WO2019065698A1 - Stopping position determination device - Google Patents

Stopping position determination device Download PDF

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Publication number
WO2019065698A1
WO2019065698A1 PCT/JP2018/035600 JP2018035600W WO2019065698A1 WO 2019065698 A1 WO2019065698 A1 WO 2019065698A1 JP 2018035600 W JP2018035600 W JP 2018035600W WO 2019065698 A1 WO2019065698 A1 WO 2019065698A1
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WIPO (PCT)
Prior art keywords
stop position
information
destination
vehicle
user
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PCT/JP2018/035600
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French (fr)
Japanese (ja)
Inventor
晴彦 高木
吉洋 安原
昌嗣 左近
真武 下平
里紗 夏川
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パイオニア株式会社
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Publication of WO2019065698A1 publication Critical patent/WO2019065698A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams

Definitions

  • the present invention relates to a stop position determination device that determines a stop position of an autonomous driving vehicle.
  • Patent Document 1 when calling a taxi from home or on the go, there has been proposed a system or the like capable of arranging dispatch from a terminal device possessed by a user such as a smartphone (see, for example, Patent Document 1).
  • Patent Document 1 also describes a self-driving vehicle, in the case of a self-driving vehicle, since the human driver is not on board, the intention of the user when arriving at a designated place at the time of dispatch etc. It is possible that the vehicle is stopped at a position not suitable for use or at a position not suitable for use.
  • One of the problems to be solved by the present invention is to stop the vehicle at an appropriate position in a vehicle capable of autonomous traveling as described above.
  • invention of Claim 1 is the 1st acquisition part which acquires the destination information for determining the stop position in the destination of the autonomous driving vehicle which runs autonomously, and the above-mentioned destination information And a stop position determination unit that determines the stop position based on the above.
  • the invention according to claim 5 is a stop position determination method executed by the stop position determination device for determining a stop position of an autonomous driving vehicle traveling autonomously, wherein the stop position of the autonomous driving vehicle at a destination is determined. It is characterized by including a first acquisition step of acquiring destination information for the vehicle and a stop position determination step of determining the stop position based on the destination information.
  • the invention according to a sixth aspect is characterized in that the stop position determination method according to the fifth aspect is executed by a computer.
  • the stop position determination apparatus acquires destination information for determining a stop position at a destination at which the autonomous driving vehicle autonomously travels in the first acquisition unit, and the stop position determination unit Determine the stop position based on the information. By doing this, the stop position at the destination can be determined based on the destination information, so that the autonomous driving vehicle can be stopped at an appropriate position at the destination.
  • a second acquisition unit that acquires user information on a user of the autonomous driving vehicle may be provided, and the stop position determination unit may determine the stop position based on the destination information and the user information. By doing this, it is possible to determine the stopping position in consideration of the circumstances of the user, for example, having a large number of luggage, having a large amount of luggage, using a wheelchair, or having an infant.
  • requires allocation of a self-driving vehicle from a user may be provided, and the destination may be the point designated by the allocation request information.
  • the autonomous driving vehicle can be stopped at a position where the user can easily use when the user requests allocation.
  • destination information for determining a stop position at a destination where the autonomous driving vehicle autonomously travels is acquired in the first acquisition step, and the stop position determination step is performed.
  • the stop position is determined based on the destination information.
  • the stop position at the destination can be determined based on the destination information, so that the autonomous driving vehicle can be stopped at an appropriate position at the destination.
  • stop position determination program that causes a computer to execute the above-described stop position determination method.
  • the stop position at the destination can be determined based on the destination information using a computer, so that the autonomous vehicle can be stopped at an appropriate position at the destination.
  • a stop position determination apparatus according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4.
  • the server device 1 as the stop position determination device according to the present embodiment can communicate with the user terminal 2 and the autonomous driving vehicle C via the network N such as the Internet.
  • the server device 1 is installed, for example, in an office of a manager of the autonomous driving vehicle C, such as a dispatch service provider of the autonomous driving vehicle.
  • the functional configuration of the server device 1 is shown in FIG.
  • the server device 1 includes a control unit 11, a communication unit 12, and a storage unit 13.
  • the control unit 11 functions as a CPU (Central Processing Unit) of the server device 1 and controls the entire server device 1.
  • the control unit 11 determines the stopping position of the automatically driven vehicle C at the destination based on destination information and the like, which will be described later, acquired via the storage unit 13 and the communication unit 12.
  • the communication unit 12 functions as a network interface of the server device 1 and receives weathering request from the user terminal 2 and obtains weather information at a destination included in destination information from an external weather server or the like. Similarly, the communication unit 12 acquires road congestion information and accident information around the destination from an external road management server or the like. The communication unit 12 also transmits the stop position determined by the control unit 11 to the automatically driven vehicle C via the network N.
  • the storage unit 13 a storage device such as a hard disk of the server device 1 functions, and the map information 13a and the statistical information 13b included in the destination information are stored.
  • the statistical information 13 b is information on the history of the past stop positions in facilities (features) and the like as the destination. For example, it is history information indicating where in the vicinity of the building or the site of the building the vehicle is stopped when the destination is a certain building, and is collected from the traveling history of the automatically driven vehicle C or the like.
  • the statistical information 13b also includes latitude and longitude information of the stop position, the stop time, and the like. Note that this stop may include both the case of getting on and off and only one of them.
  • the user terminal 2 is a terminal device used when a user (user) such as a smartphone or a PC (personal computer) requests allocation of the automatically driven vehicle C, for example.
  • the user executes a dedicated application installed in the user terminal 2 or requests a vehicle allocation for the automatically driven vehicle C by accessing a predetermined site or the like.
  • the autonomous driving vehicle C includes a vehicle control device 3 and a sensor 4.
  • the vehicle control device 3 autonomously travels (automatically drives) the automatically driven vehicle C based on the result detected by the sensor 4 and map information for automatic driving possessed by the vehicle control device 3. Further, the vehicle control device 3 receives from the server device 1 the location (destination) where the user designates the dispatch and the stopping position at that location, and automatically drives the automatically driven vehicle C to the stopping position at that location. Make it happen.
  • the sensor 4 includes a camera installed in the autonomous driving vehicle C, a sensor (LiDAR: Light Detection And Ranging), and a sensor that recognizes the surrounding environment of the autonomous driving vehicle C, such as a radar.
  • a speed sensor that detects the speed of the automatically driven vehicle C
  • an acceleration sensor that detects an acceleration
  • a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C
  • attitude direction etc.
  • the sensor 4 includes equipment such as a gyro sensor that detects
  • the flowchart shown in FIG. 3 is executed by the control unit 11 of the server device 1. That is, the flowchart shown in FIG. 3 is configured as a stop position determination program that is executed by a computer that is the server device 1.
  • step S101 the server device 1 determines whether or not the user has received from the user terminal 2 information (allocation request information) for requesting allocation of the autonomous driving vehicle C, and in the case of receiving (in the case of YES) The process proceeds to step S102.
  • the allocation request information includes at least information on a place where the autonomous driving vehicle C is allocated.
  • the location to be allocated is not limited to the latitude and longitude information, but may be a facility name such as a building name or an apartment name or an address (location).
  • the user terminal 2 can acquire the current position by GPS (Global Positioning System) etc., the user who has acquired the user terminal 2 in the allocation request information
  • the current position information (latitude / longitude information) of may be included.
  • the allocation request information from the user terminal 2 is transmitted to the server device 1 via the network N.
  • the communication unit 12 receives the allocation request information and outputs the allocation request information to the control unit 11, whereby the allocation request information is received by the control unit 11.
  • step S102 destination information is acquired.
  • the destination in this step is, for example, a place to which the automatically driven vehicle C is allocated, and the destination information is the statistical information 13b of the stop position at the destination, the topography of the place, the current time, the weather of the place , Road congestion around the location, information on accidents around the location, etc.
  • the statistical information 13 b is acquired from the storage unit 13.
  • the topography is acquired from the map information 13 a stored in the storage unit 13. If the CPU serving as the control unit 11 has a function to clock, the current time information is acquired based on the function. Alternatively, it may be acquired from an external NTP (Network Time Protocol) server or the like.
  • the weather information is acquired from an external weather server or the like as described above.
  • Road congestion and accident information are acquired from an external road management server or the like as described above.
  • step S103 the stop position at the destination of the automatically driven vehicle C is determined.
  • the building B shown in FIG. 4 faces the road R1 and the road R2, and it is assumed that there are two entrances, an entrance E1 on the road R1 side and an entrance E2 on the road R2 side.
