JP2019133355A - Automatic driving system, notification method of automatic driving system, program, and moving body - Google Patents

Abstract

To provide an automatic driving system capable of improving convenience, and to provide a notification method of the automatic driving system, a program, and a moving body.SOLUTION: An automatic driving system 1 comprises a determination part 111, and a notification part 112. The determination part 111 determines whether or not a determination condition when a moving body 10 and a specific user are approaching is satisfied, based on a position relationship between the automatically driven moving body 10 and the specific user that uses the moving body 10. The notification part 112 gives notice to the specific user when the determination part 111 determines that the determination condition is satisfied.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an automatic driving system, a notification method of the automatic driving system, a program, and a moving object. More specifically, the present disclosure relates to an automatic 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.

  2. Description of the Related Art Conventionally, there has been a residential complex traveling system for traveling an electric vehicle along a traveling path of the electric vehicle provided in the residential complex (see, for example, Patent Document 1).

JP 2002-133777 A

  In the running system for a housing estate of Patent Document 1, an electric vehicle is unmannedly distributed at a boarding point desired by a user who has made a reservation for a shared facility in the housing estate in accordance with the reservation time.

  By the way, since the electric vehicle is unmanned and cannot be confirmed with the driver like the car on which the driver is riding, the user knows which electric vehicle (mobile body) the user has reserved. It was difficult and convenience was bad.

  An object of the present disclosure is to provide an automatic driving system, an automatic driving system notification method, a program, and a moving body that can improve convenience.

  The automatic driving system according to one aspect of the present disclosure includes a determination unit and a notification unit. The determination unit is based on a positional relationship between a mobile object that automatically operates and a specific user that uses the mobile object, and a determination condition when the mobile object and the specific user are approaching each other. Whether or not is established is determined. The notification unit notifies the specific user when the determination unit determines that the determination condition is satisfied.

  The notification method of the automatic driving system according to one aspect of the present disclosure includes a determination step and a notification step. In the determination step, determination conditions when the mobile body and the specific user are approaching based on the positional relationship between the mobile body that automatically operates and the specific user that uses the mobile body Whether or not is established is determined. In the notification step, the specific user is notified when it is determined in the determination step that the determination condition is satisfied.

  A program according to an aspect of the present disclosure is a program for causing a computer system to execute a determination step and a notification step. In the determination step, determination conditions when the mobile body and the specific user are approaching based on the positional relationship between the mobile body that automatically operates and the specific user that uses the mobile body Whether or not is established is determined. In the notification step, the specific user is notified when it is determined in the determination step that the determination condition is satisfied.

  A moving object according to an 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, an automatic driving system notification method, a program, and a moving body that can improve convenience.

FIG. 1 is an explanatory diagram illustrating a usage example 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 automatic driving system described above. FIG. 3 is a sequence diagram for explaining the operation of the above automatic driving system. FIG. 4 is a flowchart 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 for explaining a first process of the automatic driving system according to the first embodiment. FIG. 6 is a sequence diagram illustrating a second process of the automatic driving system according to the first embodiment. FIG. 7 is a sequence diagram for explaining a third process of the automatic driving system.

(Embodiment 1)
(1) Outline As shown in FIG. 1, an 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 getting-off point. is there. The automatic driving system 1 of the present embodiment is used for a ride sharing service using the mobile body 10, for example.

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

  Based on the positional relationship between the mobile body 10 that automatically operates and the specific user 50B (50) that uses the mobile body 10, the determination unit 111 approaches the mobile body 10 and the specific user 50B. It is determined whether or not the determination condition is satisfied.

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

  Here, there are various modes of use of the mobile body 10 such as the user 50 getting on the mobile body 10 and carrying the luggage to the mobile body 10. A case where the mode is a boarding on the moving body 10 will be described as an example. 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. say. When a plurality of users ride together on one mobile body 10, when a specific user 50B gets on the mobile body 10, the user 50A already on the mobile body 10 (see FIG. 1) is selected. It is called a first user (preceding user), and a specific user 50B who gets on later may be called a second user.

  In addition, 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.

