JP7065394B2 - Self-driving systems, self-driving system notification methods, programs, and moving objects - Google Patents

Description

The present disclosure relates to an automated driving system, a notification method, a program, and a moving body of the automated driving system. More specifically, the present disclosure relates to an automated driving system that automatically drives a moving body, a notification method of the automatic driving system, a program, and a moving body that is automatically driven by these.

Conventionally, there has been a traveling system for a housing housing complex in which an electric vehicle is driven along a traveling passage of an electric vehicle provided in the housing housing complex (see, for example, Patent Document 1).

JP-A-2002-133757

In the traveling system for a housing housing complex of Patent Document 1, an electric vehicle is unmannedly dispatched to a boarding point desired by a user who has made a reservation for a common facility in the housing housing complex according to the reservation time.

By the way, since the electric vehicle is unmanned and cannot be confirmed by the driver like the vehicle on which the driver is riding, the user can know which electric vehicle (moving object) he / she has reserved. It was difficult and inconvenient.

An object of the present disclosure is to provide an automated driving system, a notification method, a program, and a moving body of the automated driving system capable of improving convenience.

The automated driving system of one aspect of the present disclosure includes a determination unit, a notification unit, a detection unit, and a processing unit . The determination unit determines a determination condition when the moving body and the specific user are close to each other based on the positional relationship between the moving body that is automatically operated and the specific user who uses the moving body. Is determined. The notification unit notifies the specific user when the determination unit determines that the determination condition is satisfied. The detection unit searches for the specific user when the determination unit determines that the determination condition is satisfied. The processing unit performs processing according to the detection result of the detection unit. When the detection unit finds the specific user, the processing unit moves the moving body closer to the specific user when it is determined that the boarding position can be changed based on the traffic information. If it is determined that the boarding position cannot be changed based on the traffic information, the moving body is not moved so as to approach the specific user.

The notification method of the automatic driving system according to one aspect of the present disclosure includes a determination step, a notification step, a detection step, and a processing step . In the determination step, the determination condition when the moving body and the specific user are close to each other based on the positional relationship between the moving body to be automatically operated and the specific user who uses the moving body. Is determined. In the notification step, when it is determined in the determination step that the determination condition is satisfied, the specific user is notified. In the detection step, when it is determined in the determination step that the determination condition is satisfied, the specific user is searched for. In the processing step, when the specific user is found in the detection step and it is determined that the boarding position can be changed based on the traffic information, the moving body is moved so as to approach the specific user. If it is determined that the boarding position cannot be changed based on the traffic information, the moving body is not moved so as to approach the specific user.

The program of one aspect of the present disclosure is a program for causing a computer system to execute a determination step, a notification step, a detection step, and a processing step . In the determination step, the determination condition when the moving body and the specific user are close to each other based on the positional relationship between the moving body to be automatically operated and the specific user who uses the moving body. Is determined. In the notification step, when it is determined in the determination step that the determination condition is satisfied, the specific user is notified. In the detection step, when it is determined in the determination step that the determination condition is satisfied, the specific user is searched for. In the processing step, when the specific user is found in the detection step and it is determined that the boarding position can be changed based on the traffic information, the moving body is moved so as to approach the specific user. If it is determined that the boarding position cannot be changed based on the traffic information, the moving body is not moved so as to approach the specific user.

The moving body of one aspect of the present disclosure includes a moving main body and a notification unit included in the automatic driving system.

According to the present disclosure, it is possible to provide an automatic driving system, a notification method, a program, and a moving body of the automatic driving system capable of improving convenience.

FIG. 1 is an explanatory diagram illustrating an example of use of the automatic driving system according to the first embodiment of the present disclosure. FIG. 2 is a system configuration diagram of the entire system including the above-mentioned automatic driving system. FIG. 3 is a sequence diagram illustrating the operation of the above-mentioned automatic driving system. FIG. 4 is a flow chart illustrating the operation of the automatic driving system according to the first modification of the first embodiment of the present disclosure. FIG. 5 is a sequence diagram illustrating the first process of the above-mentioned automated driving system. FIG. 6 is a sequence diagram illustrating the second process of the above-mentioned automated driving system. FIG. 7 is a sequence diagram illustrating the third process of the above-mentioned automated driving system.

(Embodiment 1)
(1) Overview As shown in FIG. 1, the automatic driving system 1 according to the present embodiment is a system that automatically drives a moving body 10 such as a shared taxi that carries a user 50 from a boarding point to a disembarking point. be. The automatic driving system 1 of the present embodiment is used, for example, for a ride sharing service using a moving body 10.

As shown in FIG. 2, the automatic operation system 1 includes a determination unit 111 and a notification unit 112.

In the determination unit 111, the moving body 10 and the specific user 50B approach each other based on the positional relationship between the moving body 10 that is automatically operated and the specific user 50B (50) that uses the moving body 10. It is determined whether or not the determination condition at that time is satisfied.

The notification unit 112 notifies a specific user 50B when the determination unit 111 determines that the determination condition is satisfied.

Here, there are various modes of using the moving body 10, such as the user 50 getting on the moving body 10 and the moving body 10 carrying a load. In the following, the moving body 10 is used. The present embodiment will be described by taking as an example the case where the passenger rides on the moving body 10. The specific user 50B is a user who will use the moving body 10 from now on. For example, a user who requests the server 20 to dispatch the moving body 10 and waits for the arrival of the moving body 10 at the boarding position. To tell. When a plurality of users synergize with one moving body 10, when a specific user 50B gets on the moving body 10, the user 50A already on the moving body 10 (see FIG. 1) is used. It is called a first user (preceding user), and a specific user 50B who gets on later may be called a second user.

Further, the moving body 10 according to the present embodiment includes a moving main body 100 and a notification unit 112 included in the automatic driving system 1.

When the moving body 10 approaches the specific user 50B, the notification unit 112 notifies the specific user 50B, so that the specific user 50B is approaching the moving body 10 that he / she uses. It is possible to know that and improve convenience.