  • the stop position is determined so as to stop in the vicinity of the entrance E1 when the entrance with the high stop frequency from the statistical information 13b among the destination information is near the entrance E1.
  • the stop position of the automatically driven vehicle C is determined to stop in the vicinity It is also good.
  • the stop position of the automatically driven vehicle C may be determined from the frequency of stops in the time zone. If the information acquired as destination information indicates the weather, if the map information 13a contains information on a structure that can avoid rain, such as a roof, the rain should be taken into consideration in consideration of that information.
  • the stop position of the automatically driven vehicle C may be determined so as to stop near the entrance that can be avoided.
  • the stop position of the automatically driven vehicle C is determined near the entrance where the road congestion or the accident can be avoided. You may
  • step S104 the stop position of the automatically driven vehicle C determined is notified to the user. That is, in the case of FIG. 4, it is notified which one of the entrances E1 and E2 the vehicle stops in. At this time, the approval of the user may be obtained. Further, for example, although it has been notified that the entrance E1 has been determined in step S103, it may be possible to change when the entrance E2 is desired for the convenience of the user.
  • step S105 the destination and the determined stop position are transmitted to the automatically driven vehicle C.
  • the stop position is changed at the convenience of the user in step S104, the changed stop position is transmitted.
  • the server device 1 acquires destination information for determining the stop position at the destination where the autonomous driving vehicle C autonomously travels by the communication unit 12, and further dispatch of the autonomous driving vehicle C from the user Get allocation request information to request the Then, based on the destination information, the control unit 11 determines the stopping position at the point designated by the allocation request information. By doing this, the stop position at the destination can be determined based on the destination information, so the autonomous driving vehicle C can be stopped at an appropriate position at the destination. Therefore, when the user requests allocation, the autonomous driving vehicle can be stopped at a position easy for the user to use.
  • the communication part 12 which outputs the information regarding the stop position which the control part 11 determined is provided. By doing this, it is possible to perform stop control based on the stop position determined by the vehicle control device 3 in the automatically driven vehicle C.
  • the destination information may include at least one or more of statistical information 13b at the point, topography, arrival time, weather at the point, traffic congestion around the point, and an accident. For example, based on the arrival time of the automatically driven vehicle C, when there is a possibility that the brightness around the point may be dark, the automatically driven vehicle C is stopped on the bright main street instead of stopping on the back road or the like of the destination. You can do so. That is, the stop position suitable based on statistical information 13b (past history information) stopped at the destination, the topography of the destination, arrival time, weather, road congestion around the destination, and environmental information such as an accident You can decide the
  • step S201 user information is acquired after step S101 (step S201).
  • the user information acquired in step S201 is the information related to the user described above, and is included in the allocation request information received in step S101.
  • step S103 the stop position of the automatically driven vehicle C is determined based on the user information and the destination information.
  • a position where a passenger space is wide is finally determined based on the user information from the stop position candidates. It may be determined as the stop position of the automatically driven vehicle C.
  • the user information may be stored in the storage unit 13 of the server device 1, and the user information may be read from the storage unit 13 based on information identifying the user, such as a user ID, from the next time on. By doing this, it is not necessary to transmit user information each time.
  • the communication unit 12 for acquiring user information on the user of the autonomous driving vehicle C is provided, and the control unit 11 determines the stopping position based on the destination information and the user information.
  • the control unit 11 determines the stopping position in consideration of the circumstances of the user, for example, having a large number of luggage, having a large amount of luggage, using a wheelchair, or having an infant.
  • FIGS. 6 to 8 a stop position determination apparatus according to a third embodiment of the present invention will be described with reference to FIGS. 6 to 8.
  • the same parts as those in the first and second embodiments described above are designated by the same reference numerals and the description thereof will be omitted.
  • FIG. 6 shows that the autonomous driving vehicle C can not stop at the stopping position P because the bicycle BC is placed at the stopping position P when the stopping position of the automatically driving vehicle C determined by the server device 1 is P.
  • FIG. 7 shows a functional configuration of the vehicle control device 3.
  • the vehicle control device 3 includes a control unit 31, a communication unit 32, and a storage unit 33.
  • the control unit 31 controls the steering wheel, the accelerator, the brake, etc. of the automatically driven vehicle C based on the detection result of the sensor 4 and the map information 33a stored in the storage unit 33 to make the autonomously driven vehicle C run autonomously. . That is, the control unit 31 functions as a first acquisition unit that acquires the detection result (recognition result) of the sensor 4 (external world recognition unit). The control unit 31 also functions as an adjustment unit that adjusts the automatically driven vehicle C to a stoppable position when the automatically driven vehicle C can not be stopped at the stop position of the automatically driven vehicle C determined by the server device 1.
  • the communication unit 32 acquires information relating to the destination of the automatically driven vehicle C and the determined stop position of the automatically driven vehicle C from the server device 1 illustrated in FIG. 1.
  • the communication unit 32 functions as a second acquisition unit that acquires the stop position of the destination of the automatically driven vehicle C.
  • the storage unit 33 stores map information 33a and stop position information 33b including information on the destination of the automatically driven vehicle C and the stop position of the automatically driven vehicle C determined by the server device 1.
  • the map information 33a is a map that includes information that allows the autonomous driving vehicle C to travel autonomously.
  • information (features) such as contents (meaning) of road markings such as signs (road signs etc.) and stop lines, road division lines such as center lines, or structures along roads Information).
  • the map information 33a may be constantly updated to the latest version by being distributed from an external server such as the server device 1 or the like.
  • step S301 it is determined whether or not the automatically driven vehicle C can be stopped at the stop position indicated by the stop position information 33b. If the automatically driven vehicle C can be stopped (in the case of YES), the process proceeds to step S302.
  • the autonomous driving vehicle C is stopped at the stop position indicated by the stop position information 33b. Whether or not the automatically driven vehicle C can stop is detected by the detection result of the sensor 4 whether or not there is an obstacle such as the above-mentioned bicycle BC when the automatically driven vehicle C approaches a stopped position.
  • an image captured by a camera included in the sensor 4 can be analyzed to detect an obstacle, or the presence or absence of an obstacle can be detected by reflected light of light emitted from a lidar or reflected wave of radio waves emitted from a radar. .
  • the automatically driven vehicle C is located at a position adjacent to the stop position indicated by the stop position information 33b in step S303. It is determined whether or not the vehicle can be stopped, and if the vehicle can be stopped (in the case of YES), the process proceeds to step S304, and adjustment is made to set the adjacent position as a new stop position.
  • the adjacent position is, for example, a position deviated to such an extent that the bicycle BC can be avoided when the stop position of the autonomous driving vehicle C indicated by the stop position information 33 b is along the road.
  • the left and right are also selectable. Whether the vehicle can stop at the adjacent position may be determined based on the detection result of the sensor 4 similarly to the determination as to whether the vehicle can stop at the stop position of the automatically driven vehicle C indicated by the stop position information 33b.
  • step S303 the stoppable position closest to the stopped position of the automatically driven vehicle C indicated by the stopped position information 33b is newly added in step S305.
  • a stop position That is, the position which can be stopped closest to the stop position indicated by the stop position information 33b other than the adjacent position, for example, the position further adjacent to the adjacent position is adjusted to be the new stop position of the automatically driven vehicle C.
  • step S304 or S305 is performed and the stop position of the autonomous driving vehicle C is changed (adjusted).
  • the user may be notified.
  • the user's approval may be obtained before the stop position is adjusted.
  • the adjusted position may be further changed at the convenience of the user.
  • the server apparatus 1 stops the automatic driving vehicle C based on the operation state of the raindrop sensor or the wiper as well as the detection of the obstacle described in the flowchart of FIG.
  • the position with the roof may be changed (adjusted) to be the stop position.
  • the communication unit 32 receives road congestion information around the stop position from an external road management server or the like, the communication unit 32 changes (adjusts) the position of the destination where no road congestion occurs to the stop position. It is also good.
  • the surroundings of the autonomous driving vehicle C include not only the presence or absence of the obstacle but also the weather and brightness (whether it is night or not) mentioned above, etc.
  • a raindrop sensor and an illuminance sensor for acquiring these situations Etc. also become the external world recognition unit. That is, the control unit 31 may acquire the result of the sensor 4 recognizing the environment at the stopping position of the automatically driven vehicle C or the road congestion information received from the road management server or the like. By doing this, the stop position of the automatically driven vehicle C can be adjusted in response to a sudden change (weather, road congestion, etc.) of the environment at the stop position of the automatically driven vehicle C.
