JP2020021452A - Information processor, information processing method and information processing program - Google Patents

Abstract

To provide an information processor, information processing method and information processing program, capable of, when a mobile body interferes with traffic of any other mobile body, autonomously moving the mobile body without need for attaching some equipment to the any other mobile body.SOLUTION: An information processor 12 for a mobile body includes: a sensing information acquisition section 101 for acquiring sensing information showing an external situation of a mobile body from a sensor used for object detection installed on the mobile body; a traffic disturbance determination section 102 for determining a mode of any other mobile body passing by the mobile body using sensing information; and a movement request generation section 103 for controlling a movement request to the mobile body using a determination result of the mode of the any other mobile body.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an information processing device, an information processing method, and an information processing program for controlling movement of a moving object.

  2. Description of the Related Art There is a related art that moves an automatic driving vehicle when a stopped automatic driving vehicle is obstructing the passage of other vehicles. For example, Patent Literature 1 discloses that an in-vehicle terminal device is provided in both a stopped autonomous vehicle and another vehicle passing in the vicinity, and the in-vehicle terminal device of the other vehicle is mounted on a stopped autonomous vehicle. The position information of the self-driving vehicle is obtained from the terminal device by communication, and based on the position information of the self-vehicle, the position information of the self-driving vehicle obtained from the self-driving vehicle, and the map information, the forward direction of the self-driving vehicle is obtained There is an autonomous vehicle, and it is determined whether the self-driving vehicle (stopped vehicle) obstructs the passage of the own vehicle (traveling vehicle). If the stopped vehicle obstructs the passage of the own vehicle, the vehicle is moved. When the request message is transmitted to the in-vehicle terminal device of the stopped vehicle, and the in-vehicle terminal device of the self-driving vehicle receives the movement request message, the vehicle departs and travels on an appropriate road to pass the traveling vehicle, and the original stop Automatic driving to return to position It discloses a technique.

  Further, there is a conventional technique in which an automatic driving vehicle is temporarily moved for evacuation purposes without instructions from a person. For example, in Patent Literature 2, a time and a place where the user plans to use the next automatic driving vehicle based on schedule information after the current time (hereinafter, “scheduled next use time” and “scheduled next use place”). )), And when it is determined that the time from the current time to the next scheduled use time is equal to or longer than the time T, the parking lot is searched and it is determined whether or not there is a vacant parking space within Xm from the next scheduled use location. A technique is disclosed in which, when it is determined that there is a parking lot having a vacancy within Xm from the next scheduled use place, the parking lot is set as a destination of the automatic driving. Further, in Patent Document 2, when it is determined that the time from the current time to the next scheduled use time is shorter than the time T, the next scheduled use location is set as the destination of the automatic driving, and the next scheduled use time is set to the next scheduled use location. A technology is disclosed in which an automatic driving vehicle is controlled so as to make a round around a place where the vehicle is to be used next time when parking is impossible.

JP 2017-207820 A JP 2012-048563 A

  However, according to the above-described conventional technology, when a moving object is obstructing the passage of another moving object, the moving object cannot be autonomously moved without providing facilities for the other moving object. Improvement was needed.

  The present disclosure solves the above-described problem, and in a case where a moving object is obstructing passage of another moving object, it is possible to autonomously move the moving object without providing facilities to the other moving object. It is an object of the present invention to provide an information processing apparatus, an information processing method, and an information processing program that can perform the information processing.

  An information processing apparatus according to an aspect of the present disclosure uses a sensing information acquisition unit that acquires sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body, and uses the sensing information. A determination unit configured to determine an aspect of another mobile body passing by the mobile body, and a movement request control that controls a travel request to the mobile body using a determination result of the aspect of the other mobile body. Unit.

  According to the present disclosure, when a moving object is obstructing passage of another moving object, the moving object can be autonomously moved without providing facilities for the other moving object.

It is a figure for explaining an example in which a user receives a predetermined service in an automatic driving car. 1 is a block diagram illustrating a configuration of an automatic driving vehicle according to Embodiment 1 of the present disclosure. 5 is a flowchart for describing an operation of movement control of the automatic driving vehicle according to the first embodiment of the present disclosure. FIG. 10 is a block diagram illustrating a configuration of an automatic driving vehicle according to a second embodiment of the present disclosure. 13 is a flowchart for describing an operation of movement control of an automatic driving vehicle according to Embodiment 2 of the present disclosure. FIG. 13 is a block diagram illustrating a configuration of an automatic driving vehicle according to a third embodiment of the present disclosure. 13 is a flowchart for describing an operation of movement control of an automatic driving vehicle according to Embodiment 3 of the present disclosure. FIG. 13 is a block diagram illustrating a configuration of an automatic driving vehicle according to a fourth embodiment of the present disclosure. 15 is a flowchart for describing an operation of movement control of an automatic driving vehicle according to Embodiment 4 of the present disclosure. FIG. 13 is a diagram illustrating an overall configuration of a vehicle control system according to a fifth embodiment of the present disclosure. FIG. 15 is a block diagram illustrating a configuration of a first vehicle and a second vehicle according to Embodiment 5 of the present disclosure. 15 is a flowchart for describing a control operation of the vehicle control system according to Embodiment 5 of the present disclosure. FIG. 13 is a diagram illustrating an overall configuration of a vehicle control system according to a sixth embodiment of the present disclosure. FIG. 16 is a block diagram illustrating a configuration of a first vehicle, a second vehicle, and a server according to Embodiment 6 of the present disclosure. 15 is a flowchart for describing a control operation of the vehicle control system according to the sixth embodiment of the present disclosure. FIG. 16 is a diagram illustrating an overall configuration of a vehicle control system according to a seventh embodiment of the present disclosure. FIG. 21 is a block diagram illustrating a configuration of an automobile and a server according to Embodiment 7 of the present disclosure. 15 is a flowchart for describing a control operation of the vehicle control system according to the seventh embodiment of the present disclosure. FIG. 21 is a diagram illustrating an overall configuration of a vehicle control system according to an eighth embodiment of the present disclosure. FIG. 16 is a block diagram illustrating a configuration of a first vehicle and a second vehicle according to an eighth embodiment of the present disclosure. 15 is a flowchart for describing an operation of control of the vehicle control system according to the eighth embodiment of the present disclosure.

(Knowledge underlying the present disclosure)
A technology for providing a user with a predetermined service inside and outside an automatic driving vehicle has been considered. For example, a service is provided for a user to view video content in an autonomous vehicle. In addition, for example, a self-driving car with a caregiver carried to the home of a cared person without a parking lot and a self-driving car that runs off the self-driving car at the cared person's home provides a home-care service. Provided to the care receiver (user). In such a service, the service is provided to the user while the self-driving vehicle is stopped or the self-driving vehicle is moved at a low speed. May hinder

  FIG. 1 is a diagram for explaining an example in which a user receives a predetermined service in an automatic driving vehicle.

  In FIG. 1, the user receives a predetermined service in the automatic driving vehicle 201, and the automatic driving vehicle 201 is stopped on the road 203. The width of the road 203 is a length that allows two vehicles to pass in a line. When another vehicle 202 coming from behind the self-driving vehicle 201 overtakes the self-driving vehicle 201 on the road 203, the other vehicle 202 decelerates and changes course before the stopped self-driving vehicle 201, and stops. It is necessary to pass at a low speed near the self-driving vehicle 201 of the vehicle. As described above, there is a case where the self-driving vehicle 201 that is stopped to provide the service may hinder the traffic of another vehicle 202.

  Therefore, there is a conventional technique for moving an automatic driving vehicle when a stopped automatic driving vehicle is obstructing the passage of other vehicles, as in Patent Document 1 described above.

  However, the configuration disclosed in the above-described related art has a problem that it is not possible to move a stopped automatic driving vehicle when an in-vehicle terminal device is not mounted on another vehicle passing nearby. ing.

  Further, there is a conventional technique in which an automatic driving vehicle is temporarily moved for evacuation purpose without being instructed by a person, as in Patent Document 2 described above.

  However, in the configuration disclosed in the above-described conventional technology, the vehicle is moved to the parking lot or goes around the periphery even when the traffic is not actually obstructing traffic, which may cause unnecessary cost. was there.

  In order to solve the above problem, an information processing apparatus according to an embodiment of the present disclosure provides sensing information for acquiring sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body. An acquisition unit, using the sensing information, a determining unit that determines an aspect of another mobile body that passes by the mobile body, and using the determination result of the aspect of the other mobile body, to the mobile body. And a movement request control unit that controls the movement request.

  According to this configuration, when the moving object is obstructing the passage of the other moving object, the moving object can be autonomously moved without providing facilities for the other moving object.

  Further, in the information processing device, the determination unit detects a width of a space that can pass when the other moving body passes by the moving body and a width of the other moving body, As another aspect of the other moving body, a width of the other moving body with respect to a width of the passable space may be determined.

  According to this configuration, by determining whether or not the width of the other moving object is a width that can pass by the moving object, whether the other moving object can pass by the moving object is determined. Can be accurately determined. It should be noted that “passable” includes easy passage such as a margin in the passage width.

  In the above information processing apparatus, the determination unit determines whether the width of the traversable space is shorter than the width of the another moving object, and the movement request control unit determines When it is determined that the width of the space is shorter than the width of the other moving body, a movement request for moving the moving body may be generated.

  According to this configuration, by comparing the width of the traversable space with the width of another moving body, it is possible to more accurately determine whether or not another moving body can pass by the moving body. Can be.

  Further, in the above information processing apparatus, the determination unit may detect a width of the passable space using the sensing information. According to this configuration, it is possible to detect the actual width of the passable space, and it is possible to more accurately determine whether another moving body can pass by the moving body.

  In the above information processing apparatus, the information processing apparatus further includes a current position acquisition unit that acquires current position information indicating a current position of the moving object, and a map acquisition unit that acquires map information including the current position of the moving object. The determination unit may detect a width of the passable space using the map information and the sensing information.

  According to this configuration, since the width of the passable space is detected using the map information and the sensing information, it is possible to detect the width of the passable space more accurately, and the other moving body can be detected by the moving body. It is possible to more accurately determine whether or not it is possible to pass by.

  In the above information processing apparatus, the sensor may include an optical sensor. According to this configuration, the situation outside the moving body can be detected, and it can be more accurately determined whether or not another moving body can pass by the moving body.

  Further, in the above information processing apparatus, the sensor includes an image sensor, and the determination unit processes image information obtained from the image sensor, so that the other moving body is configured as the other moving body. May be determined.

  According to this configuration, by determining the operation of the other moving object, it is possible to accurately determine whether the moving object is obstructing the passage of the other moving object.

  Further, in the above information processing apparatus, the determination unit determines whether the operation of the other moving object is an operation to avoid the moving object, and the movement request control unit When it is determined that the movement of the body is an operation to avoid the moving body, a movement request to move the moving body may be generated.

  According to this configuration, by determining whether or not the operation of the other moving body is an operation of avoiding the moving body, it is possible to determine whether the moving body is hindering the passage of the other moving body. It can be determined accurately.

  Further, in the above information processing apparatus, the determination unit may determine, as an aspect of the other moving body, an operation or a change in an operation of the other moving body when passing by the moving body.

  According to this configuration, it is possible to more accurately determine whether or not the moving body is blocking the passage of another moving body. That is, when the movement or change of the movement of another moving body when passing by the moving body is caused by the moving body obstructing the passage of the other moving body, the moving body is moved. It is possible to more effectively prevent the moving body from obstructing the passage of another moving body.

  In the above information processing apparatus, the sensing information includes at least one of a position, a speed, an acceleration, and a traveling direction of the other moving body, and the determination unit determines that the other moving body is decelerated. The movement request control unit determines whether any of the operations of stop and route change has been performed, and the movement request control unit performs any of the operations of deceleration, stop, and route change. If it is determined that the moving object has been moved, a moving request for moving the moving object may be generated.

  According to this configuration, it is possible to more accurately determine whether or not the moving body is blocking the passage of another moving body. That is, when another moving body performs any one of the operations of deceleration, stop, and course change, the moving body can be moved, and the moving body is prevented from obstructing the passage of the other moving body. It can be effectively prevented.

  In the above information processing apparatus, the sensing information includes at least one of a position, a speed, an acceleration, and a traveling direction of the another moving object, and the determination unit determines the change amount of the speed, the acceleration, It is determined whether at least one of the change amount of the traveling direction and the change amount of the angle of the traveling direction is equal to or greater than a predetermined threshold, and the movement request control unit determines the change amount of the speed and the change amount of the acceleration. If it is determined that at least one of the change amount of the angle in the traveling direction and the change amount is equal to or greater than a predetermined threshold, a movement request to move the moving body may be generated.

  According to this configuration, it is possible to more accurately determine whether or not the moving body is blocking the passage of another moving body. That is, when at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction of another moving body is equal to or more than a predetermined threshold, the moving body can be moved. It is possible to more effectively prevent the body from obstructing the passage of other moving objects.

  Further, in the above information processing apparatus, the sensor includes an image sensor, and the determination unit processes the image obtained from the image sensor, so that the other moving body is in the form of the other moving body. The mode of the operator who operates may be determined.

  According to this configuration, by determining the mode of the operator operating the other moving body, it is possible to more accurately determine whether the moving body is blocking the passage of the other moving body.

  In the above information processing apparatus, the determination unit determines whether the facial expression of the operator is a facial expression representing a predetermined emotion stored in advance, and the movement request control unit When it is determined that the facial expression of the person is a facial expression representing a predetermined emotion stored in advance, a movement request for moving the moving object may be generated.

  According to this configuration, it is possible to more accurately determine whether or not the moving body is blocking the passage of another moving body. That is, when the facial expression of the operator is a facial expression representing a predetermined emotion stored in advance, the moving body can be moved, and the moving body can be more effectively prevented from obstructing the passage of other moving bodies. Can be prevented.

  In the above information processing apparatus, the determination unit may detect a distance from the moving body to an end of the road on a road where the moving body is located, as a width of the passable space.

  According to this configuration, by determining the width of the other moving body with respect to the distance from the moving body to the end of the road, it is accurately determined whether or not the other moving body can pass by the moving body. be able to.

  In an information processing method according to another aspect of the present disclosure, a computer acquires sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body, and uses the sensing information. Determining a mode of another moving object passing by the moving object, and controlling a movement request to the moving object by using the determination result of the mode of the other moving object.

  According to this configuration, when the moving object is obstructing the passage of the other moving object, the moving object can be autonomously moved without providing facilities for the other moving object.

