the wheelchair. The user terminal device 2 includes a central control device 41, an input device 42 such as a touch panel, an output device 43 such as a display, a main storage device 44, an auxiliary storage device 45, and a communication device 46. These are connected to each other by a bus.

The in-vehicle device 3 is a computer mounted on the vehicle. The in-vehicle device 3 includes a central control device 51, an input device 52 such as a touch panel, an output device 53 such as a display, a main storage device 54, an auxiliary storage device 55, and a communication device 56. These are connected to each other by a bus. The in-vehicle device 3 may be a computer carried by a driver of a manned vehicle.

The user terminal device 2 can receive radio waves from an artificial satellite or a nearby radio base station, calculate its own position information (latitude and longitude) in real time, and transmit it to the guidance device 1. The same applies to the in-vehicle device 3.

(User and vehicle routes)
FIG. 2 is a diagram illustrating routes of a user and a vehicle. The route diagram 61 of FIG. 2 shows the case where the waiting place exists, and the route diagram 62 shows the case where the waiting place does not exist. First, pay attention to the route diagram 61. The user 10 carrying the user terminal device 2 heads for the boarding place 5 from a certain point (user starting point). In the example of FIG. 2, the user 10 is using "Slow Mobility" like the wheelchair described above. The boarding place 5 is a place where the vehicle 9 designated by the user 10 is met. The route from the user starting point to the boarding place 5 is called a "user route" 7.

The vehicle 9 equipped with the in-vehicle device 3 heads for the boarding place 5 from another point (vehicle starting point). There is a waiting place 6 in the middle of this route. The waiting place 6 is a space where the vehicle 9 can continue to stop safely without obstructing the surrounding traffic. The route from the vehicle starting point to the waiting place 6 is called "pre-waiting vehicle route" 8a. The route from the waiting place 6 to the boarding place 5 is called a "post-waiting vehicle route" 8b. Each of the user route, the pre-waiting vehicle route, and the post-waiting vehicle route includes a turn and a curve, not a straight line. However, in this embodiment, the shape of each route does not matter, and the distance is more important (details will be described later). In FIG. 2, each path, including its shape, is represented by a thin arrow.

Next, pay attention to the route diagram 62. In the route diagram 62, the waiting place 6 does not exist. There is a dense urban area between the vehicle starting point and the boarding place 5, and there are many cases where the waiting place 6 does not exist. The route from the vehicle starting point to the boarding place 5 is called "vehicle route without waiting" 8c. Regardless of whether it is the case of the route diagram 61 or the case of the route diagram 62, the aim of the present embodiment is to allow the user 10 and the vehicle 9 to the boarding place 5 without changing the once designated boarding place 5. It will arrive at about the same time. More generally, the aim of the present embodiment is to synchronize the timing of arrival of the vehicle and the user riding the vehicle with the boarding place of the vehicle. It may or may not be acceptable for the time of simultaneous arrival to result in a different time than originally expected.

(remaining time)
FIG. 3 is a diagram illustrating the remaining time. The guidance device 1 holds the current position of the user terminal device 2 and the current position of the in-vehicle device 3 at all times or periodically in real time. This is to keep the "remaining time" in real time. Since the remaining time is a concept commonly used by the user 10 and the vehicle 9, both the user and the vehicle are referred to as "moving subjects" here.

The horizontal axis of FIG. 3 is time. The starting point (time of origin) of this time is the time when the moving subject departs from the starting point. The vertical axis is the distance from the starting point. Here, the shape of the path is abstracted. At the current time t, the moving subject is at the "current position". Up to the current position, the mobile agent has changed its speed. In FIG. 3, the moving subject initially moved at a certain speed, then stopped for a while, and then resumed moving at a similar speed. The polygonal line 65 shows this situation.

The problem is how long it takes for the moving subject to arrive at the boarding place after time t. This time is called the "remaining time". There are many ways to predict the time remaining. In the present embodiment, the value obtained by dividing the "remaining distance", which is the length of the route between the boarding place and the current position, by the "average speed up to the time t" of the moving subject is defined as the "remaining time". Point 66 is a point indicating the distance from the starting point of the moving subject at time t. _{The horizontal axis coordinate t G} of the intersection of the broken line 67 passing through the point 66 and the origin and the horizontal line 68 indicating the boarding place is the estimated arrival time at the boarding place of the moving subject at the time t.