  Since the notification unit 112 notifies the specific user 50B when the mobile body 10 approaches the specific user 50B, the specific user 50B is approaching the mobile body 10 that the specific user 50B uses. And can improve convenience.

(2) Details The overall system configuration including the automatic driving system 1 according to the present embodiment will be described with reference to FIGS.

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

(2.1) Configuration of Moving Body As shown in FIG. 1, the moving body 10 is an automobile that performs automatic driving by the automatic driving system 1. A plurality of users can ride on the moving body 10.

  As illustrated 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 or the like via the mobile communication network 40.

  The memory 13 includes an electrically rewritable nonvolatile memory such as an EEPROM (Electrically Erasable Programmable Read Only Memory), a volatile memory such as a 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 related to the user 50 (first user 50A, second user 50B, etc.) who uses the mobile object 10. The user information includes, for example, personal information used to identify the 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, 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 boarding time when the user 50 boardes, the boarding position, the number of users, and the like. The vehicle information is information related to the moving body 10. The vehicle information is, for example, information related to the current dispatch situation, such as position information regarding the current position (for example, longitude, latitude, altitude, etc.), traveling speed, number of people who can board, number of people on board, etc. Contains information. The traffic information is information relating to the traffic in the area where the mobile body 10 travels, and includes information such as electronic map information, road construction, accidents, traffic jams, traffic regulations, etc.

  The sensor 14 detects information related to the moving body 10, for example. The sensor 14 includes, for example, a position sensor that acquires current position information (moving body position information) of the moving body 10 using GPS (Global Positioning System), an image sensor that captures the periphery of the moving body 10, and the like. . 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 includes a display device 151 (see FIG. 1) that performs notification using characters, images, and the like, a speaker that performs notification using sound, and the like. The display device 151 includes, 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 content 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 in which the user 50 rides) so that a person on the moving body 10 can visually check the display contents. 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. The computer system functions as the control unit 11 by the processor executing an appropriate program. The program may be recorded in advance in a memory, or may be provided by being recorded through a telecommunication line such as the Internet or a non-transitory 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. The control unit 11 further has functions of an acquisition unit 113, a detection unit 114, and a 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. In addition, the acquisition unit 113 acquires user 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, based on the face image of the specific user 50B stored in the memory 13, using face authentication technology or the like, from the video information around the moving body 10 acquired by the acquisition unit 113. The face of a specific user 50 is searched.

  The processing unit 115 controls the moving body 10 according to the detection result of the detecting unit 114 when the moving body 10 and the specific user 50B approach each other.

(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 configured by, 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. The computer system functions as the control unit 21 by the processor executing an appropriate program. The program may be recorded in advance in a memory, or may be provided by being recorded through a telecommunication line such as the Internet or a non-transitory recording medium such as a memory card.

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

  The memory 23 includes an electrically rewritable nonvolatile memory such as an EEPROM and a volatile memory such as a RAM. The memory 23 stores user information related to a user who uses the mobile object 10, vehicle information related to the mobile object 10, traffic information of a region where the mobile object 10 travels, and the like.

(2.3) Configuration of Terminal Device Next, the terminal device 30 carried by the user 50 who uses the moving body 10 will be described with reference to FIGS. 1 and 2. Hereinafter, among the terminal devices 30 carried by the user 50, the terminal device 30 carried by the first user 50A is referred to as a first terminal device 30A, and is a 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. The computer system functions as the control unit 31 by the processor executing an appropriate program. The program may be recorded in advance in a memory, or may be provided by being recorded through a telecommunication line such as the Internet or a non-transitory 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 nonvolatile memory such as an EEPROM and a volatile memory such as a RAM. The memory 33 stores user information and the like related to 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 a display unit, a sound output unit, and a vibration generation unit, and may include at least one of a display unit, a sound output unit, and a vibration generation unit.

  The input unit 35 includes, for example, a touch panel provided on a display unit included in the output unit 34 and receives an operation input from the user 50.