  • the vehicle control device 3 acquires the recognition result of the sensor 4 that recognizes the surrounding situation of the automatically driven vehicle C by the control unit 31, and stops the destination of the automatically driven vehicle C by the communication unit 32.
  • the position information 33 b is acquired from the server device 1.
  • the position at which the automatically driven vehicle C is stopped is adjusted. By doing this, when the automatically driven vehicle C actually arrives at the stopping position indicated by the stopping position information 33b, if the automatically driving vehicle C can not be stopped at the stopping position, the stopping position is changed accordingly. It becomes possible to stop the automatically driven vehicle C.
  • control part 31 has acquired the result in which the sensor 4 recognized the obstruction located in the stop position which the stop position information 33b shows. By doing this, it becomes possible to stop the automatically driven vehicle C so as to avoid an obstacle existing at the stopping position indicated by the stopping position information 33b.
  • control unit 31 sets the position adjacent to the stopping position indicated by the stopping position information 33b as the adjusted stopping position.
  • the present invention can also be applied when the user gets on the automatically driven vehicle C and stops at the destination (destination) of the user.
  • the present invention is not limited to the above embodiment. That is, those skilled in the art can carry out various modifications without departing from the gist of the present invention in accordance with conventionally known findings. As long as the configuration of the stop position determination device of the present invention is provided even by such a modification, it is of course included in the scope of the present invention.
  • Server device (stop position determination device) 2 user terminal 3 vehicle control device 11 control unit (first acquisition unit, stop position determination unit) 12 communication unit (first acquisition unit, second acquisition unit, third acquisition unit, output unit) 13 storage unit

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  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

In order for a vehicle capable of autonomous travel to stop at a suitable position, a server (1) acquires, with a communication unit (12), destination information for determining a stopping position at a destination to where an automatic driving vehicle (C) is traveling autonomously, and further acquires, from the user, vehicle dispatch request information for requesting dispatch of the automatic driving vehicle (C). The server (1) further determines, with a control unit (11), the stopping position at the site indicated by the vehicle dispatch request information on the basis of the destination information.

Description

停車位置決定装置Stop position determination device
　本発明は、自動運転車両の停車位置を決定する停車位置決定装置に関する。 The present invention relates to a stop position determination device that determines a stop position of an autonomous driving vehicle.
　例えば自宅や出先からタクシーを呼ぶ場合に、スマートフォン等の利用者が有する端末機器から配車の手配をすることができるシステム等が提案されている（例えば、特許文献１を参照）。 For example, when calling a taxi from home or on the go, there has been proposed a system or the like capable of arranging dispatch from a terminal device possessed by a user such as a smartphone (see, for example, Patent Document 1).
　また、自律走行が可能な車両（自動運転車両）について、タクシーやカーシェアリングのように利用したい時に車両を呼び寄せて利用するようなことも将来の実施が検討されている。 In addition, for vehicles that can run autonomously (autonomously driven vehicles), it is also considered that future vehicles will be called and used when it is desired to use such as taxis and car sharing.
再表２０１６－００２５２７号公報Re-listed 2016-002527 gazette
　特許文献１においては、自動運転車両についての記載もあるが、自動運転車両の場合、人間の運転者が乗車していないので、配車時等において指定した場所に到着したときに、利用者の意図していない位置やその場所の利用に不適な位置に停車されることがありうる。 Although Patent Document 1 also describes a self-driving vehicle, in the case of a self-driving vehicle, since the human driver is not on board, the intention of the user when arriving at a designated place at the time of dispatch etc. It is possible that the vehicle is stopped at a position not suitable for use or at a position not suitable for use.
　本発明が解決しようとする課題としては、上述したような自律走行が可能な車両において適切な位置に停車させることが一例として挙げられる。 One of the problems to be solved by the present invention is to stop the vehicle at an appropriate position in a vehicle capable of autonomous traveling as described above.
　上記課題を解決するために、請求項１に記載の発明は、自律走行する自動運転車両の目的地における停車位置を決定するための目的地情報を取得する第１取得部と、前記目的地情報に基づいて前記停車位置を決定する停車位置決定部と、を備えることを特徴としている。 In order to solve the above-mentioned subject, invention of Claim 1 is the 1st acquisition part which acquires the destination information for determining the stop position in the destination of the autonomous driving vehicle which runs autonomously, and the above-mentioned destination information And a stop position determination unit that determines the stop position based on the above.
　請求項５に記載の発明は、自律走行する自動運転車両の停車位置を決定する停車位置決定装置で実行される停車位置決定方法であって、前記自動運転車両の目的地における停車位置を決定するための目的地情報を取得する第１取得工程と、前記目的地情報に基づいて前記停車位置を決定する停車位置決定工程と、を含むことを特徴としている。 The invention according to claim 5 is a stop position determination method executed by the stop position determination device for determining a stop position of an autonomous driving vehicle traveling autonomously, wherein the stop position of the autonomous driving vehicle at a destination is determined. It is characterized by including a first acquisition step of acquiring destination information for the vehicle and a stop position determination step of determining the stop position based on the destination information.
　請求項６に記載の発明は、請求項５に記載の停車位置決定方法を、コンピュータにより実行させることを特徴としている。 The invention according to a sixth aspect is characterized in that the stop position determination method according to the fifth aspect is executed by a computer.
本発明の第１の実施例にかかる停車位置決定装置を有するシステムの概略構成図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the system which has a stop position determination apparatus concerning the 1st Example of this invention. 図１に示されたサーバ装置の機能構成図である。It is a functional block diagram of the server apparatus shown by FIG. 図２に示されたサーバ装置における停車位置決定動作のフローチャートである。It is a flowchart of the stop position determination operation | movement in the server apparatus shown by FIG. 停車位置を決定する例を示した説明図である。It is explanatory drawing which showed the example which determines a stop position. 本発明の第２の実施例にかかる停車位置決定動作のフローチャートである。It is a flow chart of stop position decision operation concerning a 2nd example of the present invention. 本発明の第３の実施例にかかる停車位置決定装置の使用場面の説明図である。It is explanatory drawing of the use scene of the stop position determination apparatus concerning the 3rd Example of this invention. 図６に示された車両制御装置の機能構成図である。It is a functional block diagram of the vehicle control apparatus shown by FIG. 図７に示された車両制御装置における停車位置決定動作のフローチャートである。It is a flowchart of the stop position determination operation | movement in the vehicle control apparatus shown by FIG.
　以下、本発明の一実施形態にかかる停車位置決定装置を説明する。本発明の一実施形態にかかる停車位置決定装置は、第１取得部で自動運転車両が自律走行する目的地における停車位置を決定するための目的地情報を取得し、停車位置決定部で目的地情報に基づいて停車位置を決定する。このようにすることにより、目的地における停車位置を目的地情報に基づいて決定することができるため、目的地において適切な位置に自動運転車両を停車させることができる。 Hereinafter, the stop position determination apparatus according to the embodiment of the present invention will be described. The stop position determination apparatus according to an embodiment of the present invention acquires destination information for determining a stop position at a destination at which the autonomous driving vehicle autonomously travels in the first acquisition unit, and the stop position determination unit Determine the stop position based on the information. By doing this, the stop position at the destination can be determined based on the destination information, so that the autonomous driving vehicle can be stopped at an appropriate position at the destination.
　また、自動運転車両の利用者に関する利用者情報を取得する第２取得部を備え、停車位置決定部は、目的地情報及び利用者情報に基づいて停車位置を決定してもよい。このようにすることにより、例えば、大人数である、荷物が多い、車椅子を利用している、乳幼児を連れているといった利用者の事情を考慮して停車位置を決定することができる。 In addition, a second acquisition unit that acquires user information on a user of the autonomous driving vehicle may be provided, and the stop position determination unit may determine the stop position based on the destination information and the user information. By doing this, it is possible to determine the stopping position in consideration of the circumstances of the user, for example, having a large number of luggage, having a large amount of luggage, using a wheelchair, or having an infant.
　また、利用者から自動運転車両の配車を要求する配車要求情報を取得する第３取得部を備え、目的地は、配車要求情報で指定された地点であってもよい。このようにすることにより、利用者が配車を要求した際に利用者が利用しやすい位置に自動運転車両を停車させることができる。 Moreover, the 3rd acquisition part which acquires the allocation request information which requests | requires allocation of a self-driving vehicle from a user may be provided, and the destination may be the point designated by the allocation request information. By doing this, the autonomous driving vehicle can be stopped at a position where the user can easily use when the user requests allocation.