After all, given the time t and the distance from the starting point at time t, the remaining distance D (t) and the average velocity V (t) up to time t are known, and as a result of these divisions, the remaining time You can also see T (t). As described above, the moving subject is a user and a vehicle. Therefore, in order to distinguish between them, the subscript "u" is used for the user and the subscript "c" is used for the vehicle, and the remaining time of the user is described as " _Tu (t _n )" or the like. “N” indicates an individual time.

When each thin line arrow in FIG. 2 is a link L, D, T, and V in FIG. 3 may have the following information.
・ Link length: D (= distance)
・ Link travel time: T (= time required to pass link L)
-Statistical traffic information: V (= statistical information on average speed when passing link L)
In addition, "V" divides the day into commuting hours from 6:00 to 9:00 and 16:00 to 20:00, daytime from 9:00 to 16:00, and midnight from 20 to 6:00 the next day, and is closed on weekdays and holidays. This is information obtained by collecting statistics for each holiday. The guidance device 1 calculates the arrival time at the destination by integrating the link travel time of each link from the current time to the destination (boarding place). In order to improve the accuracy, the guidance device 1 calculates the arrival time by integrating the transit time of each link using the link length and the statistical traffic information.

Regarding the cycle of each time "n", the guidance device 1 adjusts the cycle longer when the distance from the current position of the vehicle or the user to the destination is long, and adjusts the cycle longer when the distance to the destination becomes shorter. , The cycle may be adjusted short. By doing so, it becomes possible to accurately match the arrival timing of the vehicle and the user to the boarding place.

(Synchronization information)
FIG. 4 is an example of synchronization information 31. In the synchronization information 31, in relation to the time in the time column 101, the user column 102 shows the remaining distance, average speed, and remaining time of the user, and the vehicle column 103 shows the remaining distance, average speed, and remaining time of the vehicle. It is remembered. The average speed here may be "the average speed from the departure time or the immediately preceding time t _n-1 to the time t _n ", and the guidance device 1 or other external device is statistical for many vehicles and users. It may be an average value calculated in a specific manner. The guidance device 1 can compare the remaining time “ _Tu (t _n )” of the user with the remaining time “T _c (t _n )” of the _{vehicle at each time t n.} The user of the guidance device 1 can arbitrarily determine the period of _{time t n.}

(Comparison of remaining time)
FIG. 5 is a diagram illustrating a comparison of remaining times. The horizontal axis of FIG. 5 is time. The starting point (time of origin) of this time is the time when the user departs from the user departure point or the time when the vehicle departs from the vehicle departure point, whichever is earlier. For the sake of brevity, it is assumed that the user and the vehicle depart from their respective starting points at the same time in FIG. The vertical axis is the distance. In many cases, the user departure point is closer to the boarding location than the vehicle departure point. Therefore, for the vehicle, the distance from the vehicle starting point is displayed with reference to the origin, and for the user, the distance from the user starting point is displayed with reference to the intermediate point on the vertical axis (also in FIGS. 6 to 8). Similarly).

The guidance device 1 calculates the remaining time “ _Tu (t ₁ )” of the user and the remaining time “T _c (t ₁ )” of the _{vehicle at the time t 1} according to the example of FIG. As a result of comparing the two, the induction device 1 _{recognizes that "T c} (t ₁ ) < _Tu (t ₁ )". This is the user and the vehicle, and moves while keeping each of the average speed of the current up to time t _1, the vehicle is meant to arrive earlier in the boarding location. At this time, the guidance device 1 can also send a request to the user to accelerate, or request the vehicle to decelerate (including starting and continuing waiting when there is a waiting place). Can also be sent. Further, regarding the transmission timing (cycle) here, the guidance device 1 may lengthen the cycle when the distance to the destination is long, and shorten the cycle when the distance to the destination is short. (The same applies to FIGS. 6 to 8).