  An information processing program according to another aspect of the present disclosure provides a computer with sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body, and using the sensing information. A process of determining a mode of another moving object passing by the moving object, and controlling a movement request to the moving object using the determination result of the mode of the other moving object.

  According to this configuration, when the moving object is obstructing the passage of the other moving object, the moving object can be autonomously moved without providing facilities for the other moving object.

  Each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and do not limit the present disclosure. In addition, among the components in the following embodiments, components not described in the independent claims indicating the highest concept are described as arbitrary components. Further, in all the embodiments, the respective contents can be combined.

(Embodiment 1)
Hereinafter, the functional configuration and the overall operation of the self-driving vehicle will be described in detail.

  FIG. 2 is a block diagram illustrating a configuration of the automatic driving vehicle according to the first embodiment of the present disclosure.

  As shown in FIG. 2, the self-driving vehicle 1 includes a sensor 11, an information processing device 12, a movement control unit 13, and a drive unit 14. The information processing device 12 includes a processor 121 and a storage unit 122. The processor 121 includes a sensing information acquisition unit 101, a traffic obstacle determination unit 102, and a movement request generation unit 103.

  The sensor 11 detects an object around the self-driving vehicle 1. The sensor 11 includes, for example, an optical sensor, and acquires position information around the self-driving vehicle 1. The sensor 11 outputs position information around the self-driving vehicle 1 to the sensing information acquisition unit 101 as sensing information.

  The sensor 11 is, for example, a LIDAR (Light Detection and Ranging) or a millimeter wave radar. LIDAR irradiates an infrared laser, measures the time until the infrared laser reflects off an object, and returns the distance to the object around the self-driving car 1 and the shape of the object around the self-driving car 1 Is detected. Thereby, the self-driving vehicle 1 can read the three-dimensional structure of the surrounding environment. The millimeter-wave radar performs the same measurement as LIDAR, but uses radio waves instead of infrared rays to measure the time until the radio waves are reflected by an object and returned. A LIDAR using infrared light can be used at night, but has a feature that its function deteriorates in bad weather. A millimeter-wave radar using radio waves has a feature that it can detect regardless of the weather, although its resolution is inferior to LIDAR. Therefore, the disadvantages of each other can be complemented by using the LIDAR and the millimeter-wave radar in combination with each other, instead of using them alone.

  The sensing information acquisition unit 101 acquires sensing information indicating a situation outside the self-driving vehicle 1 from a sensor 11 used for detecting an object mounted on the self-driving vehicle 1.

  The traffic obstacle determination unit 102 determines an aspect of another vehicle passing by the self-driving vehicle 1 using the sensing information. The traffic obstacle determination unit 102 determines whether or not the self-driving vehicle 1 is obstructing the traffic based on the surrounding position information acquired by the sensing information acquisition unit 101.

  In the first embodiment, the traffic obstruction determination unit 102 does not necessarily need to determine when another vehicle passes by the self-driving vehicle 1, and the other vehicle passes by the self-driving vehicle 1. It may be determined when trying to do so. In addition, the traffic obstruction determination unit 102 may determine the mode of another vehicle passing near the side surface of the self-driving vehicle 1 using the sensing information. Passing near the side surface of the self-driving vehicle 1 means that the vehicle runs at a predetermined distance or less from the side surface of the self-driving vehicle 1.

  The traffic obstruction determination unit 102 detects the width of a space that can pass when another vehicle passes by the automatic driving vehicle 1 and the width of another vehicle, and detects the width of a space that can pass as an aspect of another vehicle. Is determined with respect to the width of the other vehicle. That is, the traffic obstruction determination unit 102 determines whether the width of the passable space is shorter than the width of another vehicle. In addition, the traffic obstacle determination unit 102 detects the width of the passable space using the sensing information.

  The traffic obstruction determination unit 102 detects the distance to an object in the rightward or leftward direction of the self-driving vehicle 1 as the width of a space through which another vehicle can pass, detects the width of another vehicle, and The width of another vehicle may be determined relative to the width of a passable space as a mode of the vehicle. That is, the traffic obstruction determination unit 102 may determine whether the distance to the object in the rightward or leftward direction of the self-driving vehicle 1 is shorter than the width of another vehicle. The traffic obstruction determination unit 102 determines the longer one of the distance to the object in the right direction of the automatic driving vehicle 1 and the distance to the object in the left direction of the automatic driving vehicle 1 to another vehicle. May be detected as the width of a passable space.

  In the first embodiment, the width of the passable space and the width of another vehicle are detected using the position information (distance information) measured by the optical sensor.

  In addition, in order for another vehicle to pass beside the automatic driving vehicle 1 at a sufficient interval, the traffic obstruction determination unit 102 determines that the width of the space that can pass around the automatic driving vehicle 1 is smaller than that of the other vehicle. It is preferable to determine whether the length is shorter than a length obtained by adding a predetermined length to the width.

  The storage unit 122 is, for example, a semiconductor memory, and stores in advance a predetermined length used by the traffic obstacle determination unit 102 when determining whether or not the self-driving vehicle 1 is blocking the traffic. The storage unit 122 stores the width of the self-driving vehicle 1 in advance.

  The movement request generation unit 103 controls a movement request to the self-driving vehicle 1 using the determination result of the mode of another vehicle. The movement request generation unit 103 generates a movement request for starting the movement of the self-driving vehicle 1 when the self-driving vehicle 1 is determined to be impeding the passage by the traffic obstacle determination unit 102, and Output to the control unit 13. That is, the movement request generation unit 103 generates a movement request to move the self-driving vehicle 1 when it is determined that the width of the space that can pass around the self-driving vehicle 1 is shorter than the width of another vehicle. If the width of the space that can pass around the self-driving vehicle 1 is determined to be shorter than the length obtained by adding a predetermined length to the width of another vehicle, the movement request generation unit 103 determines that the self-driving vehicle 1 Generate a move request to move.

  The movement control unit 13 controls the driving unit 14 to start the movement of the automatic driving vehicle 1 when receiving the movement request for starting the movement of the automatic driving vehicle 1 from the movement request generation unit 103.

  The drive unit 14 moves the automatic driving vehicle 1 according to the control of the movement control unit 13. When the automatic driving vehicle 1 is an engine vehicle, the driving unit 14 is, for example, an engine and a transmission. When the automatic driving vehicle 1 is an electric vehicle (battery vehicle), the driving unit 14 is, for example, a traveling motor and a transmission. These engines and traveling motors are all started and stopped via an ignition switch.

  FIG. 3 is a flowchart for explaining the operation of the movement control of the automatic driving vehicle according to the first embodiment of the present disclosure.

  First, the sensing information acquisition unit 101 of the self-driving vehicle 1 acquires sensing information from the sensor 11 (Step S201). The sensor 11 measures position information indicating a distance to an object around the self-driving vehicle 1 and outputs the measured position information to the sensing information acquisition unit 101 as sensing information.

  In the first embodiment, the sensor 11 is a LIDAR or a millimeter-wave radar, and the sensor 11 measures position information. However, the present disclosure is not particularly limited to this, and the self-driving vehicle 1 performs wireless communication. May be provided with a communication unit that receives sensing information measured by another vehicle via the communication unit.

  Further, the process of step S201 may be executed while the automatic driving vehicle 1 is stopped, or may be executed while the automatic driving vehicle 1 is running slowly or traveling. A typical situation in which the processing in step S201 is executed is a situation in which the automatic driving vehicle 1 is stopped, but the situation described above does not limit the present disclosure.

  Next, the traffic obstacle determination unit 102 analyzes the sensing information (position information) acquired by the sensing information acquisition unit 101, and detects the width of a space in which another vehicle can pass (Step S202).

  The space through which other vehicles can pass may be a road or a place other than a road. The space through which other vehicles can pass is, for example, the distance from the self-driving vehicle 1 to an object in a direction on the side on which other vehicles pass. Further, the space through which other vehicles can pass is typically a space in the width direction on the road where the automatic driving vehicle 1 is stopped, excluding a space closed by the stop of the automatic driving vehicle 1. From the space in the width direction on the road where the automatic driving vehicle 1 is stopped, or the space closed by the stop of the automatic driving vehicle 1 and the space by the stop or running of other vehicles. And the space excluding the space that is being used. The space through which these other vehicles can pass is an example and does not limit the present disclosure.

  For example, the traffic obstruction determination unit 102 may detect the length obtained by subtracting the width of the self-driving vehicle 1 from the width of the road on which the self-driving vehicle 1 is stopped as the width of the space through which other vehicles can pass. Good. In this case, the sensing information includes position information indicating a distance from the self-driving vehicle 1 to an object around the self-driving vehicle 1. Therefore, the traffic obstruction determination unit 102 calculates the distance obtained by adding the distance to the object to the right of the automatic driving vehicle 1 and the distance to the object to the left of the automatic driving vehicle 1 as the width of the road. . Note that the width of the self-driving vehicle 1 is stored in the storage unit 122 in advance. Therefore, the traffic obstacle determination unit 102 reads the width of the self-driving vehicle 1 from the storage unit 122.

  Next, the traffic obstacle determination unit 102 analyzes the sensing information (position information) acquired by the sensing information acquisition unit 101 and detects the width of another vehicle (step S203).

  In the first embodiment, since the sensor 11 irradiates the infrared laser over 360 degrees around the self-driving vehicle 1, it detects not only the distance to the surrounding objects but also the shape of the surrounding objects. can do. Therefore, for example, the sensor 11 can detect the shape of the front part of another vehicle approaching the self-driving vehicle 1 from behind, and the traffic obstruction determination unit 102 can detect the width direction of the front part of the other vehicle. Can be detected.

  In the first embodiment, the traffic obstacle determination unit 102 detects the width of another vehicle. However, the present disclosure is not particularly limited to this, and a human or animal passing by the self-driving vehicle 1 is not limited thereto. May be detected. The detection target is typically another vehicle, but these are merely examples and do not limit the present disclosure. In addition, the traffic obstruction determination unit 102 may detect the distance from the self-driving vehicle 1 to the end of the road on the road where the self-driving vehicle 1 is located, and the width of another vehicle. That is, the traffic obstruction determination unit 102 may detect the distance from the self-driving vehicle 1 to the edge of the road on the road where the self-driving vehicle 1 is located, as the width of the space through which other vehicles can pass.

  Next, the traffic obstacle determination unit 102 obtains the predetermined length from the storage unit 122, and determines whether the width of the passable space is shorter than the length obtained by adding the predetermined length to the width of another vehicle. Is determined (step S204). In addition, the traffic obstacle determination unit 102 may compare the distance to the end of the road with the width of another vehicle.

  Here, when it is determined that the width of the passable space is shorter than a length obtained by adding a predetermined length to the width of another vehicle (YES in step S204), the movement request generation unit 103 sets the automatic driving vehicle A movement request for starting the movement of No. 1 is generated (step S205). The movement request generation unit 103 outputs the generated movement request to the movement control unit 13. The movement control unit 13 that has received the movement request performs movement control for starting movement, and causes the driving unit 14 to start movement. Then, the process returns to step S201.

  Note that, when starting the movement of the self-driving vehicle 1, the movement request generation unit 103 determines a specific destination such as another place on the road, a parking lot, or a garage, and moves toward the determined destination. May be. In addition, when starting the movement of the self-driving vehicle 1, the movement request generation unit 103 may generate a movement request for slowing down or continuing traveling on a road without particularly determining a destination. Furthermore, when starting the movement of the self-driving vehicle 1, the movement request generation unit 103 may determine a route on which the self-driving vehicle 1 travels, and may generate a movement request that continues to drive the determined route. . These movement controls of the self-driving vehicle 1 are examples, and do not limit the present disclosure.

  After the movement request generation unit 103 performs the movement control and the movement of the self-driving vehicle 1 is started, the process returns to step S201. May be immediately after the start of the movement or after the movement of the automatic driving vehicle 1 is completed. The timing at which the process of step S201 is executed after the start of the movement is an example, and does not limit the present disclosure.

  On the other hand, when it is determined that the width of the passable space is equal to or greater than the width of another vehicle plus a predetermined length (NO in step S204), the process returns to step S201.

  In the first embodiment, the traffic obstacle determination unit 102 detects the width of a space that can pass around the self-driving car 1 and the width of another vehicle from the position information acquired from the sensor 11, An example is shown in which it is determined that the autonomous vehicle 1 is obstructing traffic when the width of the passable space is shorter than the width obtained by adding a predetermined length to the width of another vehicle. Other determination conditions may be detected from the information. For example, when the distance between the self-driving vehicle 1 and another vehicle is equal to or less than a predetermined distance, the traffic obstruction determination unit 102 determines that the self-driving vehicle 1 is obstructing traffic. Good. As described above, the traffic obstruction determination unit 102 can detect various determination conditions based on the position information, but these determination conditions are merely examples and do not limit the present disclosure.

(Embodiment 2)
FIG. 4 is a block diagram illustrating a configuration of the automatic driving vehicle according to the second embodiment of the present disclosure. The automatic driving vehicle 1A shown in FIG. 4 includes a sensor 11A, an information processing device 12A, a movement control unit 13, and a drive unit 14. The information processing device 12A includes a processor 121A and a storage unit 122. The processor 121A includes a sensing information acquisition unit 101A, a traffic obstacle determination unit 102A, and a movement request generation unit 103. In the components of the automatic driving vehicle 1A in the second embodiment, the same functions as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

  The sensor 11A detects an object around the automatic driving vehicle 1A. The sensor 11A is, for example, an image sensor, and acquires image information around the automatic driving vehicle 1A. The sensor 11A outputs sensing information indicating a situation outside the automatic driving vehicle 1A to the sensing information acquisition unit 101A. The sensor 11A acquires a surrounding image as a surrounding situation.

  The sensing information acquisition unit 101A acquires sensing information indicating a situation outside the automatic driving vehicle 1A from a sensor 11A used for detecting an object mounted on the automatic driving vehicle 1A.

  The traffic obstruction determination unit 102A uses the sensing information to determine an aspect of another vehicle passing by the automatic driving vehicle 1A. The traffic obstacle determination unit 102A determines whether or not the automatic driving vehicle 1A is obstructing traffic based on the surrounding image acquired by the sensing information acquisition unit 101A.