　また、停車位置決定部が決定した停車位置に関する情報を出力する出力部を備えてもよい。このようにすることにより、自動運転車両における走行制御部等が決定した停車位置に基づいて停車制御をすることができる。 Moreover, you may provide the output part which outputs the information regarding the stop position which the stop position determination part determined. By doing this, it is possible to perform stop control based on the stop position determined by the travel control unit or the like in the autonomous driving vehicle.
　また、本発明の一実施形態にかかる停車位置決定方法は、第１取得工程で自動運転車両が自律走行する目的地における停車位置を決定するための目的地情報を取得し、停車位置決定工程で目的地情報に基づいて停車位置を決定する。このようにすることにより、目的地における停車位置を目的地情報に基づいて決定することができるため、目的地において適切な位置に自動運転車両を停車させることができる。 In the stop position determination method according to an embodiment of the present invention, destination information for determining a stop position at a destination where the autonomous driving vehicle autonomously travels is acquired in the first acquisition step, and the stop position determination step is performed. The stop position is determined based on the destination information. By doing this, the stop position at the destination can be determined based on the destination information, so that the autonomous driving vehicle can be stopped at an appropriate position at the destination.
　また、上述した停車位置決定方法をコンピュータにより実行させる停車位置決定プログラムとしてもよい。このようにすることにより、コンピュータを用いて、目的地における停車位置を目的地情報に基づいて決定することができるため、目的地において適切な位置に自動運転車両を停車させることができる。 Further, it may be a stop position determination program that causes a computer to execute the above-described stop position determination method. By doing this, the stop position at the destination can be determined based on the destination information using a computer, so that the autonomous vehicle can be stopped at an appropriate position at the destination.
　本発明の第１の実施例にかかる停車位置決定装置について図１～図４を参照して説明する。本実施例にかかる停車位置決定装置としてのサーバ装置１は、図１に示したように、インターネット等のネットワークＮを介してユーザ端末２及び自動運転車両Ｃと通信可能となっている。 A stop position determination apparatus according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. As shown in FIG. 1, the server device 1 as the stop position determination device according to the present embodiment can communicate with the user terminal 2 and the autonomous driving vehicle C via the network N such as the Internet.
　サーバ装置１は、例えば自動運転車両の配車サービス事業者等の自動運転車両Ｃの管理者の事務所等に設置されている。 The server device 1 is installed, for example, in an office of a manager of the autonomous driving vehicle C, such as a dispatch service provider of the autonomous driving vehicle.
　サーバ装置１の機能的構成を図２に示す。サーバ装置１は、制御部１１と、通信部１２と、記憶部１３と、を備えている。 The functional configuration of the server device 1 is shown in FIG. The server device 1 includes a control unit 11, a communication unit 12, and a storage unit 13.
　制御部１１は、サーバ装置１のＣＰＵ（Central Processing Unit）が機能し、サーバ装置１の全体制御を司る。制御部１１は、記憶部１３や通信部１２を介して取得した後述する目的地情報等に基づいて自動運転車両Ｃの目的地における停車位置を決定する。 The control unit 11 functions as a CPU (Central Processing Unit) of the server device 1 and controls the entire server device 1. The control unit 11 determines the stopping position of the automatically driven vehicle C at the destination based on destination information and the like, which will be described later, acquired via the storage unit 13 and the communication unit 12.
　通信部１２は、サーバ装置１のネットワークインターフェース等が機能し、ユーザ端末２からの配車要求の受信及び目的地情報に含まれる目的地における天候情報を外部の気象サーバ等から取得する。同様に通信部１２は、目的地周辺の道路渋滞情報及び事故情報を外部の道路管理サーバ等から取得する。また通信部１２は、制御部１１が決定した停車位置を自動運転車両Ｃに対してネットワークＮを介して送信する。 The communication unit 12 functions as a network interface of the server device 1 and receives weathering request from the user terminal 2 and obtains weather information at a destination included in destination information from an external weather server or the like. Similarly, the communication unit 12 acquires road congestion information and accident information around the destination from an external road management server or the like. The communication unit 12 also transmits the stop position determined by the control unit 11 to the automatically driven vehicle C via the network N.
　記憶部１３は、サーバ装置１のハードディスク等の記憶装置が機能し、地図情報１３ａ及び目的地情報に含まれる統計情報１３ｂが記憶されている。統計情報１３ｂは、目的地となる施設（地物）等における過去の停車位置の履歴の情報である。例えば、ある建物を目的地とした際のその建物周囲や建物の敷地内のどの位置に停車したかを示す履歴情報であり、自動運転車両Ｃの走行履歴等から収集する。また、統計情報１３ｂには、停車位置の緯度経度情報及び停車時刻等が含まれる。なお、この停車には乗車と降車の双方の場合を含めてもよいし、いずれかのみであってもよい。 In the storage unit 13, a storage device such as a hard disk of the server device 1 functions, and the map information 13a and the statistical information 13b included in the destination information are stored. The statistical information 13 b is information on the history of the past stop positions in facilities (features) and the like as the destination. For example, it is history information indicating where in the vicinity of the building or the site of the building the vehicle is stopped when the destination is a certain building, and is collected from the traveling history of the automatically driven vehicle C or the like. The statistical information 13b also includes latitude and longitude information of the stop position, the stop time, and the like. Note that this stop may include both the case of getting on and off and only one of them.
　ユーザ端末２は、例えばスマートフォンやＰＣ（パーソナルコンピュータ）等のユーザ（利用者）が自動運転車両Ｃの配車を依頼する際に使用する端末装置である。ユーザは、ユーザ端末２にインストールされた専用アプリを実行したり、所定のサイト等にアクセスすることによって自動運転車両Ｃの配車を依頼する。 The user terminal 2 is a terminal device used when a user (user) such as a smartphone or a PC (personal computer) requests allocation of the automatically driven vehicle C, for example. The user executes a dedicated application installed in the user terminal 2 or requests a vehicle allocation for the automatically driven vehicle C by accessing a predetermined site or the like.
　自動運転車両Ｃは、車両制御装置３及びセンサ４を備えている。車両制御装置３は、センサ４が検出した結果及び、車両制御装置３が有する自動運転用の地図情報に基づいて自動運転車両Ｃを自律的に走行（自動運転）させる。また、車両制御装置３は、サーバ装置１から利用者から配車を指定された場所（目的地）及びその場所における停車位置を受信し、その場所における停車位置へ自動運転車両Ｃを自動運転により向かわせる。 The autonomous driving vehicle C includes a vehicle control device 3 and a sensor 4. The vehicle control device 3 autonomously travels (automatically drives) the automatically driven vehicle C based on the result detected by the sensor 4 and map information for automatic driving possessed by the vehicle control device 3. Further, the vehicle control device 3 receives from the server device 1 the location (destination) where the user designates the dispatch and the stopping position at that location, and automatically drives the automatically driven vehicle C to the stopping position at that location. Make it happen.
　センサ４は、自動運転車両Ｃに設置されたカメラ、ライダ（ＬｉＤＡＲ：Light Detection And Ranging）、レーダー等の自動運転車両Ｃの周囲環境を認識するセンサを含む。また、自動運転車両Ｃの速度を検出する速度センサや加速度を検出する加速度センサ、自動運転車両Ｃの現在位置を検出するＧＰＳ（Global Positioning System）受信機、自動運転車両Ｃの姿勢（向き等）を検出するジャイロセンサ等の機器も含む。 The sensor 4 includes a camera installed in the autonomous driving vehicle C, a sensor (LiDAR: Light Detection And Ranging), and a sensor that recognizes the surrounding environment of the autonomous driving vehicle C, such as a radar. In addition, a speed sensor that detects the speed of the automatically driven vehicle C, an acceleration sensor that detects an acceleration, a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C, an attitude (direction etc.) of the automatically driven vehicle C It also includes equipment such as a gyro sensor that detects
　次に、本実施例における自動運転車両Ｃの停車位置の決定動作（停車位置決定方法）について図３のフローチャートを参照して説明する。図３に示したフローチャートはサーバ装置１の制御部１１で実行される。即ち、図３に示したフローチャートはサーバ装置１となるコンピュータで実行される停車位置決定プログラムとして構成される。 Next, the operation of determining the stop position of the automatically driven vehicle C (a method of determining the stop position) in the present embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 3 is executed by the control unit 11 of the server device 1. That is, the flowchart shown in FIG. 3 is configured as a stop position determination program that is executed by a computer that is the server device 1.