(2) Details The entire system configuration including the automatic operation system 1 according to the present embodiment will be described with reference to FIGS. 1, 2, and the like.

The automatic driving system 1 of the present embodiment includes a moving body 10 and a server 20 that manages the allocation of the moving body 10. Although only one moving body 10 is shown in FIG. 2, the number of moving bodies 10 is not limited to one, and a plurality of moving bodies 10 may be used.

(2.1) Configuration of the moving body As shown in FIG. 1, the moving body 10 is an automobile that is automatically driven by the automatic driving system 1. A plurality of users can board the moving body 10.

As shown in FIG. 2, the moving body 10 includes a control unit 11, a communication unit 12, a memory 13, a sensor 14, and an output unit 15.

The communication unit 12 has a communication function for performing wireless communication using radio waves as a medium, and can communicate with the server 20 and the like via the mobile communication network 40.

The memory 13 includes an electrically rewritable non-volatile memory such as EEPROM (Electrically Erasable Programmable Read Only Memory), a volatile memory such as RAM (Random Access Memory), and the like. The memory 13 stores user information, vehicle information, traffic information, and the like. The user information is information about a user 50 (first user 50A, second user 50B, etc.) who uses the mobile body 10. The user information includes, for example, personal information used for identifying an individual of the user 50, request information when the user 50 requests a vehicle dispatch, and the like. The personal information includes the name of the user 50, the image data of the face image of the user 50, and the like. The request information includes the boarding position (for example, coordinates such as latitude and longitude, address, etc.) and the boarding time when the user 50 gets on, the getting off position, the number of users, and the like. The vehicle information is information about the moving body 10. The vehicle information is, for example, information related to the current vehicle allocation status, for example, position information regarding the current position (for example, longitude, latitude, altitude, etc.), traveling speed, number of people who can ride, number of people on board, and the like. Contains information. The traffic information is information on the traffic in the area where the moving body 10 travels, and includes information such as electronic map information of the area where the moving body 10 travels, road construction, accidents, traffic jams, traffic regulations, and the like.

The sensor 14 detects, for example, information about the moving body 10. The sensor 14 includes, for example, a position sensor that acquires the current position information (moving body position information) of the moving body 10 using GPS (Global Positioning System), an image sensor that images the surroundings of the moving body 10, and the like. .. Further, the sensor 14 includes a LIDAR (Light Detection and Ranging), a millimeter wave radar, and the like as sensors for acquiring information necessary for automatic driving.

The output unit 15 has a display device 151 (see FIG. 1) that gives notification by characters, video, etc., a speaker that gives notification by sound, and the like. The display device 151 is composed of, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or the like. The display device 151 is attached to, for example, the ceiling and the side surface of the main body 100 of the moving body 10. Therefore, a person outside the moving body 10 can visually check the display contents of the display device 151. The display device 151 may be attached to the inside of the main body 100 (that is, the passenger compartment on which the user 50 rides) so that the person on the moving body 10 can visually recognize the displayed contents, or the main body. It may be attached to the inside and the outside of 100, respectively.

The control unit 11 is composed of, for example, a microcomputer having a processor and a memory. That is, the control unit 11 is realized by a computer system having a processor and a memory. Then, when the processor executes an appropriate program, the computer system functions as the control unit 11. The program may be pre-recorded in a memory, may be recorded through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The control unit 11 has the functions of the determination unit 111 and the notification unit 112 described above. Further, the control unit 11 further has the functions of the acquisition unit 113, the detection unit 114, and the processing unit 115.

The acquisition unit 113 acquires position information indicating the current position of the moving body 10, video information around the moving body 10, and the like from the sensor 14. Further, the acquisition unit 113 acquires the user's position information from the server 20 or the terminal device 30 carried by the user 50 via the communication unit 12.

For example, the detection unit 114 uses face recognition technology or the like based on the face image of the specific user 50B stored in the memory 13, and from the video information around the moving body 10 acquired by the acquisition unit 113. , Exploring the face of a specific user 50.

When the moving body 10 and the specific user 50B come close to each other, the processing unit 115 controls the moving body 10 according to the detection result of the detection unit 114.

(2.2) Server Configuration The server 20 includes a control unit 21, a communication unit 22, and a memory 23.

The control unit 21 is composed of, for example, a microcomputer having a processor and a memory. That is, the control unit 21 is realized by a computer system having a processor and a memory. Then, when the processor executes an appropriate program, the computer system functions as the control unit 21. The program may be pre-recorded in a memory, may be recorded through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The communication unit 22 can communicate with the mobile body 10 and the terminal device 30 carried by the user who uses the mobile body 10 via the mobile communication network 40.

The memory 23 includes an electrically rewritable non-volatile memory such as EEPROM, a volatile memory such as RAM, and the like. The memory 23 stores user information about the user who uses the moving body 10, vehicle information about the moving body 10, traffic information in the area where the moving body 10 travels, and the like.

(2.3) Configuration of Terminal Device Next, the terminal device 30 carried by the user 50 who uses the mobile body 10 will be described with reference to FIGS. 1 and 2. In the following, among the terminal devices 30 carried by the user 50, the terminal device 30 carried by the first user 50A is referred to as the first terminal device 30A, and the terminal carried by a specific user (second user) 50B. The device 30 may be referred to as a second terminal device 30B.

The terminal device 30 is realized by, for example, a smartphone, a tablet-type mobile terminal, or a personal computer. The terminal device 30 includes a control unit 31, a communication unit 32, a memory 33, an output unit 34, an input unit 35, and a sensor 36.

The control unit 31 is composed of, for example, a microcomputer having a processor and a memory. That is, the control unit 31 is realized by a computer system having a processor and a memory. Then, when the processor executes an appropriate program, the computer system functions as the control unit 31. The program may be pre-recorded in a memory, may be recorded through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The communication unit 32 can communicate with the server 20 and the like via the mobile communication network 40.