  The traffic obstruction determination unit 102A detects the width of a space that can pass when another vehicle passes by the automatic driving vehicle 1A and the width of another vehicle, and detects the space that can pass as an aspect of another vehicle. Is determined with respect to the width of the other vehicle. That is, the traffic obstruction determination unit 102A determines whether the width of the passable space is shorter than the width of another vehicle. In addition, the traffic obstacle determination unit 102A detects the width of the passable space using the sensing information.

  The traffic obstruction determination unit 102A detects the distance to an object in the rightward or leftward direction of the self-driving vehicle 1A as the width of a space through which another vehicle can pass, detects the width of another vehicle, and The width of another vehicle may be determined relative to the width of a passable space as a mode of the vehicle. That is, the traffic obstruction determination unit 102A may determine whether the distance to the object in the rightward or leftward direction of the automatic driving vehicle 1A is shorter than the width of another vehicle. The traffic obstruction determination unit 102A determines the longer one of the distance to the object in the right direction of the automatic driving vehicle 1A and the distance to the object in the left direction of the automatic driving vehicle 1A to another vehicle. May be detected as the width of a passable space.

  In addition, the traffic obstruction determination unit 102A may detect the width of a road on which another vehicle passes by the automatic driving vehicle 1, the width of the automatic driving vehicle 1A, and the width of another vehicle. The width of another vehicle may be determined as the mode of the vehicle. That is, the traffic obstruction determination unit 102A determines whether the length obtained by subtracting the width of the self-driving vehicle 1A from the width of the road is shorter than the width of other vehicles. Note that the traffic obstacle determination unit 102A detects the width of the road using the sensing information.

  In the second embodiment, the width of the space through which other vehicles can pass and the width of other vehicles are detected using the image information acquired by the image sensor.

  The traffic obstruction determination unit 102A recognizes, for example, the edge of the road from the image information, and recognizes the apparent size of an object (for example, a road sign) near the edge of the road whose actual size is known. By doing so, the width of the space through which other vehicles can pass is detected. In addition, the traffic obstruction determination unit 102A recognizes, for example, another vehicle from the image information, and detects the apparent size of an object (for example, a road sign or the like) near the other vehicle whose actual size is known. , The width of another vehicle is detected.

  FIG. 5 is a flowchart for explaining the operation of the movement control of the automatic driving vehicle according to the second embodiment of the present disclosure.

  First, the sensing information obtaining unit 101A of the automatic driving vehicle 1A obtains sensing information from the sensor 11A (step S301). The sensor 11A acquires image information around the self-driving vehicle 1A and outputs the acquired image information to the sensing information acquisition unit 101A as sensing information.

  In the second embodiment, the sensor 11A is an image sensor, and the sensor 11A captures an image of the surroundings. However, the present disclosure is not particularly limited thereto. A communication unit that receives image information captured by the device may be provided. The external device is, for example, a surveillance camera provided on another vehicle or a road.

  Note that the process of step S301 may be executed while the automatic driving vehicle 1A is stopped, or may be executed while the automatic driving vehicle 1A is moving slowly or traveling. A typical situation in which the process of step S301 is executed is a situation in which the automatic driving vehicle 1A is stopped, but the situation described above does not limit the present disclosure.

  Next, the traffic obstacle determination unit 102A analyzes the sensing information (image information) acquired by the sensing information acquisition unit 101A and detects the width of a space in which another vehicle can pass (step S302).

  The traffic obstruction determination unit 102A recognizes, for example, the edge of the road from the image information, and recognizes the apparent size of an object (for example, a road sign) near the edge of the road whose actual size is known. By doing so, estimate the distance to the edge of the road. Note that the above-described method of detecting the width of the road is an example, and does not limit the present disclosure.

  The space through which other vehicles can pass may be a road or a place other than a road. The space through which other vehicles can pass is, for example, the distance from the self-driving vehicle 1A to an object in a direction on the side on which other vehicles pass. Further, the space through which other vehicles can pass is typically a space in the width direction on the road where the automatic driving vehicle 1A is stopped, excluding a space closed by the stop of the automatic driving vehicle 1A. Space, or a space in the width direction on the road where the automatic driving vehicle 1A is stopped, a space closed by the stop of the automatic driving vehicle 1A, and a space closed by the stop or running of another vehicle. And the space excluding the space that is being used. The space through which these other vehicles can pass is an example and does not limit the present disclosure.

  For example, the traffic obstruction determination unit 102A may detect a length obtained by subtracting the width of the self-driving vehicle 1A from the width of the road on which the self-driving vehicle 1A is stopped as the width of a space through which other vehicles can pass. Good. In this case, the sensing information includes image information obtained by photographing the periphery of the automatic driving vehicle 1A. Therefore, the traffic obstruction determination unit 102A recognizes an object located to the right of the automatic driving vehicle 1A and an object located to the left of the automatic driving vehicle 1A. Then, the traffic obstruction determination unit 102A calculates a distance obtained by adding the distance to the recognized rightward object and the recognized distance to the leftward object as the road width. The width of the automatic driving vehicle 1A is stored in the storage unit 122 in advance. Therefore, the traffic obstacle determination unit 102A reads the width of the automatic driving vehicle 1A from the storage unit 122.

  Next, the traffic obstacle determination unit 102A analyzes the sensing information (image information) acquired by the sensing information acquisition unit 101A and detects the width of another vehicle (step S303).

  The traffic obstruction determination unit 102A recognizes, for example, another vehicle from the image information and recognizes an apparent size of an object (for example, a road sign) near the other vehicle whose actual size is known. By doing so, infer the width of other vehicles. The above-described other vehicle detection method is an example, and does not limit the present disclosure.

  Further, in the second embodiment, the traffic obstruction determination unit 102A detects the width of another vehicle, but the present disclosure is not particularly limited to this, and a human or animal passing by the self-driving vehicle 1A. May be detected. The detection target is typically another vehicle, but these are merely examples and do not limit the present disclosure. In addition, the traffic obstruction determination unit 102A may detect the distance from the automatic driving vehicle 1A to the end of the road on the road where the automatic driving vehicle 1A is located, and the width of another vehicle. That is, the traffic obstruction determination unit 102A may detect the distance from the self-driving vehicle 1A to the end of the self-driving vehicle 1A on the road where the self-driving vehicle 1A is located, as the width of the space through which other vehicles can pass.

  Next, the traffic obstruction determination unit 102A acquires a predetermined length from the storage unit 122, and determines whether the width of the passable space is shorter than the length obtained by adding the predetermined length to the width of another vehicle. Is determined (step S304). Note that the traffic obstruction determination unit 102A may compare the distance to the end of the road with the width of another vehicle.

  Here, when it is determined that the width of the passable space is shorter than the length obtained by adding a predetermined length to the width of another vehicle (YES in step S304), the movement request generation unit 103 sets the automatic driving vehicle A movement request for starting the movement of 1A is generated (step S305). The movement request generation unit 103 outputs the generated movement request to the movement control unit 13. The movement control unit 13 that has received the movement request performs movement control for starting movement, and causes the driving unit 14 to start movement. Then, the process returns to step S301.

  Note that, when starting the movement of the self-driving vehicle 1A, the movement request generation unit 103 determines a specific destination such as another place on the road, a parking lot, or a garage, and moves toward the determined destination. May be. Further, when starting the movement of the self-driving vehicle 1A, the movement request generation unit 103 may generate a movement request for slowing down or continuing to travel on a road without particularly determining a destination. Furthermore, when starting the movement of the self-driving vehicle 1A, the movement request generation unit 103 may determine a route on which the self-driving vehicle 1A travels, and may generate a movement request that continues to drive the determined route. . These movement controls of the automatic driving vehicle 1A are examples, and do not limit the present disclosure.

  After the movement request generation unit 103 performs the movement control and the movement of the self-driving car 1A starts, the process returns to step S301. May be immediately after the start of the movement or after the movement of the automatic driving vehicle 1A is completed. The timing at which the process of step S301 is executed after the start of the movement is an example, and does not limit the present disclosure.

  On the other hand, when it is determined that the width of the passable space is equal to or greater than the width of another vehicle plus a predetermined length (NO in step S304), the process returns to step S301.

  In the second embodiment, the traffic obstruction determination unit 102A detects the width of a space that can pass around the automatic driving vehicle 1A and the width of another vehicle from the image information acquired from the sensor 11, An example has been described in which when the width of the passable space is shorter than the length obtained by adding a predetermined length to the width of another vehicle, it is determined that the automatic driving vehicle 1A is obstructing traffic. Other determination conditions may be detected from the information. For example, the traffic obstruction determination unit 102A may determine that the automatic driving vehicle 1A is obstructing traffic when another vehicle is recognized in the image. In addition, when the traffic impairment determining unit 102A recognizes an image of a predetermined operation such as a course change, an abrupt stop, light passing, or a change in the driver's expression in the image, the autonomous driving vehicle 1A recognizes that the You may determine that it is obstructing.

  In this case, the traffic obstruction determination unit 102A processes the image information obtained from the sensor 11A to determine the operation of another vehicle as another vehicle. The traffic obstacle determination unit 102A determines whether or not the automatic driving vehicle 1A is obstructing traffic based on the surrounding image acquired by the sensing information acquisition unit 101A. The traffic obstruction determination unit 102A determines whether the operation of the other vehicle is an operation to avoid the automatic driving vehicle 1A. The storage unit 122 stores the operation of another vehicle used when the traffic obstruction determination unit 102A determines that the traffic obstruction is obstructed. When it is determined that the operation of the other vehicle is an operation to avoid the automatic driving vehicle 1A, the movement request generation unit 103 generates a movement request to move the automatic driving vehicle 1A.

  Further, the traffic obstruction determination unit 102A may determine the mode of the operator operating another vehicle as the mode of another vehicle by processing the image obtained from the sensor 11A. The traffic obstacle determination unit 102A determines whether the facial expression of the operator is a facial expression representing a predetermined emotion stored in the storage unit 122 in advance. The predetermined emotion is, for example, an angry emotion or a troubled emotion. The traffic obstacle determination unit 102A analyzes the image and recognizes the expression of the operator. Then, the traffic obstacle determination unit 102A determines whether the recognized facial expression of the operator is a facial expression representing a predetermined emotion. When it is determined that the expression of the operator is an expression representing a predetermined emotion stored in advance, the movement request generation unit 103 generates a movement request to move the automatic driving vehicle 1A.

  In addition, the traffic obstruction determination unit 102A may determine whether the expression of the operator has changed. When it is determined that the expression of the operator has changed, the movement request generation unit 103 may generate a movement request to move the automatic driving vehicle 1A.

  As described above, the traffic obstacle determination unit 102A can detect various determination conditions based on the image information, but these determination conditions are merely examples, and do not limit the present disclosure.

(Embodiment 3)
In the first embodiment, the width of the space that can pass when another vehicle passes by the automatic driving vehicle 1 and the width of the other vehicle are detected, and the width of the other vehicle is determined. In the third embodiment, the operation or a change in the operation of another vehicle when passing by the self-driving vehicle 1 is determined.

  FIG. 6 is a block diagram illustrating a configuration of an automatic driving vehicle according to the third embodiment of the present disclosure. The automatic driving vehicle 1B shown in FIG. 6 includes a sensor 11B, an information processing device 12B, a movement control unit 13, and a driving unit 14. The information processing device 12B includes a processor 121B and a storage unit 122B. The processor 121B includes a sensing information acquisition unit 101B, a traffic obstacle determination unit 102B, and a movement request generation unit 103. Note that, among the components of the automatic driving vehicle 1B in the third embodiment, the same functions as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  The sensor 11B detects an object around the automatic driving vehicle 1B. The sensor 11B is, for example, an optical sensor, and acquires the position, speed, acceleration, and traveling direction of another vehicle passing by the self-driving vehicle 1B as sensing information. The sensor 11B outputs sensing information indicating a situation outside the self-driving vehicle 1B to the sensing information acquisition unit 101B. Further, the sensor 11B is, for example, a LIDAR (Light Detection and Ranging) or a millimeter wave radar. Note that the sensor 11B may acquire at least one of the position, speed, acceleration, and traveling direction of another vehicle as sensing information.

  The sensing information acquisition unit 101B acquires sensing information indicating a situation outside the automatic driving vehicle 1B from a sensor 11B used for detecting an object mounted on the automatic driving vehicle 1.

  The traffic obstruction determination unit 102B determines a change in the operation of another vehicle when passing by the self-driving vehicle 1B as another vehicle. Based on the position, speed, acceleration, and traveling direction (including reverse) of the other vehicle acquired by the sensing information acquisition unit 101B, the traffic obstruction determination unit 102B determines whether or not the automatic driving vehicle 1 is obstructing traffic. Is determined.

  The traffic obstruction determination unit 102B determines whether at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or more than a predetermined threshold.

  The storage unit 122B is, for example, a semiconductor memory, and stores in advance a predetermined threshold used by the traffic obstruction determination unit 102B when determining whether or not the self-driving vehicle 1B is obstructing traffic. The storage unit 122B stores a threshold value for comparison with the change amount of the speed, a threshold value for comparison with the change amount of the acceleration, and a threshold value for comparison with the change amount of the angle in the traveling direction. I have.

  The movement request generation unit 103 moves the self-driving vehicle 1B when it is determined that at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or larger than a predetermined threshold. Generate a move request.

  FIG. 7 is a flowchart for explaining the operation of the movement control of the automatic driving vehicle according to the third embodiment of the present disclosure.

  First, the sensing information acquisition unit 101B of the self-driving vehicle 1B acquires sensing information from the sensor 11B (Step S401). The sensor 11B acquires the position, speed, acceleration, and traveling direction of another vehicle passing by the self-driving vehicle 1B, and outputs the acquired position, speed, acceleration, and traveling direction to the sensing information acquisition unit 101B as sensing information. I do.

  In the third embodiment, the sensor 11B is a LIDAR or a millimeter-wave radar, and the sensor 11B acquires the position, speed, acceleration, and traveling direction of another vehicle. However, the present disclosure is not particularly limited to this. Instead, the self-driving vehicle 1B may include a communication unit that receives sensing information obtained by another vehicle via wireless communication. Another vehicle may acquire its own position, its own speed, its own acceleration, and its own traveling direction with respect to the self-driving vehicle 1B, and transmit the acquired self-driving vehicle 1B. The method of acquiring the position, speed, acceleration, and traveling direction of another vehicle is merely an example, and does not limit the present disclosure.

  Note that, in the third embodiment, the sensing information acquisition unit 101B acquires the position, speed, acceleration, and traveling direction of another vehicle, but the present disclosure is not particularly limited thereto, and the sensing information acquisition unit 101B of the self-driving vehicle 1B The position, speed, acceleration, and traveling direction of a human or animal passing by may be acquired. The acquisition target is typically another vehicle, but these are merely examples and do not limit the present disclosure.