FIG. 6 is also a diagram illustrating a comparison of remaining times. In the case of FIG. 6, the guidance device 1 recognizes that “ _Tu (t ₁ ) <T _c (t _1)”. This is the user and the vehicle, and moves while keeping each of the average speed of the current until the time t _1, it means that the user arrives at the destination to boarding location. At this time, the guidance device 1 can also send a request to the user to decelerate, and accelerates the vehicle (including continuation (passing) and start of traveling when a standby place exists). You can also send a request to that effect.

FIG. 7 is also a diagram illustrating a comparison of remaining times. In FIG. 7, at time t ₂ after the time t _1, the induction device 1 compares the remaining time again. The guidance device 1 _{recognizes that "T c} (t ₂ ) < _Tu (t ₂ )". This means that when the user and the vehicle _{move while maintaining their respective average speeds from the time t 1} to the current time t ₂ , the vehicle arrives at the boarding place first. At this time, the guidance device 1 can transmit a request to accelerate to the user or a request to decelerate to the vehicle.

The slope of the straight line between the time t ₁ and the time t ₂ (the speed of the user and the speed of the vehicle) is not directly related to the speed included in the request transmitted by the guidance device 1 to the user and the vehicle. These slopes indicate the speed as a result of being affected by traffic conditions (also in FIG. 8).

FIG. 8 is also a diagram illustrating a comparison of remaining times. In the case of FIG. 8, at time t ₂ after the time t _1, the induction device 1 compares the remaining time again. The guidance device 1 recognizes that " _Tu (t ₂ ) <T _c (t _2)". This means that when the user and the vehicle _{move while maintaining their respective average speeds from the time t 1} to the current time t ₂ , the user arrives at the boarding place first. At this time, the guidance device 1 can send a request to the user to decelerate, or can send a request to the vehicle to accelerate.

(Request pattern)
FIG. 9 is an example of the request pattern 32. In the request pattern 32, the request is stored in the request field 112 in association with the condition stored in the condition field 111. Relationship of the conditions and requirements Here, "at the current time t _n, if any" conditions "are met, the induction device 1, the user or the vehicle, what transmits a" request "," relationship Is.

The condition column 111 stores the presence / absence of a waiting place (column 111a), the position on the vehicle route (column 111b), the vehicle state (column 111c), and the first-come-first-served determination (column 111d).
The presence or absence of a waiting place is either "yes" indicating that the waiting place exists in the route from the vehicle starting point to the boarding place, or "none" indicating that the waiting place does not exist.
Position on the vehicle path at time t _n, a path or "waiting position" in which the vehicle is present (see FIG. 2).

The vehicle state indicates the state of the vehicle at _{time t n.} The time t _n is also referred to as a "determination time" with the meaning of a reference time for making a first-come-first-served determination by comparing the remaining time. The "running" corresponding to the "vehicle route before standby", the "vehicle route after standby" and the "vehicle route without standby" includes a temporary stop at an intersection or the like. "Waiting" corresponding to "waiting place" means that the vehicle is stopped at the waiting place, and "arrival" means that "the vehicle passes by the waiting place and starts waiting if necessary." It has the meaning of "possible state". The time when the vehicle passes the waiting place is not always the judgment time. However, the guidance device 1 may set the time when the waiting place is passed as an additional determination time in addition to the periodic determination time (details will be described later).

The first-come-first-served basis is "the vehicle is likely to arrive at the boarding place first" or " _Tu (t ₁ ) <T _c (t _{)" corresponding to "T c} (t ₁ ) < _Tu (t _{1)" in FIG. It is one of} the "users are likely to arrive at the boarding place first" corresponding to "1)".

The request column 112 stores a request for a vehicle (column 112a) and a request for a user (column 112b).
The vehicle request is an instruction transmitted by the guidance device 1 to the in-vehicle device 3. Basically, "deceleration" corresponds to "the vehicle is likely to arrive at the boarding place first", and "acceleration" corresponds to "the user is likely to arrive at the boarding place first" (with exceptions described later). .. Further, at the time when the vehicle arrives at the waiting place, if "the vehicle is likely to arrive at the boarding place first", the guidance device 1 can transmit a request to "start waiting" at the waiting place. On the contrary, if "the user is likely to arrive at the boarding place first", the guidance device 1 can transmit a request to pass through the waiting place and "continue traveling".