　まず、ステップＳ１０１において、サーバ装置１は、ユーザがユーザ端末２から自動運転車両Ｃの配車を要求する情報（配車要求情報）を受信したか否かを判断し、受信した場合（ＹＥＳの場合）はステップＳ１０２に進む。 First, in step S101, the server device 1 determines whether or not the user has received from the user terminal 2 information (allocation request information) for requesting allocation of the autonomous driving vehicle C, and in the case of receiving (in the case of YES) The process proceeds to step S102.
　配車要求情報には、少なくとも自動運転車両Ｃが配車される場所に関する情報を含む。配車される場所は、緯度経度情報に限らず、ビル名、マンション名等の施設名や住所（所在地）であってもよい。また、ユーザが現在いる場所に配車を希望する場合であって、ユーザ端末２がＧＰＳ（Global Positioning System）等により現在位置の取得が可能な場合は、配車要求情報にユーザ端末２が取得したユーザの現在位置情報（緯度経度情報）を含めてもよい。 The allocation request information includes at least information on a place where the autonomous driving vehicle C is allocated. The location to be allocated is not limited to the latitude and longitude information, but may be a facility name such as a building name or an apartment name or an address (location). Also, if the user terminal 2 wishes to allocate the current location, and the user terminal 2 can acquire the current position by GPS (Global Positioning System) etc., the user who has acquired the user terminal 2 in the allocation request information The current position information (latitude / longitude information) of may be included.
　ユーザ端末２からの配車要求情報は、ネットワークＮを介してサーバ装置１へ送信される。サーバ装置１では、配車要求情報を通信部１２が受信し、制御部１１へ出力することで配車要求情報が制御部１１で受信される。 The allocation request information from the user terminal 2 is transmitted to the server device 1 via the network N. In the server device 1, the communication unit 12 receives the allocation request information and outputs the allocation request information to the control unit 11, whereby the allocation request information is received by the control unit 11.
　次に、ステップＳ１０２において、目的地情報を取得する。このステップにおける目的地とは、例えば自動運転車両Ｃが配車される場所であり、目的地情報とは、当該目的地における停車位置の統計情報１３ｂ、当該場所の地形、現在時刻、当該場所の天候、当該場所周辺の道路渋滞、当該場所周辺の事故等の情報である。統計情報１３ｂは記憶部１３から取得する。地形は記憶部１３に記憶されている地図情報１３ａから取得する。現在時刻情報は、制御部１１となるＣＰＵが計時する機能を有している場合はその機能に基づいて取得する。或いは外部のＮＴＰ（Network Time Protocol）サーバ等から取得してもよい。天候情報は、上述したように外部の気象サーバ等から取得する。道路渋滞、事故情報は、上述したように外部の道路管理サーバ等から取得する。 Next, in step S102, destination information is acquired. The destination in this step is, for example, a place to which the automatically driven vehicle C is allocated, and the destination information is the statistical information 13b of the stop position at the destination, the topography of the place, the current time, the weather of the place , Road congestion around the location, information on accidents around the location, etc. The statistical information 13 b is acquired from the storage unit 13. The topography is acquired from the map information 13 a stored in the storage unit 13. If the CPU serving as the control unit 11 has a function to clock, the current time information is acquired based on the function. Alternatively, it may be acquired from an external NTP (Network Time Protocol) server or the like. The weather information is acquired from an external weather server or the like as described above. Road congestion and accident information are acquired from an external road management server or the like as described above.
　次に、ステップＳ１０３において、自動運転車両Ｃの目的地における停車位置を決定する。例えば図４に示した建物Ｂが目的地として指定された場合で説明する。図４に示した建物Ｂは、道路Ｒ１と道路Ｒ２に面しており、出入口として道路Ｒ１側の出入口Ｅ１と、道路Ｒ２側の出入口Ｅ２の２か所があるとする。この場合、目的地情報のうち統計情報１３ｂから停車の頻度が高い出入口が出入口Ｅ１の近傍であった場合、出入口Ｅ１の近傍に停車するように停車位置を決定する。 Next, in step S103, the stop position at the destination of the automatically driven vehicle C is determined. For example, the case where the building B shown in FIG. 4 is designated as a destination will be described. The building B shown in FIG. 4 faces the road R1 and the road R2, and it is assumed that there are two entrances, an entrance E1 on the road R1 side and an entrance E2 on the road R2 side. In this case, the stop position is determined so as to stop in the vicinity of the entrance E1 when the entrance with the high stop frequency from the statistical information 13b among the destination information is near the entrance E1.
　また、道幅が狭い等、目的地情報のうち地形の情報から例えば出入口Ｅ１の近傍に停車するのが適切でない場合は出入口Ｅ２の近傍に停車するように自動運転車両Ｃの停車位置を決定してもよい。 In addition, if it is not appropriate to stop in the vicinity of the entrance E1, for example, based on the information on the terrain among the destination information, such as when the road width is narrow, the stop position of the automatically driven vehicle C is determined to stop in the vicinity It is also good.
　また、目的地情報として取得した現在時刻に基づいて、その時間帯おける停車の頻度から自動運転車両Ｃの停車位置を決定してもよい。また、目的地情報として取得した情報が雨の天候を示す場合、地図情報１３ａに屋根等の雨を避けることができる構造物に関する情報が含まれている場合は、その情報を考慮して雨を避けることができる方の出入口の近傍に停車するように自動運転車両Ｃの停車位置を決定してもよい。また、目的地情報として取得した情報が目的地及び停車位置周辺における道路渋滞又は事故の発生を示す場合、当該道路渋滞又は事故を避けることができる出入口の近傍に自動運転車両Ｃの停車位置を決定してもよい。 Moreover, based on the present time acquired as destination information, the stop position of the automatically driven vehicle C may be determined from the frequency of stops in the time zone. If the information acquired as destination information indicates the weather, if the map information 13a contains information on a structure that can avoid rain, such as a roof, the rain should be taken into consideration in consideration of that information. The stop position of the automatically driven vehicle C may be determined so as to stop near the entrance that can be avoided. In addition, when the information acquired as destination information indicates the occurrence of road congestion or an accident around the destination and the stop position, the stop position of the automatically driven vehicle C is determined near the entrance where the road congestion or the accident can be avoided. You may
　次に、ステップＳ１０４において、ユーザに決定した自動運転車両Ｃの停車位置を通知する。つまり、図４であれば、出入口Ｅ１、Ｅ２のいずれの近傍で停車するかを通知する。なお、この際に、ユーザの承認を得るようにしてもよい。また、例えばステップＳ１０３で出入口Ｅ１と決定したことを通知したが、ユーザの都合で出入口Ｅ２としたい場合は変更できるようにしてもよい。 Next, in step S104, the stop position of the automatically driven vehicle C determined is notified to the user. That is, in the case of FIG. 4, it is notified which one of the entrances E1 and E2 the vehicle stops in. At this time, the approval of the user may be obtained. Further, for example, although it has been notified that the entrance E1 has been determined in step S103, it may be possible to change when the entrance E2 is desired for the convenience of the user.
　次に、ステップＳ１０５において、目的地及び決定した停車位置を自動運転車両Ｃに送信する。ステップＳ１０４でユーザの都合で停車位置を変更した場合は、その変更した停車位置を送信する。 Next, in step S105, the destination and the determined stop position are transmitted to the automatically driven vehicle C. When the stop position is changed at the convenience of the user in step S104, the changed stop position is transmitted.
　なお、図４では、建物Ｂの出入口の位置が判明しているため、統計情報１３ｂは出入口の選択に使用したが、出入口の位置が不明な場合は、当該建物を目的地とした場合の停車位置のうち最も頻度が高い位置を停車位置とすればよい。 In addition, in FIG. 4, since the position of the entrance of the building B is known, although the statistical information 13b was used for the selection of the entrance, when the position of the entrance is unknown, it stops when the said building is made into the destination. The position with the highest frequency among the positions may be taken as the stop position.
　本実施例によれば、サーバ装置１は、通信部１２で自動運転車両Ｃが自律走行する目的地における停車位置を決定するための目的地情報を取得し、さらにユーザから自動運転車両Ｃの配車を要求する配車要求情報を取得する。そして、制御部１１で目的地情報に基づいて配車要求情報で指定された地点における停車位置を決定する。このようにすることにより、目的地における停車位置を目的地情報に基づいて決定することができるため、目的地において適切な位置に自動運転車両Ｃを停車させることができる。従って、ユーザが配車を要求した際にユーザが利用しやすい位置に自動運転車両を停車させることができる。 According to the present embodiment, the server device 1 acquires destination information for determining the stop position at the destination where the autonomous driving vehicle C autonomously travels by the communication unit 12, and further dispatch of the autonomous driving vehicle C from the user Get allocation request information to request the Then, based on the destination information, the control unit 11 determines the stopping position at the point designated by the allocation request information. By doing this, the stop position at the destination can be determined based on the destination information, so the autonomous driving vehicle C can be stopped at an appropriate position at the destination. Therefore, when the user requests allocation, the autonomous driving vehicle can be stopped at a position easy for the user to use.