  In the third embodiment, the sensing information acquisition unit 101B acquires the position, the speed, the acceleration, and the traveling direction, but may acquire a sound. For example, the sensor 11B includes a microphone, and the sensing information acquisition unit 101B acquires sound from the sensor 11B. The traffic obstacle determination unit 102B determines whether or not the self-driving vehicle 1 is obstructing traffic based on the sound acquired by the sensing information acquisition unit 101B. Specifically, the traffic obstacle determination unit 102B determines whether or not the acquired voice is a warning sound such as a horn or a wrath of a person.

  Note that the process of step S401 may be executed while the automatic driving vehicle 1B is stopped, or may be executed while the automatic driving vehicle 1B is moving slowly or traveling. A typical situation in which the processing of step S401 is executed is a situation in which the automatic driving vehicle 1B is stopped, but the situation described above does not limit the present disclosure.

  Next, the traffic obstruction determination unit 102B analyzes the sensing information (the position, speed, acceleration, and traveling direction of the other vehicle) acquired by the sensing information acquisition unit 101B, and calculates the change amount and acceleration of the speed of the other vehicle. And the amount of change in the angle of the traveling direction are detected (step S402).

  By detecting the amount of change in the speed of the other vehicle, it is possible to detect that the other vehicle has decelerated or stopped. Further, by detecting the amount of change in the acceleration of the other vehicle, it is possible to detect that the other vehicle has suddenly stopped. Further, by detecting the amount of change in the angle of the traveling direction of another vehicle, it is possible to detect that another vehicle has changed course. As described above, the deceleration, stop, sudden stop, and course change of another vehicle are likely to be operations for avoiding the automatic driving vehicle 1B that is hindering the traffic. Therefore, when another vehicle decelerates, stops, suddenly stops, or changes course, the self-driving vehicle 1B starts moving.

  Next, the traffic obstruction determination unit 102B acquires a predetermined threshold from the storage unit 122B, and determines that at least one of the amount of change in the speed, the amount of change in the acceleration, and the amount of change in the angle of the traveling direction of the other vehicle is equal to the predetermined threshold. It is determined whether or not this is the case (step S403).

  Here, when it is determined that at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction of the other vehicle is equal to or larger than a predetermined threshold value (YES in step S403), a movement request generation is performed. The unit 103 generates a movement request for starting the movement of the self-driving vehicle 1B (Step S404). The movement request generation unit 103 outputs the generated movement request to the movement control unit 13. The movement control unit 13 that has received the movement request performs movement control for starting movement, and causes the driving unit 14 to start movement. Then, the process returns to step S401.

  Note that, when starting the movement of the self-driving car 1B, the movement request generation unit 103 determines a specific destination such as another place on the road, a parking lot or a garage, and moves toward the determined destination. May be. In addition, when starting the movement of the self-driving vehicle 1B, the movement request generation unit 103 may generate a movement request for slowing down or continuing traveling on a road without particularly determining a destination. Furthermore, when starting the movement of the self-driving vehicle 1B, the movement request generation unit 103 may determine a route on which the self-driving vehicle 1B travels, and may generate a movement request that continues to drive the determined route. . These movement controls of the self-driving vehicle 1B are examples, and do not limit the present disclosure.

  After the movement request generation unit 103 performs the movement control and the movement of the self-driving car 1B is started, the process returns to step S401. May be immediately after the start of the movement of the vehicle or after the movement of the automatic driving vehicle 1B is completed. The timing at which the process of step S401 is executed after the start of the movement is an example, and does not limit the present disclosure.

  On the other hand, when it is determined that any of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction of the other vehicle are smaller than the predetermined threshold (NO in step S403), the process proceeds to step S401. Return.

  In the third embodiment, the traffic obstruction determination unit 102B determines the change amount of the speed, the change amount of the acceleration, and the change amount of the acceleration of the other vehicle based on the position, speed, acceleration, and traveling direction of the other vehicle acquired by the sensor 11B. The automatic driving vehicle 1B detects the amount of change in the direction angle, and when at least one of the amount of change in the speed, the amount of change in the acceleration, and the amount of change in the angle of the traveling direction of the other vehicle is equal to or greater than a predetermined threshold. Although the example in which it is determined that is obstructing the passage has been described, other determination conditions may be detected from the image. For example, when detecting a predetermined operation such as deceleration, stop, or course change of another vehicle, the traffic obstruction determination unit 102B may determine that the automatic driving vehicle 1B is obstructing the traffic. . In addition, when the speed of another vehicle is equal to or less than a predetermined threshold, the traffic obstruction determination unit 102B may determine that the automatic driving vehicle 1B is obstructing the traffic.

  In this case, the traffic obstruction determination unit 102B determines the operation of another vehicle when passing by the self-driving vehicle 1B as another vehicle. The sensor 11B may acquire at least one of the position, speed, acceleration, and traveling direction of another vehicle as sensing information. The traffic obstruction determination unit 102B determines whether or not another vehicle has performed any one of deceleration, stop, and course change. The movement request generation unit 103 generates a movement request to move the self-driving vehicle 1B when it is determined that another vehicle has performed any one of deceleration, stop, and course change.

  As described above, the traffic obstacle determination unit 102B can detect various determination conditions based on the image information, but these determination conditions are merely examples, and do not limit the present disclosure.

(Embodiment 4)
In the first embodiment, the width of the space through which other vehicles can pass is detected from the sensing information. In the fourth embodiment, the width of the space through which other vehicles can pass is detected from the map information.

  FIG. 8 is a block diagram illustrating a configuration of an automatic driving vehicle according to Embodiment 4 of the present disclosure. The self-driving vehicle 1C shown in FIG. 8 includes a sensor 11, an information processing device 12C, a movement control unit 13, a driving unit 14, and a GPS (Global Positioning System) receiver 15. The information processing device 12C includes a processor 121C and a storage unit 122C. The processor 121C includes a sensing information acquisition unit 101, a traffic obstacle determination unit 102C, a movement request generation unit 103, a current position acquisition unit 104, and a map information acquisition unit 105. In the components of the automatic driving vehicle 1 </ b> C in the fourth embodiment, the same functions as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  The GPS receiver 15 acquires current position information indicating the current position of the self-driving vehicle 1C. The current position information is represented by latitude and longitude. The GPS receiver 15 outputs the acquired current position information to the current position acquisition unit 104.

  The current position acquisition unit 104 acquires current position information indicating the current position of the automatic driving vehicle 1C from the GPS receiver 15.

  The storage unit 122C is, for example, a semiconductor memory, and stores in advance a predetermined length used by the traffic obstruction determination unit 102C when determining whether or not the automatic driving vehicle 1C is obstructing traffic. The storage unit 122C stores the width of the automatic driving vehicle 1C in advance. The storage unit 122C stores the map information in advance.

  The map information acquisition unit 105 acquires map information including the current position of the automatic driving vehicle 1C.

  The traffic obstruction determination unit 102C uses the sensing information to determine an aspect of another vehicle passing by the self-driving vehicle 1C. The traffic obstacle determination unit 102C determines whether or not the self-driving vehicle 1C is obstructing traffic based on the surrounding position information acquired by the sensor 11 and the map information acquired by the map information acquisition unit 105.

  The traffic obstruction determination unit 102C detects the width of a space through which the other vehicle can pass and the width of the other vehicle when the other vehicle passes by the automatic driving vehicle 1C, and detects the width of the other vehicle as an aspect of the other vehicle. The width of another vehicle relative to the width of the passable space is determined. That is, when the other vehicle passes by the self-driving vehicle 1C, the traffic obstruction determination unit 102C determines that the length obtained by subtracting the width of the self-driving vehicle 1C from the width of the space in which the other vehicle can pass is another. It is determined whether it is shorter than the width of the vehicle.

  For example, the traffic obstruction determination unit 102C detects the width of the road on which the other vehicle passes by the self-driving vehicle 1C, the width of the self-driving vehicle 1C, and the width of the other vehicle, and determines the mode of the other vehicle. The width of another vehicle may be determined. That is, the traffic obstruction determination unit 102C determines whether the length obtained by subtracting the width of the self-driving vehicle 1C from the width of the road is shorter than the width of other vehicles. The traffic obstacle determination unit 102C detects the width of the road using the map information and the current position information.

  FIG. 9 is a flowchart for explaining the operation of the movement control of the automatic driving vehicle according to Embodiment 4 of the present disclosure.

  First, the sensing information acquisition unit 101 of the self-driving vehicle 1C acquires sensing information from the sensor 11 (Step S601). The sensor 11 measures position information indicating a distance to an object around the self-driving vehicle 1C, and outputs the measured position information to the sensing information acquisition unit 101 as sensing information.

  In the fourth embodiment, the sensor 11 is a LIDAR or a millimeter-wave radar, and the sensor 11 measures the position information. However, the present disclosure is not particularly limited to this, and the automatic driving vehicle 1C performs wireless communication. May be provided with a communication unit that receives sensing information measured by another vehicle via the communication unit.

  Further, the process of step S601 may be executed while the automatic driving vehicle 1C is stopped, or may be executed while the automatic driving vehicle 1C is moving slowly or traveling. A typical situation in which the process of step S601 is executed is a situation in which the automatic driving vehicle 1C is stopped, but the situation described above does not limit the present disclosure.

  Next, the current position acquisition unit 104 acquires current position information indicating the current position of the self-driving vehicle 1C from the GPS receiver 15 (Step S602).

  In the fourth embodiment, the current position acquisition unit 104 acquires the current position information from the GPS receiver 15, but the present disclosure is not particularly limited to this, and the automatic driving vehicle 1C performs wireless communication. A communication unit that receives the current position information from the external device via the external device may be provided. The external device is, for example, another vehicle passing near the automatic driving vehicle 1C, or a wireless communication base station arranged near the automatic driving vehicle 1C. The method of acquiring the current position information of the automatic driving vehicle 1C is an example, and does not limit the present disclosure.

  Next, the map information acquisition unit 105 acquires, from the storage unit 122C, map information in a predetermined range including the current position indicated by the current position information acquired by the current position acquisition unit 104 (Step S603). For example, the map information acquisition unit 105 acquires map information in a range of a radius of 1 km around the current position from the storage unit 122C.

  In the fourth embodiment, the map information acquisition unit 105 reads out the map information stored in advance in the storage unit 122C. However, the present disclosure is not particularly limited to this, and the map information acquisition unit 105 may read the map information from outside via wireless communication. Information may be obtained. The above method of acquiring map information is an example, and does not limit the present disclosure.

  Next, the traffic obstacle determination unit 102C analyzes the sensing information (position information) acquired by the sensor 11 and the map information acquired by the map information acquisition unit 105, and determines the width of the space in which another vehicle can pass. Is detected (step S604).

  For example, when the sensor 11 is a LIDAR or a millimeter-wave radar, a part of the space that the sensor 11 recognizes as a passable space is actually a sidewalk or another lane that does not protrude. Or a space in which other vehicles cannot pass. Even in such a case, the map information acquired by the map information acquisition unit 105 indicates that a part of the space recognized as a traversable space by the sensor 11 is impassable. From the sensing information (position information) obtained by the sensor 11 and the map information obtained by the map information obtaining unit 105, the width of the space that can actually pass can be detected. For example, the traffic obstacle determination unit 102 </ b> C determines the width of the passable space detected from the position information acquired by the sensor 11 and the width of the passable space detected from the map information acquired by the map information acquisition unit 105. Is detected as the width of the space in which other vehicles can actually pass. Note that this is an example of a method of detecting the width of an actually traversable space from the position information acquired by the sensor 11 and the map information acquired by the map information acquisition unit 105, and is intended to limit the present disclosure. Absent.

  The space through which other vehicles can pass may be a road or a place other than a road. The space through which other vehicles can pass is, for example, the distance from the self-driving vehicle 1C to an object in a direction on the side on which other vehicles pass. In addition, typically, the space through which other vehicles can pass is defined as a space in the width direction on the road where the automatic driving vehicle 1C is stopped, excluding a space closed by the stop of the automatic driving vehicle 1C. From the space in the width direction on the road where the automatic driving vehicle 1C is stopped, or the space closed by the stop of the automatic driving vehicle 1C, and the space is closed by the stop or running of another vehicle. And the space excluding the space that is being used. The space through which these other vehicles can pass is an example and does not limit the present disclosure.

  For example, the traffic obstruction determination unit 102C may detect a length obtained by subtracting the width of the self-driving vehicle 1C from the width of the road on which the self-driving vehicle 1C is stopped as the width of a space through which other vehicles can pass. Good. Note that the width of the automatic driving vehicle 1C is stored in the storage unit 122C in advance. Therefore, the traffic obstacle determination unit 102C reads the width of the self-driving vehicle 1C from the storage unit 122C.

  In this case, the sensing information includes position information indicating a distance from the self-driving vehicle 1C to an object around the self-driving vehicle 1C. Therefore, the traffic obstruction determination unit 102C calculates, as the width of the road, a distance obtained by adding the distance to the object in the right direction of the automatic driving vehicle 1C and the distance to the object in the left direction of the automatic driving vehicle 1C. The length obtained by subtracting the width of the self-driving vehicle 1C from the calculated width of the road is detected as the first width of the space through which other vehicles can pass.

  In addition, the map information includes the width of the road where the automatic driving vehicle 1C is stopped. Therefore, the traffic obstruction determination unit 102C specifies the width of the road on which the automatic driving vehicle 1C is stopped from the map information, and subtracts the width obtained by subtracting the width of the automatic driving vehicle 1C from the specified road width for other vehicles. Is detected as the second width of the passable space.

  Then, the traffic obstruction determination unit 102C determines the smaller one of the detected first width and the second width as the width of the space in which another vehicle can actually pass.

  In the fourth embodiment, the traffic obstacle determination unit 102C uses the sensing information (position information) acquired by the sensor 11 and the map information acquired by the map information acquisition unit 105 to allow another vehicle to travel. Although the width of a possible space is detected, the present disclosure is not particularly limited thereto, and the traffic obstruction determination unit 102C uses only the map information acquired by the map information acquisition unit 105 to allow other vehicles to travel. The width of a possible space may be detected.

  Next, the traffic obstacle determination unit 102C analyzes the sensing information (position information) acquired by the sensing information acquisition unit 101 and detects the width of another vehicle (step S605).