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

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

  Below, the operation | movement when the specific user 50B requests the server 20 to dispatch a vehicle using the 2nd terminal device 30B is demonstrated. Further, in the example of FIG. 3, it is assumed that another first user (preceding user) 50A is already on the moving body 10 that the specific user (second user) 50B will use. To do.

  First, request information (boarding position, scheduled boarding time) for a specific user 50B to operate the input unit 35 of the second terminal device 30B to start a dispatching application and request the vehicle 10 to be dispatched. , Information such as an alighting position) is input (ST1). The control unit 31 of the second terminal device 30 </ b> B causes the request information input by the specific user 50 </ b> B and the personal information of the user 50 </ b> B stored in the memory 33 to be transmitted from the communication unit 32 to the server 20. When the communication unit 22 of the server 20 receives the dispatch 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). And the control part 21 of the server 20 is based on the received request information, the specific user's 50B personal information, the operation condition of the some mobile body 10, etc., and a specific user is selected from the some mobile body 10. The moving body 10 on which 50B is placed is determined. The server 20 transmits operation information (for example, boarding position, scheduled boarding time, getting-off position, etc.) of the moving body 10 and personal information of a specific user 50B who uses the moving body 10 to the moving body 10. .

  When the communication unit 12 of the mobile body 10 receives the operation information and the specific user 50B personal information from the server 20, the control unit 11 stores the operation information and the specific user 50B personal information in the memory 13 (ST3). ). Moreover, the control part 11 of the moving body 10 carries out the automatic driving | operation of the moving body 10 so that it may arrive at a boarding position by boarding scheduled time (ST4). As described above, when the automatic driving system 1 receives operation information including 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 a vehicle at a place different from the boarding position. When the specific user 50B inputs the request information, the specific user 50B is 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 an interval of 100 mS). 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 transmits the position information from the communication unit 22 to the mobile body 10 ( ST7).

  In the mobile unit 10, when the communication unit 12 receives the position information transmitted from the server 20 (ST8), the acquisition unit 113 uses the second terminal device 30B (that is, based on the position information received by the communication unit 12). The position information of the specific user 50B) is updated. When the acquisition unit 113 updates the location information of the specific user 50B as needed, the determination unit 111 determines whether the determination condition when the moving body 10 and the specific user 50B are approaching is satisfied. A determination process is performed (ST9). The determination unit 111 uses the position information of the moving body 10 detected by the sensor 14 and the position information of the second terminal device 30B (that is, the specific user 50B) to determine the moving body 10 and the specific user 50B. Based on the positional relationship between the two, it is determined whether or not they are approaching.

  Here, the determination unit 111 determines whether or not the determination condition when the moving body 10 and the specific user 50B are approaching is established based on the positional relationship between the moving body 10 and the specific user 50B. Determine whether. The determination condition of the determination unit 111 is a condition that the moving distance by which the moving body 10 moves to the position of the specific user 50B is shorter than a preset threshold (for example, a distance of about 100 m). When the moving body 10 needs to 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 is, for example, a distance that allows the specific user 50B to visually distinguish the moving body 10, and may be set as appropriate between several tens of meters to hundreds of tens of meters. If the specific user 50B has arrived at the boarding position at the timing when the determination unit 111 performs the determination process, the determination unit 111 indicates that the moving body 10 has approached the specific user 50B, that is, the boarding position. It is determined whether or not. 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 the moving body 10 is approaching the specific user 50B that is moving. Determine whether.

  When the determination unit 111 determines that the determination condition is not satisfied, that is, when it is determined that the moving body 10 is not approaching 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 mobile body 10 has approached the specific user 50B, the notification unit 112 determines that the mobile body 10 is approaching the display device 151 of the mobile body 10. Notification is performed by displaying the notification content shown (ST10). The notification unit 112 displays messages such as “I came to pick up Mr. ○○” and “I am looking for Mr. ○○” on the display device 151 as user related information related to the specific user 50B. To do. Therefore, it becomes easy for the specific user 50B to find the moving body 10 that has picked him up, and the convenience can be improved. Here, the notification unit 112 may cause the display device 151 to display a face image or the like of the specific user 50B together with the above message as user-related information related to the specific user 50B. As described above, the notification unit 112 notifies information including user-related information (for example, personal information such as name, face image, etc.) related to the specific user 50B. It becomes easy to find the moving body 10 that has come to pick up.