　また、制御部１１が決定した停車位置に関する情報を出力する通信部１２を備えている。このようにすることにより、自動運転車両Ｃにおける車両制御装置３が決定した停車位置に基づいて停車制御をすることができる。 Moreover, the communication part 12 which outputs the information regarding the stop position which the control part 11 determined is provided. By doing this, it is possible to perform stop control based on the stop position determined by the vehicle control device 3 in the automatically driven vehicle C.
　なお、目的地情報は、当該地点における統計情報１３ｂ、地形、到着時間、当該地点の天候、当該地点周辺の道路渋滞、事故のうち少なくともいずれか１以上を含んでいればよい。例えば、自動運転車両Ｃの到着時間に基づいて、当該地点の周辺の明るさが暗い可能性がある場合、目的地の裏道等に停車するのではなく、明るい大通りに自動運転車両Ｃを停車するようにすることができる。つまり、当該目的地に停車した統計情報１３ｂ（過去の履歴情報）や、当該目的地の地形、到着時間、天候、当該目的地周辺の道路渋滞、事故等の環境情報に基づいて適した停車位置を決定すればよい。 The destination information may include at least one or more of statistical information 13b at the point, topography, arrival time, weather at the point, traffic congestion around the point, and an accident. For example, based on the arrival time of the automatically driven vehicle C, when there is a possibility that the brightness around the point may be dark, the automatically driven vehicle C is stopped on the bright main street instead of stopping on the back road or the like of the destination. You can do so. That is, the stop position suitable based on statistical information 13b (past history information) stopped at the destination, the topography of the destination, arrival time, weather, road congestion around the destination, and environmental information such as an accident You can decide the
　次に、本発明の第２の実施例にかかる停車位置決定装置について図５を参照して説明する。なお、前述した第１の実施例と同一部分には、同一符号を付して説明を省略する。 Next, a stop position determination apparatus according to a second embodiment of the present invention will be described with reference to FIG. The same parts as those of the first embodiment described above are designated by the same reference numerals and the description thereof will be omitted.
　図３に示したフローチャートでは、ユーザに自動運転車両Ｃの停車位置を通知した際にユーザによる変更をすることができたが、本実施例では、予めユーザに関する情報（乗車人数、荷物が多い、車椅子等の利用の有無、乳幼児を連れている等）を配車要求情報に含めている。本実施例にかかる自動運転車両Ｃの停車位置の決定動作（停車位置決定方法）のフローチャートを図５に示す。 In the flowchart shown in FIG. 3, when the user is notified of the stop position of the automatically driven vehicle C, the user can change the information. However, in the present embodiment, information about the user (number of passengers, luggage is large, The use of wheelchairs, infants, etc. are included in the dispatch request information. A flowchart of the operation for determining the stop position of the automatically driven vehicle C (a method for determining the stop position) according to the present embodiment is shown in FIG.
　図５のフローチャートでは、ステップＳ１０１の後にユーザ情報を取得している（ステップＳ２０１）。ステップＳ２０１で取得するユーザ情報は、上述したユーザに関する情報であり、ステップＳ１０１で受信した配車要求情報に含まれている。そして、ステップＳ１０３では、ユーザ情報と目的地情報とに基づいて自動運転車両Ｃの停車位置を決定する。 In the flowchart of FIG. 5, user information is acquired after step S101 (step S201). The user information acquired in step S201 is the information related to the user described above, and is included in the allocation request information received in step S101. Then, in step S103, the stop position of the automatically driven vehicle C is determined based on the user information and the destination information.
　例えば、ユーザ情報として乗車人数が多い場合や荷物が多い場合、まず、目的地情報から停車位置候補を複数挙げた後に、その停車位置候補からユーザ情報に基づいて乗降スペースが広い位置を最終的な自動運転車両Ｃの停車位置として決定するようにすればよい。 For example, when there are a large number of passengers or luggage as user information, first, a plurality of stop position candidates are listed from the destination information, and then a position where a passenger space is wide is finally determined based on the user information from the stop position candidates. It may be determined as the stop position of the automatically driven vehicle C.
　また、例えば空港に配車を依頼した場合は、空港タクシー乗り場等のうちユーザが搭乗している航空会社の到着ロビーに近い場所を自動運転車両Ｃの停車位置としたり、ショッピングセンターに配車を依頼した場合であれば、ユーザが買い物をしている店に近い場所を自動運転車両Ｃの停車位置としたりすることもできる。これらの場合は、ユーザが搭乗している航空会社やユーザが買い物をしている店名等がユーザ情報となる。 In addition, for example, when the airport was requested to be dispatched, a location near the arrival lobby of the airline on which the user is boarding among the airport taxi stand etc. was made the stop position of the automatically driven vehicle C, or the vehicle was dispatched to the shopping center In this case, it is possible to set a location near the shop where the user is shopping as the stop position of the autonomous driving vehicle C. In these cases, the airline where the user is boarding, the name of the shop where the user is shopping, etc. become the user information.
　なお、ユーザ情報は、サーバ装置１の記憶部１３に記憶し、次回以降の利用はユーザＩＤ等のユーザを識別する情報に基づいて記憶部１３からユーザ情報を読み出してもよい。このようにすることにより、毎回ユーザ情報を送信する必要が無くなる。 The user information may be stored in the storage unit 13 of the server device 1, and the user information may be read from the storage unit 13 based on information identifying the user, such as a user ID, from the next time on. By doing this, it is not necessary to transmit user information each time.
　本実施例によれば、自動運転車両Ｃのユーザに関するユーザ情報を取得する通信部１２を備え、制御部１１は、目的地情報及びユーザ情報に基づいて停車位置を決定している。このようにすることにより、例えば、大人数である、荷物が多い、車椅子を利用している、乳幼児を連れているといった利用者の事情を考慮して停車位置を決定することができる。 According to the present embodiment, the communication unit 12 for acquiring user information on the user of the autonomous driving vehicle C is provided, and the control unit 11 determines the stopping position based on the destination information and the user information. By doing this, it is possible to determine the stopping position in consideration of the circumstances of the user, for example, having a large number of luggage, having a large amount of luggage, using a wheelchair, or having an infant.
　次に、本発明の第３の実施例にかかる停車位置決定装置について図６～図８を参照して説明する。なお、前述した第１、第２の実施例と同一部分には、同一符号を付して説明を省略する。 Next, a stop position determination apparatus according to a third embodiment of the present invention will be described with reference to FIGS. 6 to 8. The same parts as those in the first and second embodiments described above are designated by the same reference numerals and the description thereof will be omitted.
　本実施例は、第１の実施例でサーバ装置１が決定した停車位置に自動運転車両Ｃが到着したときに、当該位置に自転車等の障害物やガードレール等の障害物や他の駐車車両等があった場合には、自動運転車両Ｃは停車位置を調整することが好ましい。図６は、サーバ装置１で決定した自動運転車両Ｃの停車位置をＰとしたとき、その停車位置Ｐに自転車ＢＣが置かれているので、自動運転車両Ｃが停車位置Ｐに停車できないことを示した図である。 In this embodiment, when the automatically driven vehicle C arrives at the stopping position determined by the server device 1 in the first embodiment, an obstacle such as a bicycle or an obstacle such as a guardrail or other parked vehicle at the position. In the case where there is a problem, it is preferable that the automatically driven vehicle C adjust the stop position. FIG. 6 shows that the autonomous driving vehicle C can not stop at the stopping position P because the bicycle BC is placed at the stopping position P when the stopping position of the automatically driving vehicle C determined by the server device 1 is P. FIG.
　図７に車両制御装置３の機能的構成を示す。車両制御装置３は、制御部３１と、通信部３２と、記憶部３３と、を備えている。 FIG. 7 shows a functional configuration of the vehicle control device 3. The vehicle control device 3 includes a control unit 31, a communication unit 32, and a storage unit 33.