  In the fourth embodiment, the traffic obstruction determination unit 102C detects the width of another vehicle. However, the present disclosure is not particularly limited to this, and a person or an animal passing by the self-driving vehicle 1C. May be detected. The detection target is typically another vehicle, but these are merely examples and do not limit the present disclosure. In addition, the traffic obstruction determination unit 102C may detect the distance from the automatic driving vehicle 1C to the end of the road on the road where the automatic driving vehicle 1C is located, and the width of another vehicle. That is, the traffic obstruction determination unit 102C may detect the distance from the self-driving vehicle 1C to the end of the road on the road where the self-driving vehicle 1C is located as the width of the space through which other vehicles can pass.

  Next, the traffic obstruction determination unit 102C acquires a predetermined length from the storage unit 122C, and determines whether the width of the passable space is shorter than the length obtained by adding the predetermined length to the width of another vehicle. Is determined (step S606). In addition, the traffic obstacle determination unit 102C may compare the distance to the end of the road with the width of another vehicle.

  Here, when it is determined that the width of the passable space is shorter than the length obtained by adding the predetermined length to the width of another vehicle (YES in step S606), the movement request generation unit 103 sets the automatic driving vehicle A movement request for starting the movement of 1C is generated (step S607). The movement request generation unit 103 outputs the generated movement request to the movement control unit 13. The movement control unit 13 that has received the movement request performs movement control for starting movement, and causes the driving unit 14 to start movement. Then, the process returns to step S601.

  Note that, when starting the movement of the automatic driving vehicle 1C, the movement request generation unit 103 determines a specific destination such as another place on the road, a parking lot, or a garage, and moves toward the determined destination. May be. In addition, when starting the movement of the self-driving vehicle 1C, the movement request generation unit 103 may generate a movement request for slowing down or continuing traveling on a road without particularly determining a destination. Furthermore, when starting the movement of the self-driving vehicle 1C, the movement request generation unit 103 may determine a route on which the self-driving vehicle 1C travels, and may generate a movement request that continues to drive the determined route. . These movement controls of the self-driving vehicle 1C are examples, and do not limit the present disclosure.

  After the movement request generation unit 103 performs the movement control and the movement of the self-driving car 1C is started, the process returns to step S601. May be immediately after the start of the movement of the vehicle or after the movement of the automatic driving vehicle 1C is completed. The timing at which the process of step S601 is executed after the start of the movement is an example, and does not limit the present disclosure.

  On the other hand, when it is determined that the width of the passable space is equal to or greater than the width obtained by adding the predetermined length to the width of another vehicle (NO in step S606), the process returns to step S601.

  Note that the processing performed by the traffic obstacle determination unit 102 may use machine learning. For machine learning, for example, supervised learning that learns the relationship between input and output by using teacher data to which a label (output information) is added to input information, and constructs a data structure from only unlabeled input Unsupervised learning, semi-supervised learning that handles both labeled and unlabeled, learning continuous actions that can get the most reward by obtaining feedback (reward) for the selected action from the state observation result And reinforcement learning. Further, specific methods of machine learning include neural networks (including deep learning using multilayer neural networks), genetic programming, decision trees, Bayesian networks, and support vector machines (SVM). . In the present disclosure, any of the specific examples described above may be used.

(Knowledge underlying the present disclosure)
2. Description of the Related Art Conventionally, there is a technique for detecting a possibility of congestion based on sensing information collected by a vehicle (for example, see Japanese Patent Application Laid-Open No. 2015-18396).

  In Japanese Patent Application Laid-Open No. 2015-18396, an on-vehicle device mounted on each vehicle recognizes a speed limit pattern from a photographed road image to acquire a speed limit, and obtains a speed limit between the obtained speed limit and the current vehicle speed of the host vehicle. Transmit the difference and the current position of the vehicle to the server, the server grasps the possibility of congestion based on the difference between the vehicle speed received from each vehicle, and detects the congestion when the low-speed state continues for a certain time, The traffic congestion section of the road is identified based on the position of the vehicle and the road map, the traffic congestion section is notified to each vehicle, and a route change is instructed.

  However, in the above-described conventional technique, there is a possibility that a moving body that has moved while avoiding traffic congestion may obstruct the passage of another moving body at a destination, and further improvement is required.

  A technology for providing a user with a predetermined service inside or outside a car has been considered. For example, a service for viewing video content in a car is provided to a user. Further, for example, a home-visit care service in which a car runs with a caregiver to the home of a cared person without a parking lot and a carer who gets off the car at the cared-home of the cared person performs home-based care is provided by a cared person ( User). In such a service, the service is provided to the user while the car is on standby, but the car on standby may obstruct the passage of other vehicles.

  FIG. 1 is a diagram for explaining an example in which a user receives a predetermined service in an automatic driving vehicle.

  In FIG. 1, the user receives a predetermined service in the automatic driving vehicle 201, and the automatic driving vehicle 201 is stopped on the road 203. The width of the road 203 is a length that allows two vehicles to pass in a line. When another vehicle 202 coming from behind the self-driving vehicle 201 overtakes the self-driving vehicle 201 on the road 203, the other vehicle 202 decelerates and changes course before the stopped self-driving vehicle 201, and stops. It is necessary to pass by the self-driving car 201 at low speed. As described above, there is a case where the self-driving vehicle 201 that is stopped to provide the service may hinder the traffic of another vehicle 202.

  The above prior art discloses a technique for detecting a possibility of congestion based on sensing information collected by a vehicle.

  However, the technology disclosed in the above-described conventional technology can estimate the possibility of traffic congestion, but it is difficult to detect whether or not traffic congestion actually occurs. Therefore, there is a possibility that the moving body that has moved to the standby position may obstruct the passage of another moving body at the standby position.

  In order to solve such a problem, an information processing method according to an embodiment of the present disclosure is directed to a computer, in which the computer outputs a sensor used for detecting an object mounted on one or more first moving objects. Using each of the sensing information indicating a situation outside the one moving body, each of the determination results obtained by determining the modes of the other moving bodies passing by the one or more first moving bodies is acquired, and the one or more of the one or more first moving bodies are obtained. Acquiring moving object position information indicating the position of one moving object, acquiring reference position information indicating a reference position of a second moving object different from the one or more first moving objects, acquiring the judgment result and the movement, respectively. According to the first position specified using each of the body position information and the reference position indicated by the reference position information, a second position at which the second mobile unit is to be on standby is determined, and the second mobile unit is Moved to the second position The movement request is output to the second movable body that.

  According to this configuration, each of the determination results of the modes of the other moving objects that pass by the one or more first moving objects and the moving object position information indicating the positions of the one or more first moving objects are respectively stored. The second position at which the second mobile unit waits is determined in accordance with the first position and the reference position specified using the first position. In this determination, among the positions where one or more first mobile units exist, Since a position that does not hinder or obstructs the passage of another moving object can be determined as the second position where the second moving object waits, the moving object that has moved to the second position is not moved at the second position. It is possible to suppress obstruction of the passage of the body.

  In the information processing method described above, further, the sensing information may be obtained from the one or more first moving bodies, and the aspect of the other moving body may be determined using each of the sensing information. Good.

  According to this configuration, the computer can acquire the sensing information from each of the one or more first moving bodies, and determine an aspect of another moving body using each of the sensing information.

  Further, in the above information processing method, the determination result is a determination result as to whether the first moving body has obstructed the passage of the other moving body, and the first position is based on each of the determination results. Among the positions indicated by the moving object position information, the first moving object includes a third position at which the other moving object is blocked from passing, and the second position is determined by the third position. A position other than the above and within a predetermined range from the reference position may be determined as the second position.

  According to this configuration, the first moving body is a position other than the third position at which the passage of the other moving body is obstructed, and a position within a predetermined range from the reference position is the second position at which the second moving body waits. Therefore, the first mobile unit does not obstruct the passage of other mobile units, and the second mobile unit can be made to wait at a position within a predetermined range from the reference position.

  Further, in the above information processing method, the determination result is a determination result as to whether the first moving body has obstructed the passage of the other moving body, and the first position is based on each of the determination results. The first moving object among the positions indicated by the moving object position information to be determined includes a fourth position which does not prevent the passage of the other moving object, and the second position is determined by the fourth position. A position that is a position within a predetermined range from the reference position may be determined as the second position.

  According to this configuration, the first moving body is at the fourth position where the passage of other moving bodies is not obstructed, and a position within a predetermined range from the reference position is set at the second position where the second moving body waits. Since the determination is made, the first moving body does not obstruct the passage of other moving bodies, and the second moving body can be made to wait at a position within a predetermined range from the reference position.

  Further, in the above information processing method, further, an arrival time until the second mobile unit arrives at the reference position is obtained, and the predetermined range is set within the arrival time from the second position to the reference position. It may be a range that can be moved to or a range that can be moved from the current position of the second mobile unit to the reference position via the second position within the arrival time.

  According to this configuration, the second movable body is moved from the current position to the reference position via the second position from the current position to the reference position within the arrival time or from the current position of the second mobile body within the arrival time. The moving object can be put on standby.

  In the information processing method described above, the determination of the second position may include determining the position indicated by the moving object position information based on a degree of the first moving object preventing passage of the other moving object. The position may be specified.

  According to this configuration, the position indicated by the moving body position information is specified as the first position based on the degree of the first moving body obstructing the passage of the other moving body, so that the first moving body is not moved by another moving body. It is possible to quantify the degree of obstruction of the passage of the body, and to easily identify the position where the first moving body does not obstruct the passage of another moving body most.

  In the above information processing method, the determination of the second position may be performed based on the number of moving objects existing within a predetermined range from the position indicated by the moving object position information. Good.

  According to this configuration, since the second position is determined based on the number of moving objects existing within a predetermined range from the position indicated by the moving object position information, a plurality of moving objects are located near the standby position. It is possible to prevent the plurality of moving objects from gathering and becoming an obstacle to other moving objects.

  Further, in the above information processing method, the determination of the second position is performed by using a past first position specified using each of the past determination results and a past moving object position information, and the first position, The second position may be determined according to the reference position.

  According to this configuration, not only the current first position specified using each of the current determination result and each of the current moving body position information, but also each of the past determination result and each of the past moving body position information are used. According to the specified past first position, it is possible to determine a more optimal second position at which the second mobile unit waits.

  An information processing apparatus according to another aspect of the present disclosure is a sensing information indicating a situation outside the one or more first moving bodies, which is output by a sensor used for detecting an object mounted on the one or more first moving bodies. A determination result acquisition unit that acquires a determination result obtained by determining an aspect of another moving body that passes by the one or more first moving bodies, and a position of the one or more first moving bodies. A moving body position information acquiring unit that acquires moving body position information, a reference position information acquiring unit that acquires reference position information indicating a reference position of a second moving body different from the one or more first moving bodies, A determining unit that determines a second position to be made to stand by by the second moving body in accordance with a first position specified using each of the determination result and the moving body position information and the reference position indicated by the reference position information; And the second And an output unit for outputting a movement request to move a moving body to said second position to said second mobile body.

  According to this configuration, each of the determination results of the modes of the other moving objects that pass by the one or more first moving objects and the moving object position information indicating the positions of the one or more first moving objects are respectively stored. The second position at which the second mobile unit waits is determined in accordance with the first position and the reference position specified using the first position. In this determination, among the positions where one or more first mobile units exist, Since a position that does not hinder or obstructs the passage of another moving object can be determined as the second position where the second moving object waits, the moving object that has moved to the second position is not moved at the second position. It is possible to suppress obstruction of the passage of the body.

  Each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and do not limit the present disclosure. In addition, among the components in the following embodiments, components not described in the independent claims indicating the highest concept are described as arbitrary components. Further, in all the embodiments, the respective contents can be combined.

(Embodiment 5)
Hereinafter, the overall configuration and overall operation of the vehicle control system according to Embodiment 5 of the present disclosure will be described in detail.

  FIG. 10 is a diagram illustrating an overall configuration of a vehicle control system according to Embodiment 5 of the present disclosure.

  The vehicle control system 100 shown in FIG. 10 includes first vehicles 10A, 10B, 10C and a second vehicle 2. The second vehicle 2 is communicably connected to the first vehicles 10A, 10B, 10C via the network 5. The network 5 is, for example, the Internet.

  The first automobiles 10A, 10B, 10C are equipped with sensors used for object detection. The first vehicles 10A, 10B, and 10C each use the sensing information output from the sensor to indicate a situation outside the first vehicles 10A, 10B, and 10C, and that the other vehicles passing by the first vehicles 10A, 10B, and 10C. The determination result of determining the mode of the vehicle is transmitted to the second vehicle 2. Further, the first vehicles 10A, 10B, 10C transmit vehicle position information (moving body position information) indicating the positions of the first vehicles 10A, 10B, 10C to the second vehicle 2, respectively.

  The second automobile 2 provides a predetermined service to the user. The predetermined service is, for example, a service that allows a user to view video content in the second automobile 2.

  The second vehicle 2 obtains each determination result that determines the mode of another vehicle passing by the first vehicle 10A, 10B, 10C, and obtains vehicle position information indicating the position of the first vehicle 10A, 10B, 10C, respectively. Is obtained, and reference position information indicating a reference position of the second vehicle 2 is obtained. The reference position is the destination of the second vehicle 2. The second vehicle 2 determines a second position at which the second vehicle 2 waits according to the first position specified using each of the determination result and the moving object position information and the reference position indicated by the reference position information. . In addition, the second vehicle 2 generates a movement request to move the second vehicle 2 to the second position.

  In the fifth embodiment, the vehicle control system 100 includes three first vehicles 10A, 10B, and 10C. However, the present disclosure is not particularly limited thereto, and two or less first vehicles are used. Or four or more first automobiles.

  In addition, the first automobiles 10A, 10B, 10C and the second automobile 2 may be driven by a person or may be an autonomous vehicle that does not drive.

  FIG. 11 is a block diagram illustrating a configuration of a first vehicle and a second vehicle according to Embodiment 5 of the present disclosure.

  As shown in FIG. 11, the first automobile 10A includes an information processing device 16. The information processing device 16 includes a sensor 111, a processor 112, a GPS (Global Positioning System) receiver 113, and a communication unit 114. The processor 112 includes a position information acquisition unit 161, a status information acquisition unit 162, and a traffic obstacle detection unit 163. The configuration of the first automobiles 10B and 10C is the same as that of the first automobile 10A.