  Moreover, the notification part 112 may transmit the notification information which notifies the approach of the mobile body 10 from the communication part 12 to the server 20 (ST11). When the communication unit 22 of the server 20 receives the notification information from the moving body 10, the control unit 21 includes both the specific user 50B and the first user (preceding user) 50A already on the moving body 10. To notify. That is, the control unit 21 receives the notification information received from the mobile body 10 from the communication unit 22, the second terminal device 30B carried by the specific user 50B, and the first user 50A already on the mobile body 10. To the first terminal device 30A (ST12). Thereby, 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 approaching. At this time, the notification unit 112 may notify both the specific user 50B and the second user 50A that the specific user 50B rides (carpools) on the moving body 10.

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

  In the first terminal device 30A carried by the first user 50A, when the communication unit 32 receives notification information from the server 20 (ST14), the control unit 31 controls the output unit 34 to generate sound, display, vibration, and the like. The notification operation for notifying the approach of the moving body 10 is performed. This makes it easier for the first user 50A who is already on the moving body 10 to 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 on 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 display of notification contents on the display device 151 and transmission of notification information to the terminal device 30. 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 The 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 boarding position even after the determination unit 111 determines that the determination condition is satisfied, and when the moving body 10 arrives at the boarding position, the moving body 10 10 is stopped. And if the specific user 50B finds the mobile body 10 and gets on the mobile body 10, the notification part 112 of the mobile body 10 will stop notification. In addition, when carrying the specific user 50B, the mobile body 10 may authenticate the user 50B using a face image, for example, and may permit the user 50B to get on when authentication is established. After that, the control unit 11 automatically drives the moving body 10 toward the specific user 50B getting off position, and when it arrives at the specific user 50B getting off position, drops the specific user 50B and instructs the server 20 To continue automatic operation. In the automatic driving system 1, the fare payment process may be performed by cash or credit payment at the time of getting off.

(3) Modifications The above embodiment is only one of 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. Moreover, the function similar to the automatic driving system 1 may be embodied by a notification method of the automatic driving system 1, a computer program, a non-transitory recording medium that records the program, 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, determination is made when the mobile body 10 and the specific user 50B are approaching based on the positional relationship between the mobile body 10 that is automatically operated and the specific user 50B that uses the mobile body 10. It is determined whether the condition is satisfied. In the notification step, the specific user 50B is notified when it is determined in the determination step that the determination condition is satisfied. A (computer) program according to one aspect is a program for causing a computer system to execute a determination step and a notification step.

  Hereinafter, modifications of the above embodiment will be listed. The modifications described below can be applied in appropriate combinations.

  The execution subject of the automatic driving system 1 or the notification method of the automatic driving system 1 in the present disclosure includes a computer system. The computer system mainly includes 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 driving system 1 or the notification method of the automatic driving system 1 according to the present disclosure is realized. The program may be recorded in advance in the memory of the computer system, but may be provided through an electric communication line, or may be provided by being recorded in a non-transitory recording medium readable by the computer system. Non-transitory recording media readable by the computer system are a memory card, an optical disk, a hard disk drive, and the like. A processor of a computer system includes one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The plurality of electronic circuits may be integrated on one chip, or may be distributed on the plurality of chips. The plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices.

  Moreover, in said embodiment, although the automatic driving system 1 is provided with the mobile body 10 and the server 20, the server 20 is not an essential structure for the automatic driving system 1. That is, if the mobile 10 can communicate directly with the terminal device 30 of the user 50, the server 20 can be omitted.

  Moreover, although the automatic driving system 1 is implement | achieved by the mobile body 10 and the server 20, it is not restricted to this structure, For example, the server 20 may be implement | achieved by one or two systems. In addition, the functions of the determination unit 111 and the notification unit 112 of the automatic driving 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 between the mobile body 10 and the server 20 or may be provided in the server 20. In addition, the functions of the determination unit 111 and the notification unit 112 may be distributed and provided in a plurality of devices. Moreover, at least a part of the functions of the automatic driving system 1 may be realized by, for example, cloud (cloud computing).