　制御部３１は、センサ４が検出した結果及び記憶部３３に記憶された地図情報３３ａに基づいて自動運転車両Ｃのハンドルやアクセル、ブレーキ等を制御して自動運転車両Ｃを自律的に走行させる。つまり、制御部３１は、センサ４（外界認識部）の検出結果（認識結果）を取得する第１取得部として機能する。また、制御部３１は、サーバ装置１が決定した自動運転車両Ｃの停車位置に、自動運転車両Ｃを停車できない場合には停車可能な位置に調整する調整部としても機能する。 The control unit 31 controls the steering wheel, the accelerator, the brake, etc. of the automatically driven vehicle C based on the detection result of the sensor 4 and the map information 33a stored in the storage unit 33 to make the autonomously driven vehicle C run autonomously. . That is, the control unit 31 functions as a first acquisition unit that acquires the detection result (recognition result) of the sensor 4 (external world recognition unit). The control unit 31 also functions as an adjustment unit that adjusts the automatically driven vehicle C to a stoppable position when the automatically driven vehicle C can not be stopped at the stop position of the automatically driven vehicle C determined by the server device 1.
　通信部３２は、図１に示したサーバ装置１から自動運転車両Ｃの目的地及び決定した自動運転車両Ｃの停車位置に係る情報を取得する。通信部３２は、自動運転車両Ｃの目的地についての停車位置を取得する第２取得部として機能する。 The communication unit 32 acquires information relating to the destination of the automatically driven vehicle C and the determined stop position of the automatically driven vehicle C from the server device 1 illustrated in FIG. 1. The communication unit 32 functions as a second acquisition unit that acquires the stop position of the destination of the automatically driven vehicle C.
　記憶部３３は、地図情報３３ａと、自動運転車両Ｃの目的地及びサーバ装置１が決定した自動運転車両Ｃの停車位置に係る情報が含まれる停車位置情報３３ｂと、が記憶されている。地図情報３３ａは、自動運転車両Ｃが自律的に走行可能な程度の情報が含まれている地図である。この地図情報３３ａには、例えば看板（道路標識等）や停止線等の道路標示の内容（意味）、センターライン等の道路区画線、或いは道路沿いの構造物等の地物に関する情報（地物情報）を含んでいる。なお、この地図情報３３ａは、サーバ装置１等の外部サーバから配信されることで常に最新版にアップデートされるようにしてもよい。 The storage unit 33 stores map information 33a and stop position information 33b including information on the destination of the automatically driven vehicle C and the stop position of the automatically driven vehicle C determined by the server device 1. The map information 33a is a map that includes information that allows the autonomous driving vehicle C to travel autonomously. In this map information 33a, for example, information (features) such as contents (meaning) of road markings such as signs (road signs etc.) and stop lines, road division lines such as center lines, or structures along roads Information). The map information 33a may be constantly updated to the latest version by being distributed from an external server such as the server device 1 or the like.
　次に、本実施例における自動運転車両Ｃの停車位置の変更動作について図８のフローチャートを参照して説明する。図８に示したフローチャートは車両制御装置３の制御部３１で実行される。 Next, the change operation of the stop position of the automatically driven vehicle C in the present embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 8 is executed by the control unit 31 of the vehicle control device 3.
　まず、ステップＳ３０１において、停車位置情報３３ｂが示す停車位置に自動運転車両Ｃの停車が可能か否かを判断し、自動運転車両Ｃの停車が可能な場合（ＹＥＳの場合）はステップＳ３０２に進み、停車位置情報３３ｂが示す停車位置に自動運転車両Ｃを停車させる。自動運転車両Ｃが停車可能か否かは、自動運転車両Ｃが停車位置に近づいた時に、センサ４の検出結果により上記した自転車ＢＣのような障害物があるか否かを検出する。例えばセンサ４に含まれるカメラで撮影した画像を解析して障害物を検出したり、ライダから照射した光の反射光やレーダーから照射した電波の反射波により障害物の有無を検出することができる。 First, in step S301, it is determined whether or not the automatically driven vehicle C can be stopped at the stop position indicated by the stop position information 33b. If the automatically driven vehicle C can be stopped (in the case of YES), the process proceeds to step S302. The autonomous driving vehicle C is stopped at the stop position indicated by the stop position information 33b. Whether or not the automatically driven vehicle C can stop is detected by the detection result of the sensor 4 whether or not there is an obstacle such as the above-mentioned bicycle BC when the automatically driven vehicle C approaches a stopped position. For example, an image captured by a camera included in the sensor 4 can be analyzed to detect an obstacle, or the presence or absence of an obstacle can be detected by reflected light of light emitted from a lidar or reflected wave of radio waves emitted from a radar. .
　ステップＳ３０１において停車位置情報３３ｂが示す停車位置に自動運転車両Ｃを停車できない場合（ＮＯの場合）は、ステップＳ３０３において、当該停車位置情報３３ｂが示す停車位置に隣接する位置に、自動運転車両Ｃの停車が可能か否かを判断し、停車が可能な場合（ＹＥＳの場合）はステップＳ３０４に進み、隣接する位置を新たな停車位置とするように調整する。隣接する位置とは、例えば停車位置情報３３ｂが示す自動運転車両Ｃの停車位置が道路沿いの場合はその前後であって、自転車ＢＣを避けることができる程度ずれた位置である。なお、自動運転車両Ｃから見て停車位置情報３３ｂが示す自動運転車両Ｃの停車位置の左右に停車が可能であれば左右も選択可とする。隣接する位置へ停車可能か否かは、上記した停車位置情報３３ｂが示す自動運転車両Ｃの停車位置に停車可能か否かの判断と同様にセンサ４の検出結果により判断すればよい。 If the automatically driven vehicle C can not be stopped at the stop position indicated by the stop position information 33b in step S301 (in the case of NO), the automatically driven vehicle C is located at a position adjacent to the stop position indicated by the stop position information 33b in step S303. It is determined whether or not the vehicle can be stopped, and if the vehicle can be stopped (in the case of YES), the process proceeds to step S304, and adjustment is made to set the adjacent position as a new stop position. The adjacent position is, for example, a position deviated to such an extent that the bicycle BC can be avoided when the stop position of the autonomous driving vehicle C indicated by the stop position information 33 b is along the road. In addition, if it is possible to stop on the left and right of the stop position of the automatically driven vehicle C indicated by the stop position information 33b as seen from the automatically driven vehicle C, the left and right are also selectable. Whether the vehicle can stop at the adjacent position may be determined based on the detection result of the sensor 4 similarly to the determination as to whether the vehicle can stop at the stop position of the automatically driven vehicle C indicated by the stop position information 33b.
　ステップＳ３０３において隣接する位置に自動運転車両Ｃを停車することができない場合（ＮＯの場合）は、ステップＳ３０５において、停車位置情報３３ｂが示す自動運転車両Ｃの停車位置に最も近い停車可能位置を新たな停車位置とする。つまり、隣接する位置以外で停車位置情報３３ｂが示す停車位置に最も近く停車可能な位置、例えば隣接する位置の更に隣接する位置を自動運転車両Ｃの新たな停車位置とするように調整する。 When the automatically driven vehicle C can not be stopped at the adjacent position in step S303 (in the case of NO), the stoppable position closest to the stopped position of the automatically driven vehicle C indicated by the stopped position information 33b is newly added in step S305. And a stop position. That is, the position which can be stopped closest to the stop position indicated by the stop position information 33b other than the adjacent position, for example, the position further adjacent to the adjacent position is adjusted to be the new stop position of the automatically driven vehicle C.
　なお、ステップＳ３０４やＳ３０５を実行して自動運転車両Ｃの停車位置を変更（調整）した場合は、ユーザに通知してもよい。この際、停車位置を調整する前にユーザの承認を得るようにしてもよい。また、調整した位置は、ユーザの都合でさらに変更できるようにしてもよい。 In addition, when step S304 or S305 is performed and the stop position of the autonomous driving vehicle C is changed (adjusted), the user may be notified. At this time, the user's approval may be obtained before the stop position is adjusted. Also, the adjusted position may be further changed at the convenience of the user.