The memory 33 includes an electrically rewritable non-volatile memory such as EEPROM, a volatile memory such as RAM, and the like. The memory 33 stores user information and the like regarding the user 50 who carries the terminal device 30.

The output unit 34 includes, for example, a display unit such as a liquid crystal display or an organic EL (Electro Luminescence) display, a sound output unit such as a speaker, and a vibration generation unit such as a vibration motor that generates vibration. The output unit 34 is not limited to the one including all of the display unit, the sound output unit, and the vibration generating unit, and may include at least one of the display unit, the sound output unit, and the vibration generating unit.

The input unit 35 is provided with, for example, a touch panel or the like provided on the display unit included in the output unit 34, and receives the operation input of the user 50.

The sensor 36 includes, for example, a position sensor that acquires the current position information of the terminal device 30 by using GPS.

(2.4) Operation The operation of the automatic operation system 1 of the present embodiment will be described with reference to the sequence diagram of FIG.

Hereinafter, the operation when the specific user 50B requests the server 20 to dispatch the vehicle by using the second terminal device 30B will be described. Further, in the example of FIG. 3, it is assumed that another first user (preceding user) 50A is already on the moving body 10 to be used by the specific user (second user) 50B. do.

First, the specific user 50B operates the input unit 35 of the second terminal device 30B to activate the application for vehicle allocation, and the request information (boarding position, scheduled boarding time) for requesting the vehicle allocation of the mobile body 10. , Information such as disembarkation position) (ST1). The control unit 31 of the second terminal device 30B causes the communication unit 32 to transmit the request information input by the specific user 50B and the personal information of the user 50B stored in the memory 33 to the server 20. When the communication unit 22 of the server 20 receives the vehicle allocation request information and the personal information of the user 50B from the second terminal device 30B, the control unit 21 registers the received request information and the personal information of the user 50B in the memory 23. (ST2). Then, the control unit 21 of the server 20 is a specific user from among the plurality of mobile bodies 10 based on the received request information, the personal information of the specific user 50B, the operation status of the plurality of mobile bodies 10, and the like. The moving body 10 on which the 50B is placed is determined. The server 20 transmits to the moving body 10 the operation information of the moving body 10 (for example, the boarding position, the scheduled boarding time, the disembarking position, etc.) and the personal information of the specific user 50B who uses the moving body 10. ..

When the communication unit 12 of the mobile body 10 receives the operation information and the personal information of the specific user 50B from the server 20, the control unit 11 stores the operation information and the personal information of the specific user 50B in the memory 13 (ST3). ). Further, the control unit 11 of the moving body 10 automatically drives the moving body 10 so as to arrive at the boarding position by the scheduled boarding time (ST4). As described above, when the automatic driving system 1 receives the operation information including the information on the boarding position on the moving body 10 from the specific user 50B, the automatic driving system 1 moves the moving body to the boarding position.

In the present embodiment, it is assumed that the specific user 50B requests the server 20 to dispatch the vehicle at a place different from the boarding position, and the specific user 50B can enter the request information in time for the scheduled boarding time. Move toward the boarding position. In the second terminal device 30B carried by the specific user 50B, the sensor 36 periodically detects the current position information (for example, at 100 mS intervals). The control unit 31 transmits the position information detected by the sensor 36 from the communication unit 32 to the server 20 at regular or irregular time intervals (ST5).

When the communication unit 22 of the server 20 receives the position information from the second terminal device 30B, the control unit 21 stores the position information in the memory 23 (ST6), and causes the communication unit 22 to transmit the position information to the mobile body 10 (ST6). ST7).

In the mobile body 10, when the communication unit 12 receives the position information transmitted from the server 20 (ST8), the acquisition unit 113 receives the position information received by the communication unit 12, and the second terminal device 30B (that is, that is). Update the location information of a specific user 50B). When the acquisition unit 113 updates the position information of the specific user 50B at any time, whether or not the determination unit 111 satisfies the determination condition when the moving body 10 and the specific user 50B are close to each other. The determination process is performed (ST9). The determination unit 111 determines the mobile body 10 and the specific user 50B based on the position information of the mobile body 10 detected by the sensor 14 and the position information of the second terminal device 30B (that is, the specific user 50B). It is determined whether or not the two are close to each other based on the positional relationship with.

Here, the determination unit 111 determines whether or not the determination condition when the moving body 10 and the specific user 50B are close to each other is satisfied based on the positional relationship between the moving body 10 and the specific user 50B. Is determined. The determination condition of the determination unit 111 is that the movement distance for the moving body 10 to move to the position of the specific user 50B is shorter than a preset threshold value (for example, a distance of about 100 m). When the moving body 10 needs to make a U-turn or make a U-turn to move to the position of the specific user 50B, the moving distance becomes longer by that amount. The threshold value is, for example, a distance at which a specific user 50B can visually discriminate the moving body 10, and may be appropriately set between several tens of meters and one hundred and several tens of meters. If the specific user 50B arrives at the boarding position at the timing when the determination unit 111 performs the determination process, the determination unit 111 approaches the specific user 50B, that is, the boarding position. Determine if it is. If the specific user 50B has not arrived at the boarding position at the timing when the determination unit 111 performs the determination process, the determination unit 11 determines whether or not the moving body 10 is approaching the specific user 50B in motion. Is determined.

If the determination unit 111 determines that the determination condition is not satisfied, that is, if the moving body 10 is determined not to be close to the specific user 50B, the notification unit 112 does not perform the notification process.