Further, at the time when the vehicle is waiting at the waiting place, if "the vehicle is likely to arrive at the boarding place first", the guidance device 1 can transmit a request to "continue waiting" at the waiting place. On the contrary, if "the user is likely to arrive at the boarding place first", the guidance device 1 can send a request to depart from the waiting place and "restart running".

The request for the user is an instruction transmitted by the guidance device 1 to the user terminal device 2. "Acceleration" corresponds to "the vehicle is likely to arrive at the boarding place first", and "deceleration" corresponds to "the user is likely to arrive at the boarding place first" (with exceptions described later). In order for the user and the vehicle to arrive at the boarding place at the same time, it is often more effective for the vehicle to adjust the speed than for the user to adjust the speed. Therefore, in such a case, the guidance device 1 may consider that the request column 112b for the user does not exist. A modified example of the request pattern 32 will be described later.

Looking at the request pattern 32 as a whole, for example, the following can be seen.
-At a certain determination time, when the guidance device 1 determines that "the vehicle is about to arrive at the boarding place first", the request "acceleration" is transmitted to the user (records 114a, 115a, 116a and 117a). ..
-Furthermore, in this case, the guidance device 1 can select the request for the vehicle according to the conditions.
-If the waiting place does not exist, or if the waiting place exists but the vehicle is running, the guidance device 1 transmits the request "deceleration" to the vehicle (records 116a and 117a).
-If a waiting place exists and the vehicle has arrived at the waiting place, the guidance device 1 transmits a request "wait start" to the vehicle (record 114a).
-If a waiting place exists and the vehicle is waiting at the waiting place, the guidance device 1 transmits a request "waiting continuation" to the vehicle (record 115a).

-At a certain determination time, when the guidance device 1 determines that "the user is likely to arrive at the boarding place first", the request "deceleration" is transmitted to the user (records 113b, 114b, 115b, 116b and 117b).
-Furthermore, in this case, the guidance device 1 can select the request for the vehicle according to the conditions.
-If the waiting place does not exist, or if the waiting place exists but the vehicle is running, the guidance device 1 transmits the request "acceleration" to the vehicle (records 113b, 116b and 117b).
-If there is a waiting place and the vehicle has arrived at the waiting place, the guidance device 1 transmits a request "continuation of running (passing)" to the vehicle (record 114b).
-If there is a waiting place and the vehicle is waiting at the waiting place, the guidance device 1 transmits a request "restart of running" to the vehicle (record 115b).

As an exception, if "the vehicle is likely to arrive at the boarding place first" at the time when the vehicle is traveling on the vehicle route before waiting, the request for the vehicle is "none" (no transmission required), and the request for the user is also It becomes “none” (record 113a). This is because in this case it is sufficient for the vehicle to wait in the waiting area in the near future.

(Processing procedure)
The processing procedure will be described below. There are two processing procedures, which are a vehicle allocation reservation processing procedure and a guidance processing procedure. In order for the guidance processing procedure to start, it is premised that the vehicle allocation processing procedure has been completed.

(Vehicle dispatch reservation processing procedure)
FIG. 10 is a flowchart of the vehicle allocation reservation processing procedure.
In step S201, the user management unit 21 of the guidance device 1 receives reservation information from the user. Specifically, the user management unit 21 accepts the user to input the reservation information via the input device 42 of the user terminal device 2. The reservation information includes at least the user departure point, boarding place, scheduled boarding time and number of passengers. The user management unit 21 may automatically determine the boarding place in the vicinity of the user starting point without accepting the boarding place.

In step S202, the route generation unit 23 of the guidance device 1 generates a user route. Specifically, the user management unit 21 generates a user route 7 (see FIG. 2) starting from the received user starting point and ending at the boarding place by an arbitrary method.

In step S203, the vehicle management unit 22 of the guidance device 1 selects a vehicle. Specifically, the vehicle management unit 22 selects a vehicle that is closest to the boarding point among the vehicles that can arrive at the boarding place at the scheduled boarding time and can carry the number of passengers. Select from the candidates. At this stage, the user who input the reservation information in step S201 is associated with the vehicle carrying the user. When we refer to a vehicle hereafter, it means the vehicle associated with that user. Further, when the term "vehicle-mounted device 3" is used thereafter, it means the vehicle-mounted device 3 mounted on the vehicle associated with the user.