(3.1) Modification 1
Hereinafter, the automatic driving system 1 of the modified example 1 will be described.

  The content of the process performed when the mobile body 10 approaches the specific user 50B differs from Embodiment 1 and the automatic driving system 1 of the modification 1. Since the configuration of the automatic driving system 1 of Modification 1 is the same as that of the first embodiment, the same configurations as those of the first embodiment are denoted by common reference numerals, and the description thereof is omitted as appropriate.

  The operation of the automatic driving system 1 of Modification 1 will be described with reference to FIGS.

  FIG. 4 is a flowchart for explaining the operation of the automatic driving system 1 after the determination unit 111 determines that the determination condition is satisfied. If the determination unit 111 determines that the determination condition is satisfied, the control unit 11 starts a timer for measuring the standby time and starts counting the standby time (ST21). The waiting time is an upper limit value of the time from when it is determined that the moving body 10 and the specific user 50B are approaching until one of the moving body 10 and the specific user 50B notices the other. . The waiting time is set to 10 minutes, for example, but can be changed as appropriate according to the specification of the dispatch service, and may be set to any time between several minutes to several tens of minutes.

  Thereafter, in the moving body 10, the acquisition unit 113 acquires image information around the moving body 10 from the sensor 14, and the detection unit 114 performs specific use from the image information based on the face image of the specific user 50 </ b> B. Detection processing for finding the face of the person 50B is performed (ST22). The detection unit 114 may detect a place where the specific user 50B is located by performing a voice conversation with the specific user 50B via the terminal device 30B. In addition, the detection unit 114 outputs information on a specific user 50B to the terminal device 30A of the first user 50A who has already boarded the moving body 10, and the first user 50A inputs the information using the terminal device 30A. By acquiring the information, the location where the specific user 50B is present 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 in ST23), the control unit 11 determines whether a notification is 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 the specific user 50B has found the moving body 10 or the like.

  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 process (ST26).

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

  If the count has not ended (No in ST27), the control unit 11 of the mobile body 10 returns to ST22 and repeats the above processing. If the count has ended (Yes in ST27), the processing unit of the mobile body 10 115 performs the third process (ST28).

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

<Description 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 moving 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 have approached. Then (ST30), the detection unit 114 performs the detection process described above. When the detection unit 114 detects the specific user 50B in the detection process (ST31), the processing unit 115 calculates the distance between the moving 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, based on the position information of the moving body 10 and the position information of the terminal device 30B, the linear distance (shortest) between the moving body 10 and the terminal device 30B (that is, the specific user 50B). Distance). And the notification part 112 outputs distance information to the output part 15, for example, is displayed on the display apparatus 151 of the mobile body 10 (ST33).

  Here, the processing unit 115 sends a confirmation notification from the communication unit 12 to the terminal device 30B by e-mail for confirming 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 including a message such as “I found Mr. XX”, “I am in a location away from XX”, “I ’m approaching XXX” from the communication unit 12. It transmits to the terminal device 30B. Note that the confirmation notification means is not limited to electronic mail. You may make it confirm by performing a voice call between the mobile body 10 and the terminal device 30B. Further, if direct communication is possible between the mobile body 10 and the terminal device 30B, the mobile body 10 may directly transmit a 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 moving body 10 using the terminal device 30B (ST35), the server 50B returns an answer as to whether or not to permit the movement by operating the terminal device 30B. 20 is transmitted to the mobile 10 via 20 (ST36).

  When communication unit 12 of mobile body 10 receives the response from terminal device 30B (ST37), processing unit 115 controls mobile body 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 It waits to get on the moving body 10. When 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 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 in progress. 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 It becomes easy to find the moving body 10 to get on.