When the determination unit 111 determines that the determination condition is satisfied, that is, the moving body 10 has approached the specific user 50B, the notification unit 112 determines that the moving body 10 is approaching the display device 151 of the moving body 10. Notification is performed by displaying the indicated notification content (ST10). The notification unit 112 displays on the display device 151 messages such as "I have come to pick up Mr. XX" and "I am looking for Mr. XX" as user-related information related to the specific user 50B. do. Therefore, the specific user 50B can easily find the moving body 10 that has come to pick him up, and can improve the convenience. Here, the notification unit 112 may display the face image or the like of the specific user 50B on the display device 151 together with the above message as the user-related information related to the specific user 50B. In this way, the notification unit 112 notifies the information including the user-related information (for example, personal information such as a name, face image, etc.) related to the specific user 50B, so that the specific user 50B is himself / herself. It becomes easier to find the moving object 10 that came to pick you up.

Further, the notification unit 112 may transmit the notification information notifying the approach of the moving body 10 from the communication unit 12 to the server 20 (ST11). When the communication unit 22 of the server 20 receives the notification information from the mobile body 10, the control unit 21 has both the specific user 50B and the first user (preceding user) 50A already on the mobile body 10. Notify to. That is, the control unit 21 carries the notification information received from the mobile body 10 from the communication unit 22 to the second terminal device 30B carried by the specific user 50B, and the first user 50A already on the mobile body 10. (ST12). As a result, the notification unit 112 can notify both the specific user 50B and the second user 50A that the moving body 10 and the specific user 50B are close to each other. At this time, the notification unit 112 may notify both the specific user 50B and the second user 50A that the specific user 50B will ride (carpool) on the moving body 10.

In the second terminal device 30B carried by the specific user 50B, when the communication unit 32 receives the notification information from the server 20 (ST13), the control unit 31 controls the output unit 34 and moves by sound, display, vibration, or the like. A notification operation for notifying the approach of the body 10 is performed. This makes it easier for the specific user 50B to find the moving object 10 that has come to pick him up.

Further, even in the first terminal device 30A carried by the first user 50A, when the communication unit 32 receives the notification information from the server 20 (ST14), the control unit 31 controls the output unit 34, and the sound, display, vibration, etc. Performs a notification operation to notify the approach of the moving body 10. As a result, the first user 50A who is already on the moving body 10 can easily notice that the moving body 10 is picking up the specific user 50B.

In the present embodiment, when the determination unit 111 determines that the determination condition is satisfied, the notification unit 112 displays the notification content to the display device 151 and transmits the notification information to the terminal device 30. The mode of notification is not limited to this. The notification unit 112 may perform at least one of displaying the notification content to the display device 151 and transmitting the notification information to the terminal device 30. Further, the notification unit 112 transmits notification information to both the second terminal device 30B of the specific user 50B and the first terminal device 30A of the first user 50A, but at least the second terminal. Notification information may be transmitted to the device 30B.

The control unit 11 of the moving body 10 moves the moving body 10 to the riding position even after the determination unit 111 determines that the determination condition is satisfied, and when the moving body 10 arrives at the riding position, the moving body 10 is moved. Stop 10 Then, when the specific user 50B finds the moving body 10 and gets on the moving body 10, the notification unit 112 of the moving body 10 stops the notification. The mobile body 10 may authenticate the user 50B using, for example, a face image when carrying the specific user 50B, and if the authentication is established, the user 50B may be allowed to board. After that, the control unit 11 automatically drives the moving body 10 toward the disembarkation position of the specific user 50B, and when it arrives at the disembarkation position of the specific user 50B, the control unit 11 lowers the specific user 50B and instructs the server 20. Continue automatic operation according to. In the automatic driving system 1, the fare payment process may be performed by cash or credit payment at the timing of getting off the vehicle.

(3) Modifications The above embodiment is only one of the various embodiments of the present disclosure. The above embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as that of the automatic driving system 1 may be realized by a notification method of the automatic driving system 1, a computer program, a non-temporary recording medium on which the program is recorded, or the like. The notification method of the automatic driving system 1 according to one aspect includes a determination step and a notification step. In the determination step, it is determined when the moving body 10 and the specific user 50B are close to each other based on the positional relationship between the moving body 10 to be automatically driven and the specific user 50B using the moving body 10. Determine if the condition is met. In the notification step, when it is determined in the determination step that the determination condition is satisfied, the specific user 50B is notified. Further, the (computer) program according to one aspect is a program for causing a computer system to execute a determination step and a notification step.

Hereinafter, variations of the above embodiment are listed. The modifications described below can be applied in combination as appropriate.

The execution subject of the automatic operation system 1 or the notification method of the automatic operation system 1 in the present disclosure includes a computer system. The computer system mainly consists of a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the execution subject of the automatic operation system 1 or the notification method of the automatic operation system 1 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided on a non-temporary recording medium readable by the computer system. Non-temporary recording media that can be read by a computer system are a memory card, an optical disk, a hard disk drive, and the like. The processor of a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

Further, in the above embodiment, the automatic driving system 1 includes a mobile body 10 and a server 20, but the server 20 is not an essential configuration for the automatic driving system 1. That is, if the mobile body 10 can directly communicate with the terminal device 30 of the user 50, the server 20 can be omitted.

Further, the automatic operation system 1 is realized by the mobile body 10 and the server 20, but the present invention is not limited to this configuration, and the server 20 may be realized by one or two systems, for example. Further, the functions of the determination unit 111 and the notification unit 112 of the automatic operation system 1 may be distributed and provided in two or more systems. For example, the functions of the determination unit 111 and the notification unit 112 of the automatic driving system 1 may be distributed to the mobile body 10 and the server 20, or may be provided to the server 20. Further, the functions of the determination unit 111 and the notification unit 112 may be distributed and provided in a plurality of devices. Further, at least a part of the functions of the automatic driving system 1 may be realized by, for example, the cloud (cloud computing).

(3.1) Modification 1
Hereinafter, the automatic operation system 1 of the modification 1 will be described.

The contents of the processing performed when the moving body 10 approaches the specific user 50B are different between the first embodiment and the automatic driving system 1 of the modified example 1. Since the configuration of the automatic operation system 1 of the modification 1 is the same as that of the first embodiment, the same configurations as those of the first embodiment are designated by a common reference numeral and description thereof will be omitted as appropriate.