In step S204, the route generation unit 23 of the guidance device 1 searches for a waiting place. Specifically, the waiting place closest to the boarding place is selected from the waiting place candidates. The route generation unit 23 determines that "there is no waiting place" when there is no candidate for the waiting place within a predetermined distance from the boarding place.

In step S205, the route generation unit 23 generates a vehicle route. Specifically, the route generation unit 23 starts from the vehicle starting point (the position of the vehicle at the time when the vehicle is selected) and ends at the waiting place, the pre-waiting vehicle route 8a, and the boarding place starting from the waiting place. A post-standby vehicle path 8b ending in is generated by an arbitrary method (see FIG. 2). When the route generation unit 23 determines in step S204 that "the waiting place does not exist", the route generation unit 23 generates a non-waiting vehicle route 8c starting from the vehicle starting point and ending at the boarding place by an arbitrary method (see FIG. 2). ..

In step S206, the user management unit 21 of the guidance device 1 transmits the user route. Specifically, the user management unit 21 transmits the user route generated in step S202 to the user terminal device 2. In addition, step S206 is an opportunity to start the guidance processing procedure of FIG. This is because, in the present embodiment, when the user terminal device 1 receives the user route, the wheelchair used by the user can move along the user route according to the movement profile from the control center.

In step S207, the vehicle management unit 22 of the guidance device 1 transmits the vehicle route. Specifically, the vehicle management unit 22 transmits the vehicle route generated in step S205 to the in-vehicle device 3. After that, the vehicle allocation reservation processing procedure is completed.

(Induction processing procedure)
FIG. 11 is a flowchart of the guidance processing procedure. Now, it is assumed that step S206 of FIG. 10 is executed.
In step S301, the remaining time comparison unit 24 of the guidance device 1 transmits a request to start traveling. Specifically, first, the remaining time comparison unit 24 transmits a request to start traveling to the in-vehicle device 3. Then, the vehicle starts to run toward the boarding place along the pre-waiting vehicle route or the non-waiting vehicle route.
Second, the remaining time comparison unit 24 transmits a request to start traveling to the user terminal device 2. The user's wheelchair then begins to move toward the boarding location along the user path.

In step S302, the remaining time comparison unit 24 determines _{whether or not the determination time t n} (n = 1, 2, 3, ...) Has arrived. The determination time is both the following "periodic time" and "arbitrary timing". Modifications other than these will be described later.
-Periodic time: A time at which a predetermined time (for example, 1 minute) periodically elapses after the vehicle or the user departs from the vehicle departure point or the user departure point.
-Arbitrary timing: When the waiting place exists in the vehicle route, the timing when the vehicle arrives at (approaches) the waiting place, or the timing when the vehicle arrives around the destination.

When the determination time has arrived (step S302 “Yes”), the remaining time comparison unit 24 proceeds to step S303, and in other cases (step S302 “No”), waits until the determination time arrives.

In step S303, the remaining time comparison unit 24 generates a record of synchronization information 31 (FIG. 4). Specifically, the remaining time comparison unit 24 receives each current position from the user terminal device 2 and the in-vehicle device 3, and creates a record of synchronization information 32 based on the reception result.

In step S304, the remaining time comparison unit 24 compares the remaining time. Specifically, the remaining time comparison unit 24 compares the magnitude of the remaining time “ _Tu (t _n )” of the user and the remaining time “T _c (t _n )” of the _{vehicle at the determination time t n.} At this time, the remaining time comparison unit 24 generates either "the vehicle is likely to arrive at the boarding place first" or "the user is likely to arrive at the boarding place first" as the first-come-first-served determination according to the direction of the inequality sign. To do.

In step S305, the remaining time comparison unit 24 transmits a request based on the request pattern 32 (FIG. 9). Specifically, first, the remaining time comparison unit 24 searches the request pattern 32 using the first-come-first-served determination generated in step S304 and other conditions (columns 111a to 111c in FIG. 9) at the determination time as search keys. , Get the corresponding record. Now, for convenience of explanation, it is assumed that the record 115a has been acquired.