　なお、図８のフローチャートで説明した障害物の検出に限らず、例えば自動運転車両Ｃが雨滴センサを備えていれば、その雨滴センサ或いはワイパの動作状態からサーバ装置１が自動運転車両Ｃの停車位置を決定した際には降っていなかった雨が検出された場合は、屋根のある位置を停車位置とするように変更（調整）してもよい。また、通信部３２は、外部の道路管理サーバ等から停車位置周辺の道路渋滞情報を受信した場合、道路渋滞が発生していない目的地の位置を停車位置とするように変更（調整）してもよい。つまり、自動運転車両Ｃの周辺状況としては、障害物の有無に限らず、上述した天候や明るさ（夜間か否か）等も含むものであり、これらの状況を取得する雨滴センサや照度センサ等も外界認識部となる。即ち、制御部３１は、センサ４が自動運転車両Ｃの停車位置における環境を認識した結果または道路管理サーバ等から受信した道路渋滞情報を取得してもよい。このようにすることにより、自動運転車両Ｃの停車位置における環境の急変（天候、道路渋滞等）に対応して自動運転車両Ｃの停車位置を調整することができる。 In addition, if the automatic driving vehicle C is equipped with a raindrop sensor, for example, the server apparatus 1 stops the automatic driving vehicle C based on the operation state of the raindrop sensor or the wiper as well as the detection of the obstacle described in the flowchart of FIG. When the rain which was not falling when the position was determined is detected, the position with the roof may be changed (adjusted) to be the stop position. In addition, when the communication unit 32 receives road congestion information around the stop position from an external road management server or the like, the communication unit 32 changes (adjusts) the position of the destination where no road congestion occurs to the stop position. It is also good. That is, the surroundings of the autonomous driving vehicle C include not only the presence or absence of the obstacle but also the weather and brightness (whether it is night or not) mentioned above, etc. A raindrop sensor and an illuminance sensor for acquiring these situations Etc. also become the external world recognition unit. That is, the control unit 31 may acquire the result of the sensor 4 recognizing the environment at the stopping position of the automatically driven vehicle C or the road congestion information received from the road management server or the like. By doing this, the stop position of the automatically driven vehicle C can be adjusted in response to a sudden change (weather, road congestion, etc.) of the environment at the stop position of the automatically driven vehicle C.
　本実施例によれば、車両制御装置３は、制御部３１で自動運転車両Ｃの周辺状況を認識するセンサ４の認識結果を取得し、通信部３２で自動運転車両Ｃの目的地についての停車位置情報３３ｂをサーバ装置１から取得する。そして、制御部３１でセンサ４の認識結果に基づいて停車位置情報３３ｂが示す停車位置に自動運転車両Ｃを停車できないと判断したときは、自動運転車両Ｃを停車させる位置を調整する。このようにすることにより、自動運転車両Ｃが実際に停車位置情報３３ｂが示す停車位置に到着した際において、その停車位置に自動運転車両Ｃを停車できない場合、臨機応変に停車位置を変更して自動運転車両Ｃを停車することが可能となる。 According to the present embodiment, the vehicle control device 3 acquires the recognition result of the sensor 4 that recognizes the surrounding situation of the automatically driven vehicle C by the control unit 31, and stops the destination of the automatically driven vehicle C by the communication unit 32. The position information 33 b is acquired from the server device 1. When it is determined by the control unit 31 that the automatically driven vehicle C can not be stopped at the stopping position indicated by the stopping position information 33b based on the recognition result of the sensor 4, the position at which the automatically driven vehicle C is stopped is adjusted. By doing this, when the automatically driven vehicle C actually arrives at the stopping position indicated by the stopping position information 33b, if the automatically driving vehicle C can not be stopped at the stopping position, the stopping position is changed accordingly. It becomes possible to stop the automatically driven vehicle C.
　また、制御部３１は、センサ４が停車位置情報３３ｂが示す停車位置に位置する障害物を認識した結果を取得している。このようにすることにより、停車位置情報３３ｂが示す停車位置に存在する障害物を避けるように自動運転車両Ｃを停車することが可能となる。 Moreover, the control part 31 has acquired the result in which the sensor 4 recognized the obstruction located in the stop position which the stop position information 33b shows. By doing this, it becomes possible to stop the automatically driven vehicle C so as to avoid an obstacle existing at the stopping position indicated by the stopping position information 33b.
　また、制御部３１は、停車位置情報３３ｂが示す停車位置に隣接する位置を調整後の停車位置としている。このようにすることにより、予め定められた停車位置情報３３ｂが示す停車位置の近傍に自動運転車両Ｃを停車させることができ、停車位置の調整による影響を最小限にすることができる。 Further, the control unit 31 sets the position adjacent to the stopping position indicated by the stopping position information 33b as the adjusted stopping position. By doing this, the automatically driven vehicle C can be stopped near the stopping position indicated by the predetermined stopping position information 33b, and the influence of the adjustment of the stopping position can be minimized.
　なお、実施例１～３では、自動運転車両Ｃの配車時で説明したが、ユーザが自動運転車両Ｃに乗車して当該ユーザの行先（目的地）に停車する際に適用することもできる。 Although the first to third embodiments have been described in the case of dispatch of the automatically driven vehicle C, the present invention can also be applied when the user gets on the automatically driven vehicle C and stops at the destination (destination) of the user.
　また、本発明は上記実施例に限定されるものではない。即ち、当業者は、従来公知の知見に従い、本発明の骨子を逸脱しない範囲で種々変形して実施することができる。かかる変形によってもなお本発明の停車位置決定装置の構成を具備する限り、勿論、本発明の範疇に含まれるものである。 Further, the present invention is not limited to the above embodiment. That is, those skilled in the art can carry out various modifications without departing from the gist of the present invention in accordance with conventionally known findings. As long as the configuration of the stop position determination device of the present invention is provided even by such a modification, it is of course included in the scope of the present invention.
　　１ 　　　サーバ装置（停車位置決定装置）
　　２ 　　　ユーザ端末
　　３　　　 車両制御装置
　　１１　　 制御部（第１取得部、停車位置決定部）
　　１２ 　　通信部（第１取得部、第２取得部、第３取得部、出力部）
　　１３ 　　記憶部 1 Server device (stop position determination device)
2 user terminal 3 vehicle control device 11 control unit (first acquisition unit, stop position determination unit)
12 communication unit (first acquisition unit, second acquisition unit, third acquisition unit, output unit)
13 storage unit

Claims (6)

  1. 　自律走行する自動運転車両の目的地における停車位置を決定するための目的地情報を取得する第１取得部と、
    　前記目的地情報に基づいて前記停車位置を決定する停車位置決定部と、
    を備えることを特徴とする停車位置決定装置。     A first acquisition unit that acquires destination information for determining a stop position at a destination of an autonomous driving vehicle that travels autonomously;
    A stop position determination unit that determines the stop position based on the destination information;
    A stop position determination device comprising:
  2. 　前記自動運転車両の利用者に関する利用者情報を取得する第２取得部を備え、
    　前記停車位置決定部は、前記目的地情報及び前記利用者情報に基づいて前記停車位置を決定することを特徴とする請求項１に記載の停車位置決定装置。     A second acquisition unit configured to acquire user information on a user of the autonomous driving vehicle;
    The said stop position determination part determines the said stop position based on the said destination information and the said user information, The stop position determination apparatus of Claim 1 characterized by the above-mentioned.
  3. 　前記利用者から前記自動運転車両の配車を要求する配車要求情報を取得する第３取得部を備え、
    　前記目的地は、前記配車要求情報で指定された場所であることを特徴とする請求項１または２に記載の停車位置決定装置。     And a third acquisition unit configured to acquire allocation request information for requesting allocation of the autonomous driving vehicle from the user.
    The said destination is a place designated by the said allocation request information, The stop position determination apparatus of Claim 1 or 2 characterized by the above-mentioned.
  4. 　前記停車位置決定部が決定した前記停車位置に関する情報を出力する出力部を備えることを特徴とする請求項１乃至３のうちいずれか一項に記載の停車位置決定装置。 The stop position determination apparatus according to any one of claims 1 to 3, further comprising: an output unit configured to output information on the stop position determined by the stop position determination unit.
  5. 　自律走行する自動運転車両の停車位置を決定する停車位置決定装置で実行される停車位置決定方法であって、
    　前記自動運転車両の目的地における停車位置を決定するための目的地情報を取得する第１取得工程と、
    　前記目的地情報に基づいて前記停車位置を決定する停車位置決定工程と、
    を含むことを特徴とする停車位置決定方法。     A stop position determination method executed by a stop position determination device for determining a stop position of an autonomous driving vehicle traveling autonomously, comprising:
    A first acquisition step of acquiring destination information for determining a stop position at a destination of the autonomous driving vehicle;
    A stop position determination step of determining the stop position based on the destination information;
    A stop position determining method comprising:
  6. 　請求項５に記載の停車位置決定方法を、コンピュータにより実行させることを特徴とする停車位置決定プログラム。 A stop position determination program characterized by causing a computer to execute the stop position determination method according to claim 5.
PCT/JP2018/035600 2017-09-28 2018-09-26 Stopping position determination device WO2019065698A1 (en)

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