  The GPS receiver 113 acquires vehicle position information indicating the current vehicle position of the first automobile 10A. The vehicle position information is represented by latitude and longitude. The GPS receiver 113 outputs the obtained vehicle position information to the position information obtaining unit 161.

  The position information acquisition unit 161 acquires vehicle position information indicating the current vehicle position of the first automobile 10A from the GPS receiver 113.

  The sensor 111 detects an object around the first vehicle 10A. The sensor 111 is, for example, an image sensor, and acquires image information around the first automobile 10A. The sensor 111 outputs situation information (sensing information) indicating a situation outside the first vehicle 10A to the situation information acquisition unit 162.

  The situation information acquisition unit 162 acquires, from the sensor 111, situation information (sensing information) indicating the situation outside the first vehicle 10A at the current position of the first vehicle 10A acquired by the position information acquisition unit 161.

  The situation information is an image around the first car 10A, the number of cars stopped near the first car 10A, the traffic volume on the road where the first car 10A exists, and the lane of the road where the first car 10A exists. Number, the width of the space through which other vehicles passing by the first vehicle 10A can pass, the width of other vehicles passing by the first vehicle 10A, and the width of other vehicles passing by the first vehicle 10A. The position, the speed of other vehicles passing by the first vehicle 10A, the acceleration of other vehicles passing by the first vehicle 10A, and the traveling direction of other vehicles passing by the first vehicle 10A. However, these are examples and do not limit the present disclosure.

  The traffic volume indicates, for example, the number of vehicles, people, bicycles, and motorcycles moving near the first automobile 10A.

  The space through which other vehicles can pass may be a road or a place other than a road. The space through which other vehicles can pass is typically a space obtained by removing the space in which the first vehicle 10A is stopped from the space in the width direction on the road where the first vehicle 10A is stopped, Alternatively, from the space in the width direction on the road where the first car 10A is stopped, a space excluding the space where the first car 10A is stopped and the space where other vehicles are stopped or running, etc. is there. Therefore, the width of the space through which other vehicles can pass is, for example, the length obtained by subtracting the width of the first vehicle 10A in the width direction from the width of the road on which the first vehicle 10A is stopped. Represent. The space through which these other vehicles can pass is an example and does not limit the present disclosure.

  Further, in the fifth embodiment, the situation information acquisition unit 162 acquires the width of another vehicle. However, the present disclosure is not particularly limited to this, and the situation information acquisition unit 162 is not limited to this. May be obtained. The acquisition target is typically another vehicle, but these are merely examples and do not limit the present disclosure.

  The traffic obstruction detection unit 163 uses the situation information (sensing information) to determine an aspect of another vehicle passing by the first automobile 10A. Specifically, based on the surrounding situation information acquired by the situation information acquiring section 162, the traffic obstacle detecting section 163 determines whether or not the first vehicle 10A has a traffic obstacle. For example, based on the status information acquired by the status information acquisition unit 162, the traffic obstruction detection unit 163 detects traffic obstruction information related to whether or not the first vehicle 10A has a traffic obstruction.

  In addition, the traffic failure information includes the presence or absence of a traffic failure, the number of times a traffic failure has occurred, the time interval since the last time the traffic failure occurred, and the average value of the time interval when no traffic failure has occurred. These are examples and do not limit the present disclosure. It should be noted that the traffic obstacle information is generated using the past history, such as the number of occurrences of the traffic failure, the time interval since the last occurrence of the traffic failure, and the average value of the time interval during which no traffic failure has occurred. If such information is included, the information processing apparatus 16 needs to include a storage unit that stores a past history. Further, when the traffic obstacle information includes information generated using time, such as the time interval from the last time when the traffic fault occurred, and the average value of the time interval during which no traffic fault occurred, The traffic obstruction detection unit 163 needs to have a function of acquiring time.

  Further, in the fifth embodiment, the traffic obstruction detection unit 163 does not necessarily need to determine when another vehicle passes by the first vehicle 10A, and the other vehicle passes by the first vehicle 10A. It may be determined when trying to do so. Further, in the fifth embodiment, traffic obstacle detection unit 163 may determine the aspect of another vehicle passing near the side of first vehicle 10A using the status information. Passing near the side surface of the first vehicle 10A means passing through a predetermined distance or less from the side surface of the first vehicle 10A.

  The communication unit 114 transmits to the second vehicle 2 the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle information detected by the traffic obstacle detection unit 163. I do.

  The second automobile 2 includes an information processing device 21, a movement control unit 22, and a driving unit 23. The information processing device 21 includes a communication unit 211, a processor 212, and an input unit 213. The processor 212 includes a destination information acquisition unit 221, a standby position determination unit 222, and a movement request generation unit 223.

  The input unit 213 is, for example, a touch panel, and receives a user's input of a destination of the second vehicle 2 and an arrival time at the destination. The input unit 213 displays, for example, an input field for receiving an input of a destination address. In addition, the input unit 213 may display, for example, a map, and accept selection of a destination on the map by the user.

  The destination information obtaining unit 221 obtains destination information indicating the position and arrival time of the destination input by the input unit 213. The position of the destination is an example of a reference position for the second vehicle 2.

  The communication unit 211 receives the vehicle position information, the status information, and the obstacle information transmitted by the communication unit 114 of the first automobiles 10A, 10B, 10C. The communication unit 211 receives status information (sensing information) indicating a status outside the first automobiles 10A, 10B, and 10C output by the sensor 111 used for detecting an object mounted on the first automobiles 10A, 10B, and 10C. I do. The communication unit 211 also outputs status information (sensing information) indicating the status outside the first vehicles 10A, 10B, and 10C output by the sensor 111 used for detecting an object mounted on the first vehicles 10A, 10B, and 10C. The traffic obstacle information (judgment result) in which the mode of the other vehicles passing by the first automobiles 10A, 10B, and 10C is determined using the information is received. In addition, the communication unit 211 receives vehicle position information (moving body position information) indicating the positions of the first automobiles 10A, 10B, and 10C. The traffic obstruction information (judgment result) includes a judgment result as to whether the first vehicle has obstructed the passage of another vehicle.

  Note that the information processing device 21 may include a traffic obstacle detection unit 163. In this case, the traffic obstruction detection unit 163 of the information processing device 21 may acquire the traffic obstruction information by determining an aspect of another vehicle using each of the situation information received by the communication unit 211.

  The standby position determination unit 222 indicates a specific position (first position) and destination information (reference position information) specified using each of the traffic obstacle information (judgment result) and the vehicle position information (moving object position information). A standby position (second position) at which the second vehicle 2 waits is determined according to the position of the destination.

  That is, the standby position determining unit 222 specifies the specific position using each of the traffic obstruction information and the vehicle position information. At this time, the traffic obstruction information includes a determination result as to whether the first vehicle has obstructed the traffic of another vehicle. The standby position determination unit 222 specifies a position (third position) at which the first vehicle has blocked the passage of another moving object among the positions indicated by the vehicle position information, which are determined based on the respective traffic obstacle information. The position other than the hindered position (third position) and within a predetermined range from the position of the destination is determined as the standby position.

  In addition, the standby position determination unit 222 determines a position (a fourth position) in which the first vehicle among the positions indicated by the vehicle position information, which is determined based on each of the traffic obstruction information, does not hinder the passage of other moving objects. May be determined, and a position that is not obstructed (fourth position) and within a predetermined range from the position of the destination may be determined as the standby position.

  Note that the standby position determination unit 222 acquires the arrival time until the second vehicle 2 arrives at the destination position. The predetermined range is a range that can be moved from the standby position to the destination position within the arrival time or a range that can be moved from the current position of the second vehicle 2 to the destination position via the standby position within the arrival time. It is. Further, the predetermined range may be a range equal to or less than a predetermined distance.

  Further, the standby position determining unit 222 may specify the position indicated by the vehicle position information as the specific position (first position) based on the degree of the first vehicle obstructing the passage of other vehicles.

  Further, the standby position determination unit 222 determines a standby position (second position) based on the number of vehicles (moving objects) existing within a predetermined range from the position indicated by the vehicle position information (moving object position information). You may. That is, the standby position determination unit 222 determines a position where the number of vehicles existing within a predetermined range from the position indicated by the vehicle position information is equal to or less than a predetermined number as the standby position, or determines a predetermined position from the position indicated by the vehicle position information. A position other than the position where the number of vehicles existing within the range is equal to or greater than a predetermined number may be determined as the standby position. Accordingly, it is possible to prevent a plurality of vehicles from gathering near the standby position and prevent the plurality of vehicles from obstructing other vehicles.

  Further, the standby position determining unit 222 is a position other than the specific position (first position) specified using each of the traffic obstacle information (determination result) and the vehicle position information (moving object position information), and Of the positions within the first range from the position (reference position), a position corresponding to the number of vehicles (moving bodies) existing within the second range from the position may be determined as the standby position (second position). . The second range is a range different from the first range, and may be a range narrower than the first range. That is, the standby position determination unit 222 determines, as a standby position, a position in the first range from the destination position, in which the number of vehicles existing in the second range from the position is equal to or less than a predetermined number. You may. Accordingly, it is possible to prevent a plurality of vehicles from gathering near the standby position and prevent the plurality of vehicles from obstructing other vehicles.

  Further, after passing through the vehicle position of the first vehicle indicated by the vehicle position information received by the communication unit 211, the standby position determination unit 222 adds the destination to the destination acquired by the destination information acquisition unit 221. Based on the vehicle position information, status information, and traffic obstruction information received by the communication unit 211, from among the vehicle positions at which the second vehicle 2 can reach by the arrival time acquired by the information acquisition unit 221, A vehicle position that does not easily obstruct the passage of other vehicles may be determined as the standby position.

  The movement request generator 223 outputs a movement request to move the second vehicle 2 to the standby position. The movement request generation unit 223 generates a movement request for moving the second vehicle 2 to the standby position determined by the standby position determination unit 222, and outputs the request to the movement control unit 22.

  The movement control unit 22 performs control for moving the second vehicle 2 when receiving a movement request for moving the second vehicle 2 from the movement request generation unit 223.

  The drive unit 23 moves the second vehicle 2 according to the control of the movement control unit 22. When the second automobile 2 is an engine vehicle, the drive unit 23 is, for example, an engine and a transmission. When the second vehicle 2 is an electric vehicle (battery vehicle), the driving unit 23 is, for example, a traveling motor and a transmission. These engines and traveling motors are all started and stopped via an ignition switch.

  FIG. 12 is a flowchart illustrating the control operation of the vehicle control system according to Embodiment 5 of the present disclosure. In the following description, the processing of the first automobile 10A and the second automobile 2 of the first automobiles 10A, 10B and 10C will be described. However, the processing of the first automobiles 10B and 10C and the second automobile 2 will be described. Is performed similarly.

  First, the position information acquisition unit 161 of the first vehicle 10A acquires vehicle position information indicating the current vehicle position of the first vehicle 10A from the GPS receiver 113 (Step S211).

  In the fifth embodiment, the position information acquisition unit 161 acquires the vehicle position information from the GPS receiver 113. However, the present disclosure is not particularly limited to this, and the communication unit 114 performs communication via wireless communication. May receive position information from an external device. The external device is, for example, another vehicle passing near the first automobile 10A or a wireless communication base station arranged near the first automobile 10A. The position information acquisition unit 161 receives position information indicating the position where the wireless communication base station is installed from the wireless communication base station, and acquires the position information of the wireless communication base station as the position information of the first vehicle 10A. The method of acquiring the vehicle position information of the first automobile 10A is an example, and does not limit the present disclosure.

  Note that the process of step S211 may be executed while the first vehicle 10A is stopped, or may be executed while the first vehicle 10A is moving slowly or traveling. A typical situation in which the process of step S211 is executed is a situation in which the first car 10A is stopped, but the situation described above does not limit the present disclosure.

  Next, the situation information acquisition unit 162 acquires the situation information at the vehicle position acquired by the position information acquisition unit 161 from the sensor 111 (Step S212).

  The situation information includes, for example, an image around the first car 10A, the number of cars stopped near the first car 10A, the traffic volume on the road where the first car 10A exists, and the first car 10A. The number of lanes on the road, the width of the space through which other vehicles passing by the first vehicle 10A can pass, the width of other vehicles, the position of other vehicles, the speed of other vehicles, the acceleration of other vehicles, and For example, the traveling direction of another vehicle.

  In Embodiment 5, the sensor 111 is an image sensor, and the sensor 111 acquires surrounding image information and generates status information from the acquired image information. However, the present disclosure is not particularly limited to this. Instead, the communication unit 114 may receive status information generated by an external device via wireless communication. The external device is, for example, a surveillance camera provided on another vehicle or a road, and generates status information from the acquired image information.

  Further, the sensor 111 generates the number of vehicles stopped near the first vehicle 10A, the traffic volume on the road on which the first vehicle 10A exists, and the number of lanes on the road on which the first vehicle 10A exists from the image information. However, the present disclosure is not particularly limited to this, and the communication unit 114 transmits the number of vehicles stopped near the first vehicle 10A from outside via wireless communication and the traffic on the road where the first vehicle 10A exists. A quantity may be received. Further, the information processing device 16 may include a storage unit that stores map information in advance, and the situation information acquisition unit 162 uses the map information stored in the storage unit to determine the lane of the road where the first automobile 10A is located. You may get the number. Further, the first vehicle 10A may include a car navigation device. From the car navigation device, the number of vehicles stopped near the first vehicle 10A, the traffic volume on the road where the first vehicle 10A exists, and The number of lanes on the road where one car 10A exists may be acquired. The method for acquiring these specific information is an example, and does not limit the present disclosure.

  In addition, the sensor 111 estimates the number of stopped vehicles, the traffic volume, and the number of lanes by recognizing a stopped vehicle, a running vehicle, and a lane from a surrounding image, for example. It is an example and does not limit the present disclosure.

  The sensor 111 may be, for example, an optical sensor such as LIDAR (Light Detection and Ranging) or a millimeter wave radar. The sensor 111 acquires the width of a passable space or the width of another vehicle. LIDAR irradiates an infrared laser, measures the time until the infrared laser reflects off the object and returns, and calculates the distance to the object around the first vehicle 10A and the shape of the object around the first vehicle 10A. Is detected. Thereby, the first automobile 10A can read the three-dimensional structure of the surrounding environment. The millimeter-wave radar performs the same measurement as LIDAR, but uses radio waves instead of infrared rays to measure the time until the radio waves are reflected by an object and returned. A LIDAR using infrared light can be used at night, but has a feature that its function deteriorates in bad weather. A millimeter-wave radar using radio waves has a feature that it can detect regardless of the weather, although its resolution is inferior to LIDAR. Therefore, the disadvantages of each other can be complemented by using the LIDAR and the millimeter-wave radar in combination with each other, instead of using them alone.