<Description 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 of the boarding position in order to move the moving body 10 to a position where the 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 specified by the operation information from the server 20) to the second position. A request notification to be changed is transmitted to the mobile unit 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). Is determined (ST42). Here, the terminal device 30B may transmit a request notification together with the coordinates of the second position candidate, 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 traffic information (information such as traffic jam, traffic regulation, road construction, etc.), the processing unit 115 sends notification information indicating that the boarding position cannot be changed from the communication unit 12 to the terminal. It transmits to the apparatus 30B and waits for the 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 determining that the boarding position can be changed, the processing unit 115 sends a confirmation notification from the communication unit 12 by e-mail to confirm to the specific user 50B whether the boarding position may be changed to the second position. It transmits to the terminal device 30B via the server 20 (ST43).

  When the specific user 50B receives the confirmation notification e-mail transmitted from the mobile unit 10 using the terminal device 30B (ST44), the specific user 50B determines whether or not to permit the mobile unit 10 to move. When permitting the movement of the mobile object 10, the specific user 50B operates the terminal device 30B and transmits an answer to the effect that the movement is permitted to the mobile object 10 via the server 20 (ST45).

  When communication unit 12 of mobile body 10 receives the response from terminal device 30B (ST46), processing unit 115 controls mobile body 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 performs the specific use at the second position. It waits for person 50B to get on moving body 10. Here, for example, the control unit 115 of the mobile body 10 sets the current position of the terminal device 30B acquired by the acquisition unit 113 as the second position, and based on the position information of the terminal device 30B (that is, the specific user 50B). The moving body 10 is moved. Therefore, the control unit 115 of the moving body 10 can move the moving body 10 so as to approach the specific user 50B.

  Moreover, the control part 115 of the moving body 10 will move the moving body 10 which is moving the moving body 10, if the instruction | indication of a movement is received from the terminal device 30B which the specific user 50B uses in ST46. Thereby, since the mobile body 10 does not move without obtaining the permission of the specific user 50B, it is possible to reduce the possibility that a difference between the mobile body 10 and the specific user 50B will occur.

<Description of third processing>
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 standby time has elapsed from the timing when the determination condition when the moving body 10 and the specific user 50B approach each other is satisfied.

  When the count 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 using GPS, image information obtained by photographing the surroundings of the moving body 10 and the like.

  When the acquisition unit 113 of the mobile body 10 acquires the mobile body position information, the control unit 115 causes the notification unit 112 to transmit an email including the mobile body position information from the communication unit 12 to the terminal device 30B of the specific user 50B. (ST52). That is, the notification unit 112 notifies the terminal device 30B used by the specific user 50B of information including mobile body position information related to the position of the mobile body 10. For example, the mobile object 10 receives an e-mail including a message such as “I arrived at the boarding position but XX could not be found”, “I will send my current location information”, “I am near the XX intersection”. It transmits to the terminal device 40B.

  When the terminal device 30B receives the mobile body position information (ST53), the specific user 50B searches for the location of the mobile body 10 using the mobile body position information transmitted from the mobile body 10 as a clue. Here, when a specific user 50B wants to know more details regarding the position of the mobile object 10, the user device 50B operates the terminal device 30B to transmit a request signal for requesting detailed information to the mobile object 10 (ST54).

  When the communication unit 12 of the mobile body 10 receives a request signal requesting detailed information from the terminal device 30B (ST55), the control unit 11 of the mobile body 10 causes the acquisition unit 113 to acquire detailed mobile body position information. For example, the acquisition unit 113 acquires image information obtained by photographing different directions from the camera, or, for example, a building, a store, a structure, an intersection, or the like that becomes a landmark around the moving body 10 from the map information and the image information. Get information. And the control part 11 of the mobile body 10 transmits the more detailed mobile body position information which the acquisition part 113 acquired to the terminal device 30B via the server 20 from the communication part 12 (ST56). For example, the mobile unit 10 transmits an electronic mail including a message such as “There are XX and △△ 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 the location of the mobile body 10 using the received mobile body position information as a clue. Can do. Here, the mobile unit 10 transmits an e-mail including the mobile unit location information to the terminal device 30B. However, the mobile unit 10 carries the terminal unit 30B by reading out the mobile unit location information using a voice synthesis technique. The moving body position information may be notified to the specific user 50B. Further, detailed mobile body position information may be transmitted from the mobile body 10 to the terminal apparatus 30B by performing bidirectional information transmission between the mobile body 10 and the terminal apparatus 30B. Moreover, you may make it perform a voice call between the mobile body 10 and the terminal device 30B, and you may make it confirm. Further, if direct communication is possible between the mobile body 10 and the terminal device 30B, the mobile body 10 may directly transmit a confirmation notification to the terminal device 30B without going through the server 20.