The operation of the automatic operation system 1 of the modification 1 will be described with reference to FIGS. 4 to 7.

FIG. 4 is a flow chart illustrating the operation of the automatic operation system 1 after the determination unit 111 determines that the determination condition is satisfied. When the determination unit 111 determines that the determination condition is satisfied, the control unit 11 activates a timer for measuring the standby time and starts counting the standby time (ST21). The waiting time is an upper limit of the time from the timing when it is determined that the moving body 10 and the specific user 50B are close to each other until one of the moving body 10 and the specific user 50B notices the other. .. The standby time is set to, for example, 10 minutes, but it can be appropriately changed according to the specifications of the vehicle dispatch service, etc., and may be set to any time between several minutes and several tens of minutes.

After that, in the moving body 10, the acquisition unit 113 acquires the image information around the moving body 10 from the sensor 14, and the detection unit 114 uses the image information based on the face image of the specific user 50B. A detection process for finding the face of person 50B is performed (ST22). The detection unit 114 may detect the location of the specific user 50B by performing a voice dialogue with the specific user 50B via the terminal device 30B. Further, the detection unit 114 outputs the information of the specific user 50B to the terminal device 30A of the first user 50A who is already on the mobile body 10, and the first user 50A inputs the information using the terminal device 30A. By acquiring the above-mentioned information, the place where the specific user 50B is may be detected.

If a specific user 50B is found as a result of the detection process (Yes in ST23), the processing unit 115 of the moving body 10 performs the first process (ST24).

If the specific user 50B is not found as a result of the detection process (No of ST23), the control unit 11 determines whether or not the notification has been received from the terminal device 30B carried by the specific user 50B (ST25). .. The notification from the terminal device 30B is, for example, a notification for requesting a change in the boarding position, but may be a notification that a specific user 50B has found the moving body 10.

Here, if the mobile body 10 has received the notification from the terminal device 30B (Yes in ST25), the processing unit 115 of the mobile body 10 performs the second processing (ST26).

On the other hand, if the mobile body 10 has not received the notification from the terminal device 30B (No of ST25), the control unit 11 determines whether or not the counting of the standby time by the timer has been completed (ST27).

If the count is not completed (No of ST27), the control unit 11 of the moving body 10 returns to ST22 and repeats the above processing, and if the counting is completed (Yes of ST27), the processing unit of the moving body 10 is completed. 115 performs a third process (ST28).

Hereinafter, the first process (ST24), the second process (ST26), and the third process (ST28) described above will be described.

<Explanation of the first process>
The first process will be described with reference to the sequence diagram of FIG. The first process is a process when a specific user 50B is found in the detection process. The processing unit 115 of the mobile body 10 transmits notification information to the terminal device 30B of the specific user 50B, and moves from the current position to the position where the specific user 50B currently exists.

When the moving body 10 moves toward the boarding position of the specific user 50B according to the operation information received from the server 20, the determination unit 111 determines that the moving body 10 and the specific user 50B are close to each other. Then (ST30), the detection unit 114 performs the above-mentioned detection process. When the detection unit 114 detects the specific user 50B in the detection process (ST31), the processing unit 115 determines the distance between the mobile body 10 and the specific user 50B based on the position information of the terminal device 30B. The indicated distance information is acquired (ST32). The processing unit 115, for example, is a linear distance (shortest) between the mobile body 10 and the terminal device 30B (that is, a specific user 50B) based on the position information of the mobile body 10 and the position information of the terminal device 30B. Distance) is calculated. Then, the notification unit 112 outputs the distance information to the output unit 15 and displays it on the display device 151 of the moving body 10, for example (ST33).

Here, the processing unit 115 sends a confirmation notification by e-mail from the communication unit 12 to the terminal device 30B to confirm to the specific user 50B whether the moving body 10 may be moved so as to approach the specific user 50B. (ST34). For example, the processing unit 115 sends an e-mail containing a message such as "I found Mr. XX", "I am at a distance of XXm", "I am approaching Mr. XX" from the communication unit 12. It is transmitted to the terminal device 30B. The means of confirmation notification is not limited to e-mail. A voice call may be made between the mobile body 10 and the terminal device 30B to confirm. Further, if the mobile body 10 and the terminal device 30B can directly communicate with each other, the mobile body 10 may directly transmit the confirmation notification to the terminal device 30B without going through the server 20.

When the specific user 50B receives the confirmation notification e-mail transmitted from the mobile body 10 using the terminal device 30B (ST35), the server operates the terminal device 30B to answer whether or not to allow the movement. It is transmitted to the moving body 10 via 20 (ST36).

When the communication unit 12 of the mobile body 10 receives the response from the terminal device 30B (ST37), the processing unit 115 controls the mobile unit 10 according to the content of the response (ST38). When the specific user 50B permits the movement, the processing unit 115 moves the moving body 10 to a position closer to the specific user 50B based on the position information of the terminal device 30B, and the specific user 50B moves. Wait to get on the moving body 10. If the specific user 50B does not permit the movement, the processing unit 115 does not move the moving body 10 and waits for the specific user 50B to get on the moving body 10.

As described above, in the modification 1, when the determination unit 111 determines that the determination condition is satisfied, the detection unit 114 searches for a specific user 50B, and the processing unit 115 responds to the detection result of the detection unit 114. Processing is being performed. Specifically, the processing unit 115 moves the moving body 10 so as to bring the moving body 10 closer to the position of the specific user 50B detected by the detection unit 114, and the specific user 50B himself / herself moves the moving body 10. It becomes easier to find the moving body 10 to ride.

<Explanation of the second process>
The second process will be described with reference to the sequence diagram of FIG. The second process is a process of requesting a change in the boarding position in order to move the moving body 10 to a position where a specific user 50B can easily board.

When a specific user 50B instructs to change the boarding position using the terminal device 30B, the boarding position is changed from the current first position (for example, the boarding position indicated by the operation information from the server 20) to the second position. The request notification to be changed is transmitted to the mobile body 10 via the server 20 (ST41).