  Further, the sensor 111 recognizes, for example, the edge of the road from surrounding image information and determines the apparent size of an object (for example, a road sign or the like) near the edge of the road whose actual size is known. By recognizing, the width of the road may be detected. In addition, the sensor 111 recognizes another vehicle from the surrounding image information, for example, and determines the apparent size of an object (for example, a road sign or the like) near the other vehicle whose actual size is known. By recognizing, the width of another vehicle may be detected. The above-described method for detecting the width of the road and the width of other vehicles is an example, and does not limit the present disclosure.

  Further, the sensor 111 is, for example, a LIDAR or a millimeter wave radar, and may acquire the position, speed, acceleration, and traveling direction of another vehicle as situation information. In addition, the communication unit 114 may indirectly acquire the position, speed, acceleration, and traveling direction of another vehicle from another vehicle via wireless communication. Another vehicle may acquire its own position, its own speed, its own acceleration, and its own traveling direction with respect to the first automobile 10A, and transmit the acquired information to the first automobile 10A. Note that the method of acquiring the position, speed, acceleration, and traveling direction of the other vehicle described above is an example, and does not limit the present disclosure.

  Next, the traffic obstacle detection unit 163 detects the traffic obstacle information based on the status information acquired by the status information acquisition unit 162 (Step S213).

  The traffic obstacle information includes, for example, the presence / absence of a traffic obstacle, the number of times a traffic failure has occurred, the time interval since the last occurrence of the traffic failure, and the average value of the time intervals during which no traffic failure has occurred. .

  The traffic obstacle detection unit 163 may determine whether the length obtained by subtracting the width of the first vehicle 10A from the width of the road is shorter than the width of another vehicle. When it is determined that the length obtained by subtracting the width of the first vehicle 10A from the width of the road is shorter than the width of the other vehicles, the traffic obstacle detection unit 163 determines that the first vehicle 10A is a traffic obstacle. May be.

  In addition, the traffic obstacle detection unit 163 determines that the width of the traversable space acquired by the situation information acquisition unit 162 is greater than the length obtained by adding a predetermined length to the width of another vehicle acquired by the situation information acquisition unit 162. It may be determined whether it is short or not. When it is determined that the width of the passable space is shorter than the length obtained by adding the predetermined length to the width of the other vehicle, the traffic obstacle detection unit 163 determines that the first vehicle 10A is a traffic obstacle. May be.

  In addition, the traffic obstacle detection unit 163 determines that the distance between the vehicle position of the first automobile 10A acquired by the position information acquisition unit 161 and the position of another vehicle acquired by the situation information acquisition unit 162 is equal to or less than a predetermined distance. It may be determined whether or not. When it is determined that the distance between the vehicle position of the first vehicle 10A and the position of the other vehicle is equal to or less than a predetermined distance, the traffic obstacle detection unit 163 determines that the first vehicle 10A is a traffic obstacle. You may.

  The traffic obstacle detection unit 163 may determine whether another vehicle is recognized in the surrounding image acquired by the situation information acquisition unit 162. When it is determined that another vehicle has been recognized in the surrounding image, the traffic obstacle detection unit 163 may determine that the first vehicle 10A is a traffic obstacle.

  In addition, the traffic obstacle detection unit 163 recognizes an image of a predetermined operation such as a course change, a sudden stop, a light passing, or a change in the expression of a driver in the surrounding image acquired by the situation information acquisition unit 162. It may be determined whether or not it has been performed. When it is determined that the image of the predetermined operation is recognized in the surrounding images, the traffic obstacle detection unit 163 may determine that the first vehicle 10A is a traffic obstacle.

  In addition, the traffic obstacle detection unit 163 performs a predetermined operation such as deceleration, stop, and course change of another vehicle based on the position, speed, acceleration, and traveling direction of the other vehicle acquired by the status information acquisition unit 162. The detection may be performed, and it may be determined whether at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or more than a predetermined threshold. If it is determined that at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or larger than a predetermined threshold, the traffic obstacle detection unit 163 determines that the first vehicle 10A has a traffic obstacle. May be determined.

  In addition, the traffic obstacle detection unit 163 performs a predetermined operation such as deceleration, stop, or course change of another vehicle based on the position, speed, acceleration, or traveling direction of another vehicle acquired by the situation information acquisition unit 162. It may be determined whether or not it has been detected. If it is determined that a predetermined operation such as deceleration, stop, or course change of another vehicle has been detected, the traffic obstacle detection unit 163 may determine that the first vehicle 10A has a traffic obstacle. .

  Further, the traffic obstacle detection unit 163 may determine whether or not the speed of another vehicle acquired by the situation information acquisition unit 162 is equal to or less than a predetermined threshold. When it is determined that the speed of the other vehicle is equal to or lower than the predetermined threshold, the traffic obstacle detection unit 163 may determine that the first vehicle 10A has a traffic obstacle.

  Note that the above-described traffic obstacle determination method is an example, and does not limit the present disclosure.

  Next, the communication unit 114 transmits the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle information detected by the traffic obstacle detection unit 163 to the second vehicle. 2 (step S214).

  Next, the communication unit 211 of the second vehicle 2 receives the vehicle position information, the situation information, and the traffic obstacle information transmitted by the communication unit 114 of the first vehicle 10A (Step S215).

  Next, the destination information acquisition unit 221 acquires destination information indicating the position of the destination and the arrival time from the input unit 213 (Step S216).

  In the fifth embodiment, the input unit 213 is, for example, a touch panel, and receives inputs of a destination position and an arrival time. However, the present disclosure is not particularly limited thereto. Destination information may be received from an external device via wireless communication. The external device is, for example, a personal computer, a smartphone, or a tablet computer. The method of acquiring the destination information described above is an example, and does not limit the present disclosure.

  Next, after passing through the vehicle positions of the first automobiles 10A, 10B, and 10C received by the communication unit 211, the standby position determination unit 222 adds the destination to the destination acquired by the destination information acquisition unit 221. From the vehicle positions of the first cars 10A, 10B, and 10C that can be reached by the arrival time acquired by the information acquisition unit 221, the vehicle position information, the status information, and the obstacle information received by the communication unit 211. Is determined as a standby position on the basis of the vehicle position (step S217).

  At this time, the standby position determination unit 222 uses the car navigation function to move from the current position to the destination position acquired by the destination information acquisition unit 221 after passing through the vehicle position received by the communication unit 211. An estimated arrival time when the vehicle arrives is acquired, and a vehicle position whose estimated arrival time does not exceed the arrival time is selected as a vehicle position at which the vehicle can reach. In addition, the standby position determination unit 222 transmits the current position to the destination position acquired by the destination information acquisition unit 221 from the current location via the vehicle position received by the communication unit 211 via wireless communication. An estimated arrival time at the time of arrival may be acquired, and a vehicle position whose estimated arrival time does not exceed the arrival time may be selected as a vehicle position at which the vehicle can reach. The method of selecting a vehicle position that can arrive by the above-described arrival time is an example, and does not limit the present disclosure.

  Then, the standby position determination unit 222 sequentially searches the vehicle positions received by the communication unit 211 for vehicle positions that can reach the destination by the arrival time, and receives the traffic obstruction received together with the respective vehicle positions. The vehicle position indicating that the information indicates that the first vehicle is not blocking the passage of another vehicle is determined as the standby position. In addition, the standby position determination unit 222 sequentially searches the vehicle positions received by the communication unit 211 for vehicle positions that can reach the destination by the arrival time, and receives the situation information received together with each vehicle position. For each of the traffic obstruction information and the traffic obstruction information, a numerical value according to the degree of obstruction of traffic of another vehicle may be weighted and summed, and the vehicle position having the lowest sum may be determined as the standby position. The above-described method of determining the standby position is an example, and does not limit the present disclosure.

  When the situation information received by the communication unit 211 includes the number of vehicles stopped near the first vehicle, the numerical value according to the degree of obstruction of traffic of other vehicles is The higher the number of vehicles stopped near one automobile, the higher the value. Further, when the situation information received by the communication unit 211 includes the traffic volume on the road where the first automobile is located, the numerical value according to the degree of obstruction of the traffic of other vehicles is the traffic volume. The higher the value, the higher the value. When the situation information received by the communication unit 211 includes the number of lanes on the road on which the first automobile is located, the numerical value corresponding to the degree of obstruction of traffic of other vehicles is the number of lanes. The smaller the value, the higher the value. Further, when the situation information received by the communication unit 211 includes the width of a space that can be passed by another vehicle passing by the first vehicle, the degree of obstruction of the traffic of the other vehicle is determined. The corresponding numerical value is set to a higher value as the width of the passable space is smaller. Further, when the situation information received by the communication unit 211 includes the width of another vehicle passing by the first vehicle, the numerical value according to the degree of obstruction of the traffic of the other vehicle is: The higher the width of other vehicles, the higher the value.

  In addition, when the traffic obstacle information received by the communication unit 211 includes the number of occurrences of the traffic obstacle, the numerical value corresponding to the degree of obstruction of the traffic of another vehicle indicates that the number of occurrences of the traffic obstacle is large. The higher the value, the higher the value. In addition, when the traffic obstacle information received by the communication unit 211 includes a time interval from the time of the last occurrence of the traffic obstacle, a numerical value according to the degree of obstruction of traffic of another vehicle is: The value becomes higher as the time interval from the last occurrence of a traffic obstacle becomes shorter. Further, when the traffic obstacle information received by the communication unit 211 includes an average value of time intervals during which no traffic obstacle has occurred, a numerical value according to the degree of obstruction of traffic of another vehicle is: The shorter the average value of the time intervals during which no traffic obstacle occurs, the higher the value. Note that the numerical values according to the degree of obstruction of the traffic of the other vehicles are merely examples, and do not limit the present disclosure.

  Note that, in the above example, the standby position is determined using the situation information and the traffic obstruction information. However, the present disclosure is not particularly limited thereto, and the standby position may be determined using only the traffic obstruction information. .

  Next, the movement request generation unit 223 generates a movement request for moving the second vehicle 2 to the standby position determined by the standby position determination unit 222 (Step S218). The movement request generation unit 223 outputs the generated movement request to the movement control unit 22.

  Next, when receiving a movement request for moving the second vehicle 2 from the movement request generation unit 223, the movement control unit 22 performs control for moving the second vehicle 2 and moves to the driving unit 23. Is started (step S219). The drive unit 23 moves the second vehicle 2 to the standby position according to the control of the movement control unit 22.

  As described above, since the second vehicle 2 moves to the standby position that does not hinder other vehicles even when the vehicle stops, the user can receive the service provided in the second vehicle 2 stopped at the standby position. it can. Then, after stopping at the standby position, the second vehicle 2 moves from the standby position to the destination so as to arrive at the destination by the arrival time.

  Although the second vehicle 2 in the fifth embodiment is an autonomous vehicle, it automatically moves to the standby position without a driving operation by a person. The vehicle 2 may be driven by a person instead of a self-driving vehicle. In this case, the second vehicle 2 does not include the movement control unit 22 and the driving unit 23, and does not need to perform the process of step S219. In addition, the second vehicle 2 may include a display unit that displays the movement request for moving the second vehicle 2 to the standby position generated by the movement request generation unit 223. After the processing in step S218, the display unit displays the movement request generated by the movement request generation unit 223, and ends the processing. The transfer request displayed on the display unit indicates, for example, the address of the standby position or a route from the current position to the standby position. After that, the actual movement of the second automobile 2 is performed by the driving of the person who has recognized the movement request displayed on the display unit. Note that the above-described movement control is an example, and does not limit the present disclosure.

  In the process of step S219, the second vehicle 2 can be moved to the standby position determined by the standby position determination unit 222, even when a human does not perform a driving operation or a human driving operation is limited. . In particular, the effect is great when the second automobile 2 is an autonomous vehicle or an automobile with a driving assistance function.

  As described above, in the fifth embodiment, among the positions where the one or more first vehicles 10A, 10B, and 10C are present, the position that does not hinder the passage of the other vehicles or is unlikely to stand by in the second vehicle 2. Since it is determined as the position to be stopped, it is possible to prevent the second vehicle 2 that has moved to the standby position from obstructing the passage of other vehicles at the standby position.

(Embodiment 6)
Although the vehicle control system according to the fifth embodiment includes one or more first and second vehicles, the vehicle control system according to the sixth embodiment includes, in addition to the one or more first and second vehicles, It has a server.

  Hereinafter, the overall configuration and overall operation of the vehicle control system according to Embodiment 6 of the present disclosure will be described in detail.

  FIG. 13 is a diagram illustrating an overall configuration of a vehicle control system according to Embodiment 6 of the present disclosure.

  The vehicle control system 100A shown in FIG. 13 includes first vehicles 10A, 10B, 10C, a second vehicle 2A, and a server 3. The server 3 is communicably connected to the first vehicles 10A, 10B, 10C and the second vehicle 2A via the network 5. The network 5 is, for example, the Internet.

  The first automobiles 10A, 10B, 10C are equipped with sensors used for object detection. The first vehicles 10A, 10B, and 10C each use the sensing information output from the sensor to indicate a situation outside the first vehicles 10A, 10B, and 10C, and that the other vehicles passing by the first vehicles 10A, 10B, and 10C. The determination result of determining the mode of the vehicle is transmitted to the server 3. Further, the first vehicles 10A, 10B, 10C transmit vehicle position information (moving body position information) indicating the positions of the first vehicles 10A, 10B, 10C to the server 3, respectively.

  The second vehicle 2A provides a predetermined service to the user. The predetermined service is, for example, a service that allows a user to view video content in the second automobile 2A.

  The server 3 obtains each determination result of determining an aspect of another vehicle passing by the first automobile 10A, 10B, 10C, and acquires each vehicle position information indicating the position of the first automobile 10A, 10B, 10C. Then, reference position information indicating the reference position of the second vehicle 2A is obtained. The reference position is the destination of the second vehicle 2. The server 3 determines a second position to make the second vehicle 2A stand by according to the first position specified using each of the determination results and the moving object position information and the reference position indicated by the reference position information. The server 3 transmits the determined second position to the second vehicle 2A. The second vehicle 2A generates a movement request to move the second vehicle 2 to the second position.