  In addition, when it is difficult to understand the position of the moving body 10 or when it is difficult to move to the position of the moving body 10, the specific user 50B operates the terminal device 30B to request a change in the boarding position. A request notification is transmitted to the mobile unit 10 (ST58).

  When the communication unit 12 of the moving body 10 receives a request notification requesting a change of the boarding position from the terminal device 30B, the processing unit 115 moves the moving body 10 to the position instructed to change or the current position of the terminal device 30B. (ST59). And the control part 11 of the mobile body 10 waits for the specific user 50B to board the mobile body 10 in the boarding position after a change. Thereby, it becomes easy for the specific user 50B to find the moving body 10, and the convenience can be improved.

  As described above, when the detection unit 114 cannot find the specific user 50B, the control unit 115 transmits the terminal device 30B used by the specific user 50B from the communication unit 12 to the surroundings of the mobile object 10. Images are sent. Therefore, the specific user 50B can search for a 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. However, the moving body 10 is not limited to an automobile, and may be a moving body other than an automobile such as a motorcycle, an aircraft, or a ship. .

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

(Summary)
As described above, the automatic driving system (1) according to the first aspect includes the determination unit (111) and the notification unit (112). The determination unit (111) is configured to use the mobile body (10) and the specific usage based on the positional relationship between the mobile body (10) that automatically operates and the specific user (50B) that uses the mobile body (10). It is determined whether the determination condition when the person (50B) is approaching is satisfied. The notification unit (112) notifies the specific user (50B) when the determination unit (111) determines that the determination condition is satisfied.

  According to this aspect, the notification unit (112) notifies the specific user (50B) when the moving body (10) approaches the specific user (50B). 50B) can know that the mobile body (10) that he / she uses 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) performs 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 mobile body (10) that he / she uses is approaching based on the notification content displayed on the display device (151). it can.

  The automatic driving system (1) according to the third aspect can be realized by a combination with the first or second aspect. In the third mode, the notifying unit (112) is preceded by a specific user (50B) when a preceding user (50A) other than the specific user (50B) is already on the moving body (10). Notification is made to 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 connected to 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) that acquires position information of the specific user (50B) in any one of the first to third aspects. An acquisition part (113) updates the positional information on a 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 approaching. It can be determined whether or not the condition is satisfied.

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

  According to this aspect, even when the moving body (10) moves toward the boarding position, the determination unit (111) is when the moving body (10) and the specific user (50B) are approaching. It can be determined whether or not the determination condition 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). Information notification.

  According to this aspect, the specific user (50B) knows that the mobile body (10) that he / she uses 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 connected to the terminal device (30B) used by the specific user (50B). On the other hand, information including 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 mobile body (10) to be used by the specific user (50B) by using the mobile body position information notified by the notification unit (112).

  The automatic driving 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 driving 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 moved closer to a specific user (50B).

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

  In the automatic driving system (1) according to the tenth aspect, when the detection unit (114) cannot find the 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, since the processing unit (115) moves the mobile body (10) based on the position information of the specific user (50B), the specific user (50B) is the mobile body that the user uses. It becomes easy to find (10).

  In the automatic driving 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 moving body (10) is moved.

  According to this aspect, when the processing unit (115) receives the movement instruction from the terminal device (30B) of the specific user (50B), the moving unit (10) is moved. It is possible to reduce the possibility that a specific user (50B) and a mistake will occur by moving without permission.

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

  According to this aspect, the specific user (50B) can easily find the moving body (10) that he / she uses 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 mobile body (10) and the specific user (50B) are based on the positional relationship between the mobile body (10) that automatically operates and the specific user (50B) that uses the mobile body (10). ) Is approaching, it is determined whether or not the determination condition is satisfied. In the notification step, a notification is given to a specific user (50B) when it is determined in the determination step that the determination condition is satisfied.