Second, the remaining time comparison unit 24 transmits the vehicle request "standby continuation" to the vehicle-mounted device 3 and the user request "acceleration" to the user terminal device 2. Then, the vehicle autonomously continues to stand by according to the received information (control profile). The user's wheelchair also accelerates autonomously according to the received information. In the case of a manual wheelchair or a manned vehicle, the in-vehicle device 3 outputs the characters or voice "Please continue to stand by as it is" to the output device 53. The user terminal device 2 outputs the characters or voice "Please accelerate" to the output device 43.

In step S306, the remaining time comparison unit 24 determines whether or not the vehicle has arrived at the boarding place. Specifically, when the vehicle or the user arrives at the boarding place (step S306 “Yes”), the remaining time comparison unit 24 ends the guidance processing procedure, and in other cases (step S306 “No”), the step. Return to S302. If the cycle described above is sufficiently short and the loops of steps S302 to S305 are repeated a sufficient number of times, the vehicle and the user arrive at the boarding place at almost the same time.

(Modification example 1)
In the first-come-first-served determination column 111d of FIG. 9, in addition to "the vehicle is likely to arrive at the boarding place first" and "the user is likely to arrive at the boarding place first", "the vehicle and the user are likely to arrive at the boarding place at almost the same time" are stored. It may have been done. _{When the absolute value of the difference between "T c} (t _n )" and " _Tu (t _n )" is equal to or less than a predetermined threshold value, the guidance device 1 determines that "the vehicle and the user board at almost the same time" as a first-come-first-served basis. "Let's arrive at" is generated. Correspondingly, "speed maintenance" may be stored in addition to "deceleration" and "acceleration" in the request column 112 of FIG.

(Modification 2)
The above description of FIGS. 3 and 5 to 8 is based on the premise that the actual boarding time may be different from the initial scheduled boarding time as long as the user and the vehicle arrive at the boarding place at the same time. However, the guidance device 1 may fix the initial scheduled boarding time. In this case, the above-mentioned " _Tu (t _n )" and "T _c (t _n )" are limited to the time from the determination time t _n to the scheduled boarding time.

(Modification example 3)
The remaining time comparison unit 24 _{substitutes for the average speed from the immediately preceding determination time t n-1} to the determination time t _{n, and is} at the average speed from the departure time to the determination time t _n or at the determination time t _n . Instantaneous speed may be used.

(Modification example 4)
Remaining time comparison unit 24, to the user of the guiding device 1 may accept to set the period of the determination time t _n, may automatically determine the period of the determination time t _n. The remaining time comparison unit 24 may lengthen the cycle as the length of the vehicle route or the length of the user route increases. Further, the remaining time comparison unit 24 may gradually shorten the cycle as the remaining distance of the user or the remaining distance of the vehicle becomes shorter (as the vehicle approaches the boarding place). Further, the remaining time comparison unit 24 may set the time at which the direction of the inequality sign indicating the magnitude relationship between _{“T c} (t _n )” and “ _Tu (t _{n )” changes as the determination time t n} .

(Modification 5)
The remaining time comparison unit 24 may calculate the difference between the remaining time of the user and the remaining time of the vehicle, and based on the magnitude of the difference, add the degree to the request as follows, for example.
"Please accelerate 〇km / h than now"
"Please decelerate 〇〇km / h from the present"
“Please wait for ● minutes”
“Please resume driving in ●● minutes”

(Modification 6)
The remaining time comparison unit 24 may generate the request "detour" instead of the request "deceleration", or generate the request "take a shortcut" instead of the request "acceleration". May be good. In these cases, the route generation unit 23 generates a new user route or vehicle route that is a detour or a shortcut, starting from the current position of the user or the vehicle and ending at the boarding place. The remaining time comparison unit 24 transmits a new route to the user terminal device 2 or the in-vehicle device 3.

(Modification 7)
In the above, it is assumed that the unmanned vehicle travels autonomously according to the control profile, and the user's wheelchair also autonomously moves according to the control profile. However, the user adjusts the speed of the wheelchair after interpreting the request received by the user terminal device 2 by himself / herself, and the driver of the vehicle interprets the request received by the in-vehicle device 3 by himself / herself and then adjusts the speed of the vehicle. May be adjusted.