When the communication unit 12 of the mobile body 10 receives the request notification from the terminal device 30B, the processing unit 115 can change the boarding position from the first position to the second position (for example, the current position of the terminal device 30B). (ST42). Here, the terminal device 30B may transmit the request notification together with the coordinates of the candidate of the second position and the like, but may transmit only the request notification. When the coordinates of the candidate for the second position are not transmitted from the terminal device 30B, the processing unit 115 of the moving body 10 sets the current position of the terminal device 30B as the second position.

When the processing unit 115 determines that the boarding position cannot be changed based on the traffic information (information on traffic congestion, traffic regulation, road construction, etc.), the communication unit 12 notifies the terminal that the boarding position cannot be changed. It transmits to the device 30B and waits for a specific user 50B to get on the moving body 10 with the moving body 10 stopped at the first position.

On the other hand, when the processing unit 115 determines that the boarding position can be changed, the communication unit 12 sends a confirmation notification by e-mail to the specific user 50B to confirm whether the boarding position may be changed to the second position. It is transmitted to the terminal device 30B via the server 20 (ST43).

Upon receiving the confirmation notification e-mail transmitted from the mobile body 10 using the terminal device 30B (ST44), the specific user 50B determines whether or not to permit the movement of the mobile body 10. When permitting the movement of the mobile body 10, the specific user 50B operates the terminal device 30B and sends a reply to the mobile body 10 via the server 20 as to whether or not the movement is permitted (ST45).

When the communication unit 12 of the mobile body 10 receives the response from the terminal device 30B (ST46), the processing unit 115 controls the mobile unit 10 according to the content of the response (ST47). When the specific user 50B permits the movement of the moving body 10, the processing unit 115 moves the moving body 10 so as to change the boarding position from the first position to the second position, and the specific use at the second position. Wait for the person 50B to get on the moving body 10. Here, the control unit 115 of the mobile body 10 has, for example, the current position of the terminal device 30B acquired by the acquisition unit 113 as the second position, and is based on the position information of the terminal device 30B (that is, the specific user 50B). , Move the moving body 10. Therefore, the control unit 115 of the moving body 10 can move the moving body 10 so as to approach the specific user 50B.

Further, when the control unit 115 of the mobile body 10 receives a movement instruction from the terminal device 30B used by the specific user 50B in ST46, the control unit 115 of the mobile body 10 moves the mobile body 10 that is moving the mobile body 10. As a result, since the moving body 10 does not move without the permission of the specific user 50B, it is possible to reduce the possibility that a misunderstanding between the moving body 10 and the specific user 50B occurs.

<Explanation of the third process>
The third process will be described with reference to the sequence diagram of FIG. The third process is a process performed when the specific user 50B is not found even after the waiting time has elapsed from the timing when the determination condition when the moving body 10 and the specific user 50B are close to each other is satisfied.

When the counting of the standby time by the timer is completed (ST50), the acquisition unit 113 of the moving body 10 acquires the moving body position information related to the position of the moving body 10 from the sensor 14 (ST51). Here, the moving body position information is, for example, position information of the current position of the moving body 10 detected by using GPS, image information obtained by taking a picture of the surroundings of the moving body 10 by a camera, and the like.

When the acquisition unit 113 of the mobile body 10 acquires the mobile body position information, the control unit 115 transmits an e-mail including the mobile body position information from the communication unit 12 to the terminal device 30B of the specific user 50B by the notification unit 112. (ST52). That is, the notification unit 112 notifies the terminal device 30B used by the specific user 50B of information including the mobile body position information related to the position of the mobile body 10. For example, the moving body 10 sends an e-mail containing messages such as "I have arrived at the boarding position but I cannot find Mr. XX", "I will send you the current location information", and "I am near the XX intersection". It is transmitted to the terminal device 40B.

When the terminal device 30B receives the mobile body position information (ST53), the specific user 50B uses the mobile body position information transmitted from the mobile body 10 as a clue to search for where the mobile body 10 is. Here, when the specific user 50B wants to know more details about the position of the mobile body 10, he operates the terminal device 30B to transmit a request signal requesting detailed information to the mobile body 10 (ST54).

When the communication unit 12 of the mobile body 10 receives the request signal requesting the detailed information from the terminal device 30B (ST55), the control unit 11 of the mobile body 10 causes the acquisition unit 113 to acquire the detailed mobile body position information. For example, the acquisition unit 113 acquires image information obtained by capturing images in different directions from a camera, or, for example, a building, a store, a structure, an intersection, or the like that serves as a mark around the moving body 10 from map information and image information. Get information. Then, the control unit 11 of the mobile body 10 transmits the more detailed mobile body position information acquired by the acquisition unit 113 from the communication unit 12 to the terminal device 30B via the server 20 (ST56). For example, the mobile body 10 transmits an e-mail including a message such as "There is XX or △△ nearby" to the terminal device 40B.

When the specific user 50B receives the mobile body position information transmitted from the mobile body 10 using the terminal device 30B (ST57), the specific user 50B searches for where the mobile body 10 is by using the received mobile body position information as a clue. Can be done. Here, the mobile body 10 transmits an e-mail including the mobile body position information to the terminal device 30B, and carries the terminal device 30B by reading out the mobile body position information by voice using a voice synthesis technique. The moving body position information may be notified to the specific user 50B. Further, by transmitting information in both directions between the mobile body 10 and the terminal device 30B, detailed mobile body position information may be transmitted from the mobile body 10 to the terminal device 30B. Further, a voice call may be made between the mobile body 10 and the terminal device 30B for confirmation. Further, if the mobile body 10 and the terminal device 30B can directly communicate with each other, the mobile body 10 may directly transmit the confirmation notification to the terminal device 30B without going through the server 20.

Further, when the position of the moving body 10 is difficult to understand or it is difficult to move to the position of the moving body 10, the specific user 50B operates the terminal device 30B to request the change of the boarding position. The request notification is transmitted to the moving body 10 (ST58).