  According to this aspect, it is possible to improve the convenience of the automatic driving system (1).

  A program according to a fourteenth aspect is a program for causing a computer system to execute a determination step and a notification step. In the determination step, the mobile body (10) and the specific user (50B) are based on the positional relationship between the mobile body (10) that automatically operates and the specific user (50B) that uses the mobile body (10). ) Is approaching, it is determined whether or not the determination condition is satisfied. In the notification step, a notification is given to a specific user (50B) when it is determined in the determination step that the determination condition is satisfied.

  According to this aspect, it is possible to improve the convenience of the automatic driving system (1).

  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. Prepare.

  According to this aspect, it is possible to improve the convenience of the automatic driving system (1).

  The various configurations (including modifications) of the automatic driving system (1) according to the first embodiment are not limited to the above aspect, and the automatic driving system (1) notification method, (computer) program, or non-recording program is recorded. It can be embodied by a temporary recording medium or the like.

  About the structure which concerns on a 2nd-12th aspect, it is not a structure essential to an automatic driving system (1), and can be abbreviate | omitted suitably.

DESCRIPTION OF SYMBOLS 1 Automatic driving system 10 Mobile body 12 Communication part 30B Terminal device 50, 50A User 50B Specific user 100 Main body 111 Determination part 112 Notification part 113 Acquisition part 114 Detection part 115 Control part 151 Display apparatus

Claims (15)

Based on the positional relationship between a mobile object that automatically operates and a specific user that uses the mobile object, is a determination condition established when the mobile object and the specific user are approaching each other? A determination unit for determining whether or not,
An automatic operation system comprising: a notification unit that notifies the specific user when the determination unit determines that the determination condition is satisfied. The automatic operation system according to claim 1, wherein the notification unit performs notification by displaying a notification content on a display device of the moving body. 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 1. An acquisition unit for acquiring the position information of the specific user;
The automatic operation system according to any one of claims 1 to 3, wherein the acquisition unit updates position information of the specific user. The automatic driving system according to any one of claims 1 to 4, wherein when the information on a boarding position on the moving body is received from the specific user, the moving body is moved to the boarding position. The automatic operation system according to any one of claims 1 to 5, wherein the notification unit performs notification of information including user-related information related to the specific user. The said notification part notifies the information containing the mobile body position information relevant to the position of the said mobile body with respect to the terminal device which the said specific user uses. Automatic driving system. When the determination unit determines that the determination condition is satisfied, a detection unit that searches for the specific user;
The automatic operation system according to claim 1, further comprising: a processing unit that performs processing according to a detection result of the detection unit. The automatic driving system according to claim 8, wherein when the detection unit finds the specific user, the processing unit moves the moving body so as to approach the specific user. The automatic operation according to claim 8 or 9, wherein when the detection unit cannot find the specific user, the processing unit moves the moving body based on position information of the specific user. system. The automatic operation system according to claim 10, wherein the processing unit moves the moving body when receiving a movement instruction from a terminal device used by the specific user. When the detection unit cannot find the specific user, the processing unit causes the terminal device used by the specific user to transmit an image around the moving body from the communication unit. Item 12. The automatic driving system according to any one of Items 8 to 11. Based on the positional relationship between a mobile object that automatically operates and a specific user that uses the mobile object, is a determination condition established when the mobile object and the specific user are approaching each other? A determination step for determining whether or not;
A notification method for an automatic driving system, comprising: a notification step of notifying the specific user when it is determined in the determination step that the determination condition is satisfied. Computer system,
Based on the positional relationship between a mobile object that automatically operates and a specific user that uses the mobile object, is a determination condition established when the mobile object and the specific user are approaching each other? A determination step for determining whether or not;
A notification step of performing a notification to the specific user when it is determined in the determination step that the determination condition is satisfied. A moving body,
A notification unit included in the automatic driving system according to any one of claims 1 to 12. A moving body.

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