(Modification 8)
The user terminal device 2 or the in-vehicle device 3 may store a part of the programs (user management unit 21, vehicle management unit 22, route generation unit 23, and remaining time comparison unit 24) stored in the guidance device 1. At this time, a part of the processing subject of the above-mentioned processing is the user terminal device 2 or the in-vehicle device 3.

(Effect of this embodiment)
The effects of the guidance device of this embodiment are as follows.
(1) The guidance device enables the vehicle and the user to arrive at the boarding place at almost the same time.
(2) The guidance device can make the vehicle stand by at the waiting place.
(3) The guidance device can generate an accurate request according to the remaining time of the vehicle and the remaining time of the user, which change from moment to moment.
(4) The guidance device can adjust the cycle for comparing the remaining time based on the distance from the current position of the vehicle or the user to the boarding place.
(5) The guidance device can present the route to the vehicle and the user.
(6) The guidance device can prepare a request for the vehicle and the user in advance according to the situation.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

1 Guidance device 2 User terminal device 3 In-vehicle device 4 Wireless network 5 Boarding location 6 Standby location 7 User route 8a Vehicle route before standby 8b Vehicle route after standby 8c Vehicle route without standby 9 Vehicle 10 Users 11, 41, 51 Central control device 12 , 42, 52 Input device 13, 43, 53 Output device 14, 44, 54 Main storage device 15, 45, 55 Auxiliary storage device 16, 46, 56 Communication device 21 User management unit 22 Vehicle management unit 23 Route generation unit 24 Remaining Time comparison unit 31 Synchronization information 32 Request pattern

Claims (7)

The timing of arrival of the vehicle and the user riding the vehicle is synchronized with the boarding place of the vehicle.
A speed request is transmitted to the vehicle or the user based on the magnitude relationship between the remaining time until the vehicle arrives at the boarding place and the remaining time until the user arrives at the boarding place. Equipped with a remaining time comparison section
The remaining time comparison unit
The combination of the request for the vehicle and the request for the user is associated with the combination of the first-come-first-served determination indicating which of the vehicle or the user arrives at the boarding place first and the state of the vehicle. Referencing the stored request pattern to determine the speed requirement,
A guidance device characterized by. The route from which the vehicle reaches the boarding location is
Includes a waiting area where the vehicle can stand by while stopped
The requirement for the vehicle is
Includes a request for waiting for the vehicle at the waiting area,
The guidance device according to claim 1. The remaining time comparison unit
Periodically repeating the process of comparing the magnitude relationship between the remaining time until the vehicle arrives at the boarding place and the remaining time until the user arrives at the boarding place.
2. The guidance device according to claim 2. The remaining time comparison unit
Adjusting the cycle of the process of comparing the magnitude relations based on the distance from the current position of the vehicle or the user to the boarding place.
The guidance device according to claim 3. A route generation unit that generates a vehicle route from which the vehicle reaches the boarding location and a user route from which the user reaches the boarding location.
A vehicle management unit that transmits the generated vehicle route to the vehicle, and
A user management unit that transmits the generated user route to the user, and
4. The guidance device according to claim 4. The remaining time comparison part of the induction device is
The timing of arrival of the vehicle and the user riding the vehicle is synchronized with the boarding place of the vehicle.
A speed request is transmitted to the vehicle or the user based on the magnitude relationship between the time remaining until the vehicle arrives at the boarding place and the time remaining until the user arrives at the boarding place. ,
The combination of the request for the vehicle and the request for the user is associated with the combination of the first-come-first-served determination indicating which of the vehicle or the user arrives at the boarding place first and the state of the vehicle. Referencing the stored request pattern to determine the speed requirement,
A method for guiding a guidance device, which comprises. Computer,
The timing of arrival of the vehicle and the user riding the vehicle is synchronized with the boarding place of the vehicle.
A speed request is transmitted to the vehicle or the user based on the magnitude relationship between the time remaining until the vehicle arrives at the boarding place and the time remaining until the user arrives at the boarding place. ,
The combination of the request for the vehicle and the request for the user is associated with the combination of the first-come-first-served determination indicating which of the vehicle or the user arrives at the boarding place first and the state of the vehicle. To function as a time remaining comparison unit that refers to the stored request pattern and determines the request regarding the speed.
A guidance program featuring.

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