When the communication unit 12 of the mobile body 10 receives the request notification requesting the change of the boarding position from the terminal device 30B, the processing unit 115 moves the mobile body 10 to the position instructed to change or the current position of the terminal device 30B. (ST59). Then, the control unit 11 of the moving body 10 waits for the specific user 50B to get on the moving body 10 at the changed boarding position. As a result, the specific user 50B can easily find the moving body 10, and the convenience can be improved.

In this way, when the detection unit 114 cannot find the specific user 50B, the control unit 115 from the communication unit 12 to the periphery of the mobile body 10 with respect to the terminal device 30B used by the specific user 50B. I am sending the image of. Therefore, the specific user 50B can search for the position where the moving body 10 exists by using the image transmitted from the moving body 10 to the terminal device 30B as a clue.

(3.2) Other Modifications In the first embodiment, the moving body 10 is an automobile, but the moving body 10 is not limited to an automobile, and may be a moving object other than an automobile such as a two-wheeled vehicle, an aircraft, or a ship. ..

Further, the moving body 10 of the first embodiment is a car carrying a person, but the moving body 10 is not limited to the one carrying a person, and carries the user's luggage to a designated destination or is addressed to the user. It may be a transportation vehicle that carries the luggage to the user.

(summary)
As described above, the automatic driving system (1) according to the first aspect includes a determination unit (111) and a notification unit (112). The determination unit (111) has a moving body (10) and a specific use based on the positional relationship between the moving body (10) to be automatically operated and the specific user (50B) who uses the moving body (10). It is determined whether or not the determination condition when the person (50B) is approaching is satisfied. The notification unit (112) notifies a specific user (50B) when the determination unit (111) determines that the determination condition is satisfied.

According to this aspect, when the moving body (10) approaches the specific user (50B), the notification unit (112) notifies the specific user (50B), so that the specific user (50B) is notified. 50B) can know that the moving body (10) used by himself / herself is approaching. Therefore, the convenience of the automatic driving system (1) can be improved.

In the automatic driving system (1) according to the second aspect, in the first aspect, the notification unit (112) gives a notification by displaying the notification content on the display device (151) of the moving body (10).

According to this aspect, the specific user (50B) can know that the moving object (10) to be used is approaching based on the notification content displayed on the display device (151). can.

In the automatic operation system (1) according to the third aspect, it can be realized by the combination with the first or the second aspect. In the third aspect, the notification unit (112) precedes the specific user (50B) when the preceding user (50A) other than the specific user (50B) is already on the moving body (10). Notify both the user (50A).

According to this aspect, the specific user (50B) and the user (50A) who is already on the moving body (10) are referred to as the moving body (10) based on the notification by the notification unit (112). It is possible to know that a specific user (50B) is approaching.

The automatic driving system (1) according to the fourth aspect further includes an acquisition unit (113) for acquiring the position information of a specific user (50B) in any one of the first to third aspects. The acquisition unit (113) updates the position information of the specific user (50B).

According to this aspect, even when the specific user (50B) is moving, the determination unit (111) determines when the moving body (10) and the specific user (50B) are close to each other. It can be determined whether or not the condition is satisfied.

In the automatic driving system (1) according to the fifth aspect, when the information on the boarding position on the moving body (10) is received from the specific user (50B) in any one of the first to the fourth aspects. , Move the moving body (10) to the boarding position.

According to this aspect, even when the moving body (10) moves toward the boarding position, when the moving body (10) and the specific user (50B) are close to each other by the determination unit (111). It is possible to determine whether or not the determination condition of is satisfied.

In the automatic driving system (1) according to the sixth aspect, in any one of the first to fifth aspects, the notification unit (112) includes user-related information related to the specific user (50B). Notify information.

According to this aspect, the specific user (50B) knows that the moving object (10) used by himself / herself is approaching based on the user-related information notified by the notification unit (112). be able to.

In the automatic driving system (1) according to the seventh aspect, in any one of the first to sixth aspects, the notification unit (112) is attached to the terminal device (30B) used by the specific user (50B). On the other hand, the information including the moving body position information related to the position of the moving body (10) is notified.

According to this aspect, the specific user (50B) can easily find the moving body (10) to be used by the specific user (50B) by using the moving body position information notified by the notification unit (112) as a clue.

The automatic operation system (1) according to the eighth aspect further includes a detection unit (114) and a processing unit (115) in any one of the first to seventh aspects. The detection unit (114) searches for a specific user (50B) when the determination unit (111) determines that the determination condition is satisfied. The processing unit (115) controls the moving body (10) according to the detection result of the detection unit (114).

According to this aspect, the moving body (10) can be controlled based on the result of the detection unit (114) searching for a specific user (50B).

In the automatic operation system (1) according to the ninth aspect, in the eighth aspect, when the detection unit (114) finds a specific user (50B), the processing unit (115) is a moving body (10). ) Is moved closer to a specific user (50B).

According to this aspect, the processing unit (115) moves the moving body (10) so as to approach the specific user (50B), so that the specific user (50B) uses the moving body (10). ) Will be easier to find.

In the automatic operation system (1) according to the tenth aspect, when the detection unit (114) cannot find a specific user (50B) in the eighth or ninth aspect, the processing unit (115) Moves the moving body (10) based on the position information of the specific user (50B).

According to this aspect, the processing unit (115) moves the moving body (10) based on the position information of the specific user (50B), so that the specific user (50B) uses the moving body. It becomes easier to find (10).

In the automatic operation system (1) according to the eleventh aspect, in the tenth aspect, when the processing unit (115) receives a movement instruction from the terminal device (30B) used by the specific user (50B), the processing unit (115) receives a movement instruction. The moving body (10) is moved.

According to this aspect, when the processing unit (115) receives a movement instruction from the terminal device (30B) of the specific user (50B), the moving body (10) is moved, so that the moving body (10) moves. It is possible to reduce the possibility of moving freely and making a mistake with a specific user (50B).

In the automatic operation system (1) according to the twelfth aspect, when the detection unit (114) cannot find a specific user (50B) in any one of the eighth to eleventh aspects, the processing is performed. Part (115) performs the following processing. The processing unit (115) causes the terminal device (30B) used by the specific user (50B) to transmit an image around the mobile body (10) from the communication unit (12).

According to this aspect, the specific user (50B) can easily find the moving body (10) to be used by using the image around the moving body (10) as a clue.

The notification method of the automatic driving system (1) according to the thirteenth aspect includes a determination step and a notification step. In the determination step, the moving body (10) and the specific user (50B) are based on the positional relationship between the moving body (10) to be automatically driven and the specific user (50B) who uses the moving body (10). ) Is close to each other, and it is determined whether or not the determination condition is satisfied. In the notification step, when it is determined in the determination step that the determination condition is satisfied, the specific user (50B) is notified.

According to this aspect, the convenience of the automatic driving system (1) can be improved.

The program according to the fourteenth aspect is a program for causing a computer system to execute a determination step and a notification step. In the determination step, the moving body (10) and the specific user (50B) are based on the positional relationship between the moving body (10) to be automatically driven and the specific user (50B) who uses the moving body (10). ) Is close to each other, and it is determined whether or not the determination condition is satisfied. In the notification step, when it is determined in the determination step that the determination condition is satisfied, the specific user (50B) is notified.

According to this aspect, the convenience of the automatic driving system (1) can be improved.

The moving body (10) according to the fifteenth aspect includes a moving main body (100) and a notification unit (112) included in the automatic driving system (1) according to any one of the first to twelfth aspects. Be prepared.

According to this aspect, the convenience of the automatic driving system (1) can be improved.

Not limited to the above aspects, various configurations (including modifications) of the automated driving system (1) according to the first embodiment are the notification method of the automated driving system (1), the (computer) program, or the non-recording of the program. It can be embodied in a temporary recording medium or the like.

The configuration according to the second to twelfth aspects is not an essential configuration for the automatic operation system (1), and can be omitted as appropriate.

1 Automatic operation system 10 Mobile 12 Communication unit 30B Terminal device 50, 50A User 50B Specific user 100 Main unit 111 Judgment unit 112 Notification unit 113 Acquisition unit 114 Detection unit 115 Control unit 151 Display device

Claims (13)

Whether the determination condition when the moving body and the specific user are close to each other is satisfied based on the positional relationship between the moving body to be automatically operated and the specific user who uses the moving body. A judgment unit that determines whether or not it is
A notification unit that notifies the specific user when the determination unit determines that the determination condition is satisfied .
When the determination unit determines that the determination condition is satisfied, the detection unit that searches for the specific user and the detection unit.
A processing unit that performs processing according to the detection result of the detection unit is provided.
When the detection unit finds the specific user, the processing unit moves the moving body closer to the specific user when it is determined that the boarding position can be changed based on the traffic information. If it is determined that the boarding position cannot be changed based on the traffic information, the moving body is not moved so as to approach the specific user.
Autonomous driving system. The automatic driving system according to claim 1, wherein the notification unit notifies by displaying the notification content on the display device of the moving body. Claim 1 or 2 that the notification unit notifies both the specific user and the preceding user when a preceding user other than the specific user is already on the moving body. The automatic driving system described in. Further provided with an acquisition unit for acquiring the location information of the specific user,
The automatic driving system according to any one of claims 1 to 3, wherein the acquisition unit updates the position information of the specific user. The automatic driving system according to any one of claims 1 to 4, which receives information on a riding position on the moving body from the specific user and moves the moving body to the riding position. The automatic driving system according to any one of claims 1 to 5, wherein the notification unit notifies information including user-related information related to the specific user. The one according to any one of claims 1 to 6, wherein the notification unit notifies the terminal device used by the specific user of information including the mobile body position information related to the position of the mobile body. Automatic driving system. When the detection unit cannot find the specific user, the processing unit moves the moving body based on the position information of the specific user.
The automated driving system according to any one of claims 1 to 7. When the processing unit receives a movement instruction from the terminal device used by the specific user, the processing unit moves the moving body.
The automated driving system according to claim 8. When the detection unit cannot find the specific user, the processing unit transmits an image around the moving body from the communication unit to the terminal device used by the specific user.
Let
The automated driving system according to any one of claims 1 to 9. Whether the determination condition when the moving body and the specific user are close to each other is satisfied based on the positional relationship between the moving body to be automatically driven and the specific user who uses the moving body. Judgment step to determine whether or not,
A notification step for notifying the specific user when it is determined in the determination step that the determination condition is satisfied,
When it is determined in the determination step that the determination condition is satisfied, the detection step for searching for the specific user and the detection step.
When the specific user is found in the detection step and it is determined that the boarding position can be changed based on the traffic information, the moving body is moved so as to approach the specific user, and the traffic information is used. Including a processing step of not moving the moving object so as to approach the specific user when it is determined that the boarding position cannot be changed based on the above.
Notification method for autonomous driving system. For computer systems
Whether the determination condition when the moving body and the specific user are close to each other is satisfied based on the positional relationship between the moving body to be automatically driven and the specific user who uses the moving body. Judgment step to determine whether or not,
A notification step for notifying the specific user when it is determined in the determination step that the determination condition is satisfied,
When it is determined in the determination step that the determination condition is satisfied, the detection step for searching for the specific user and the detection step.
When the specific user is found in the detection step and it is determined that the boarding position can be changed based on the traffic information, the moving body is moved so as to be closer to the specific user, and the traffic information is used. When it is determined that the boarding position cannot be changed based on the above, a processing step of not moving the moving body so as to approach the specific user is executed.
program. The moving body and
The notification unit included in the automatic driving system according to any one of claims 1 to 10 is provided.
Mobile body.

Images