  In the sixth embodiment, the vehicle control system 100A includes three first vehicles 10A, 10B, and 10C. However, the present disclosure is not particularly limited thereto, and two or less first vehicles are used. Or four or more first automobiles.

  In addition, the first automobiles 10A, 10B, 10C and the second automobile 2A may be driven by a person or may be an automatic driving vehicle in which no person drives.

  FIG. 14 is a block diagram illustrating configurations of a first vehicle, a second vehicle, and a server according to Embodiment 6 of the present disclosure. 14, the same components as those of the first and second vehicles in Embodiment 5 of the present disclosure are denoted by the same reference numerals, and description thereof will be omitted.

  As shown in FIG. 14, the first automobile 10A includes an information processing device 16. The information processing device 16 includes a sensor 111, a processor 112, a GPS receiver 113, and a communication unit 114. The processor 112 includes a position information acquisition unit 161, a status information acquisition unit 162, and a traffic obstacle detection unit 163. The configuration of the first automobiles 10B and 10C is the same as that of the first automobile 10A.

  The communication unit 114 transmits to the server 3 the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle information detected by the traffic obstacle detection unit 163.

  The second vehicle 2A includes an information processing device 21A, a movement control unit 22, and a drive unit 23. The information processing device 21A includes a communication unit 211A, a processor 212A, and an input unit 213. The processor 212A includes a destination information acquisition unit 221 and a movement request generation unit 223A.

  The communication unit 211 </ b> A transmits the destination information indicating the destination position and the arrival time acquired by the destination information acquisition unit 221 to the server 3. The communication unit 211A receives the standby position transmitted by the server 3.

  The movement request generation unit 223A generates a movement request for moving the second vehicle 2 to the standby position received by the communication unit 211A, and outputs the movement request to the movement control unit 22.

  The server 3 includes a processor 311 and a communication unit 312. The processor 311 includes a standby position determination unit 222.

  The communication unit 312 receives the vehicle position information, the status information, and the obstacle information transmitted by the first vehicle 10A. Further, the communication unit 312 transmits the standby position determined by the standby position determination unit 222 to the second vehicle 2A. In addition, the communication unit 312 receives the destination information transmitted by the second vehicle 2A.

  FIG. 15 is a flowchart for describing the control operation of the vehicle control system according to Embodiment 6 of the present disclosure. In the following description, the processing between the first vehicle 10A and the server 3 among the first vehicles 10A, 10B, and 10C will be described, but the processing between the first vehicles 10B and 10C and the server 3 is similarly performed. Will be

  The processing in steps S311 to S313 is the same as the processing in steps S211 to S213 in FIG.

  Next, the communication unit 114 of the first automobile 10A transmits the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle detected by the traffic obstacle detection unit 163. The information is transmitted to the server 3 (Step S314).

  Next, the communication unit 312 of the server 3 receives the vehicle position information, the situation information, and the obstacle information transmitted by the communication unit 114 of the first vehicle 10A (Step S315).

  Next, the destination information acquisition unit 221 of the second vehicle 2A acquires the destination information indicating the destination position and the arrival time from the input unit 213 (Step S316).

  Next, the communication unit 211A transmits the destination information acquired by the destination information acquisition unit 221 to the server 3 (Step S317).

  Next, the communication unit 312 of the server 3 receives the destination information transmitted by the communication unit 211A of the second vehicle 2A (Step S318).

  Next, after passing through the vehicle positions of the first automobiles 10A, 10B, 10C received by the communication unit 312, the standby position determination unit 222 receives the destination position received by the communication unit 312 by the communication unit 312. Out of the vehicle positions of the first automobiles 10A, 10B, and 10C that can be reached by the specified arrival time, based on the vehicle position, status information, and traffic obstruction information received by the communication unit 312, and A vehicle position that is unlikely to obstruct the passage of the vehicle is determined as a standby position (step S319). The method for determining the standby position is the same as in the fifth embodiment.

  Next, the communication unit 312 transmits the standby position determined by the standby position determination unit 222 to the second vehicle 2A (Step S320).

  Next, the communication unit 211A of the second vehicle 2A receives the standby position transmitted by the communication unit 312 of the server 3 (Step S321).

  Next, the movement request generation unit 223A generates a movement request for moving the second vehicle 2A to the standby position received by the communication unit 211A (Step S322). The movement request generation unit 223A outputs the generated movement request to the movement control unit 22.

  Next, when receiving the movement request for moving the second vehicle 2A from the movement request generation unit 223A, the movement control unit 22 performs control for moving the second vehicle 2A, and moves to the driving unit 23. Is started (step S323). The drive unit 23 moves the second vehicle 2A to the standby position according to the control of the movement control unit 22.

  In the sixth embodiment, after the processes of steps S311 to S315 in FIG. 15 are performed, the processes of steps S316 to S318 are performed. However, the present disclosure is not particularly limited thereto. When the destination information is received from the second vehicle 2A, the server 3 transmits the request information requesting the vehicle position information, the situation information, and the obstacle information to the first vehicles 10A and 10B. , 10C. When the first automobiles 10A, 10B, and 10C receive the request information from the server 3, the first automobiles 10A, 10B, and 10C perform the processing of steps S311 to S314 in FIG. 15 and transmit the vehicle position information, the situation information, and the traffic obstacle information to the server 3. Is also good.

  In the sixth embodiment, the first automobiles 10A, 10B, and 10C include the traffic obstacle detection unit 163, but the present disclosure is not particularly limited thereto, and the server 3 includes the traffic obstacle detection unit 163. Is also good. In this case, the communication unit 114 of the first automobile 10A, 10B, 10C transmits the vehicle position information and the situation information (sensing information) to the server 3, and the communication unit 312 of the server 3 acquires the vehicle position information and the situation information, The traffic obstacle detection unit 163 of the server 3 determines the mode of another vehicle using the situation information, and detects the traffic obstacle information.

  Further, in the sixth embodiment, the second vehicle 2A does not include the destination information acquisition unit 221 and the input unit 213, the communication unit 211A does not transmit the destination information to the server 3, and the communication unit 312 has the destination information. Need not be received from the second vehicle 2A. In this case, the processes in steps S316 and S317 in FIG. 15 are not performed, and in step S318, the communication unit 312 receives destination information from an external device different from the second vehicle 2A. The external device is, for example, a dispatch device connected to the server 3 so as to communicate with the server 3 and dispatching a vehicle such as a taxi. The dispatching device determines the second vehicle 2A to be dispatched, acquires the destination information indicating the position and arrival time of the destination of the second vehicle 2A, and identifies the determined second vehicle 2A and the destination information. Is transmitted to the server 3. In this case, the position of the destination of the second vehicle 2A is, for example, the boarding position of the user who wants to allocate the vehicle. The communication unit 312 of the server 3 receives the destination information transmitted by the vehicle allocation device. Note that the above method of acquiring destination information is an example, and does not limit the present disclosure.

  Further, in the sixth embodiment, the second vehicle 2A includes the movement request generation unit 223, but the present disclosure is not particularly limited thereto, and the server 3 may include the movement request generation unit 223. In this case, the movement request generation unit 223 outputs a movement request to move the second vehicle 2A to the standby position to the second vehicle 2A.

  In addition, since the second vehicle 2A in the sixth embodiment is an automatic driving vehicle, it automatically moves to the standby position without a driving operation by a person. The vehicle 2A may be driven by a person instead of the self-driving vehicle. In this case, the second vehicle 2A does not include the movement control unit 22 and the driving unit 23, and does not need to perform the process of step S323. In addition, the second vehicle 2A may include a display unit that displays the movement request for moving the second vehicle 2A to the standby position generated by the movement request generation unit 223A. After the processing in step S322, the display unit displays the movement request generated by the movement request generation unit 223A, and ends the processing. The transfer request displayed on the display unit indicates, for example, the address of the standby position or a route from the current position to the standby position. After that, the actual movement of the second vehicle 2A is performed by the driving of the person who has recognized the movement request displayed on the display unit. Note that the above-described movement control is an example, and does not limit the present disclosure.

  In the process of step S323, even when the person does not perform the driving operation or the driving operation of the person is limited, the second vehicle 2A can be moved to the standby position determined by the standby position determination unit 222. . In particular, the effect is great when the second vehicle 2A is an automatic driving vehicle or a vehicle with a driving assistance function.

(Embodiment 7)
The vehicle control system according to the sixth embodiment includes one or more first vehicles, a second vehicle, and a server. The vehicle control system according to the seventh embodiment includes the first vehicle and the first vehicle according to the sixth embodiment. One or more vehicles having the function of the second vehicle and a server are provided.

  Hereinafter, the overall configuration and overall operation of the vehicle control system according to Embodiment 7 of the present disclosure will be described in detail.

  FIG. 16 is a diagram illustrating an overall configuration of a vehicle control system according to Embodiment 7 of the present disclosure.

  The vehicle control system 100B shown in FIG. 16 includes vehicles 4A, 4B, 4C and a server 3. The server 3 is communicably connected to the automobiles 4A, 4B, and 4C via the network 5. The network 5 is, for example, the Internet.

  The vehicles 4A, 4B, and 4C have the functions of the first vehicle 10A and the second vehicle 2A of the sixth embodiment.

  That is, the automobiles 4A, 4B, and 4C are equipped with sensors used for object detection. The automobiles 4A, 4B, and 4C determine the modes of other vehicles passing by the automobiles 4A, 4B, and 4C, respectively, using the sensing information output from the sensors and indicating the situation outside the automobiles 4A, 4B, and 4C. The judgment results are transmitted to the server 3 respectively. The cars 4A, 4B, and 4C transmit vehicle position information (moving body position information) indicating the positions of the cars 4A, 4B, and 4C to the server 3, respectively.

  In addition, the automobiles 4A, 4B, and 4C provide a predetermined service to the user. The predetermined service is, for example, a service that allows a user to view video content in the automobiles 4A, 4B, and 4C.

  For example, when the vehicle 4A that provides the predetermined service is moved to the standby position, the server 3 acquires the determination results of the modes of other vehicles passing by the vehicles 4B and 4C, and obtains the determination results. The vehicle position information indicating the position of 4C is acquired, and the reference position information indicating the reference position of the vehicle 4A is acquired. Note that the reference position is the destination of the automobile 4A. The server 3 determines the second position where the car 4A is to wait on the basis of the first position specified using each determination result and the moving object position information and the reference position indicated by the reference position information. The server 3 transmits the determined second position to the car 4A. The car 4A generates a movement request to move the car 4A to the second position.

  In the sixth embodiment, the vehicle control system 100B includes three vehicles 4A, 4B, and 4C. However, the present disclosure is not particularly limited to this, and may include two vehicles. Four or more automobiles may be provided.

  In addition, the automobiles 4A, 4B, and 4C may be driven by humans or may be autonomous vehicles that do not drive.

  FIG. 17 is a block diagram illustrating configurations of an automobile and a server according to Embodiment 7 of the present disclosure. 17, the same components as those of the first vehicle, the second vehicle, and the server according to Embodiment 6 of the present disclosure are denoted by the same reference numerals, and description thereof will be omitted.

  As shown in FIG. 17, the automobile 4A includes an information processing device 41, a movement control unit 42, and a driving unit 43. The information processing device 41 includes a sensor 111, an input unit 213, a GPS receiver 113, a communication unit 411, and a processor 412. The processor 412 includes a position information acquisition unit 161, a situation information acquisition unit 162, a traffic obstacle detection unit 163, a destination information acquisition unit 221, and a movement request generation unit 223A. The configurations of the vehicles 4B and 4C are the same as those of the vehicle 4A.

  The communication unit 411 transmits to the server 3 the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle information detected by the traffic obstacle detection unit 163. In addition, the communication unit 411 transmits the destination information indicating the position and the arrival time of the destination acquired by the destination information acquiring unit 221 to the server 3. In addition, the communication unit 411 receives the standby position transmitted by the server 3.

  The server 3 includes a processor 311 and a communication unit 312. The processor 311 includes a standby position determination unit 222.

  The communication unit 312 receives the vehicle position information, the status information, and the obstacle information transmitted by the automobile 4A. Further, communication unit 312 transmits the standby position determined by standby position determination unit 222 to automobile 4A. In addition, communication unit 312 receives the destination information transmitted by automobile 4A.

  FIG. 18 is a flowchart for describing the control operation of the vehicle control system according to Embodiment 7 of the present disclosure. In the following description, an example will be described in which the car 4A transmits destination information and moves to a standby position, and the car 4B transmits vehicle position information, status information, and traffic obstruction information.

  The processing in steps S411 to S413 is the same as the processing in steps S311 to S313 in FIG. In the seventh embodiment, the processing of steps S411 to S413 is performed by the vehicle 4B.

  Next, the communication unit 411 of the automobile 4B transmits the vehicle position information acquired by the position information acquisition unit 161, the situation information acquired by the situation information acquisition unit 162, and the traffic obstacle information detected by the traffic obstacle detection unit 163. The data is transmitted to the server 3 (step S414).

  Next, the communication unit 312 of the server 3 receives the vehicle position information, the situation information, and the obstacle information transmitted by the communication unit 114 of the automobile 4B (Step S415).

  Next, the destination information acquisition unit 221 of the automobile 4A acquires the destination information indicating the position of the destination and the arrival time from the input unit 213 (Step S416).

  Next, the communication unit 411 of the automobile 4A transmits the destination information acquired by the destination information acquisition unit 221 to the server 3 (Step S417).

  Next, the communication unit 312 of the server 3 receives the destination information transmitted by the communication unit 411 of the car 4A (Step S418).

  The processing in step S419 is the same as the processing in step S319 in FIG.

  Next, the communication unit 312 transmits the standby position determined by the standby position determination unit 222 to the automobile 4A (Step S420).

  Next, the communication unit 411 of the vehicle 4A receives the standby position transmitted by the communication unit 312 of the server 3 (Step S421).

  The processing in steps S422 to S423 is the same as the processing in steps S322 to S323 in FIG. In the seventh embodiment, the processing of steps S422 to S423 is performed by the automobile 4A.

  Note that, in the seventh embodiment, after the processing in steps S411 to S415 in FIG. 18 is performed, the processing in steps S416 to S418 is performed. However, the present disclosure is not particularly limited thereto. When the process of S416 to step S418 is performed, and the destination information is received from the vehicle 4A, the server 3 transmits request information requesting the vehicle position information, the situation information, and the obstacle information to the vehicles 4B and 4C. Is also good. When receiving the request information from the server 3, the automobiles 4 </ b> B and 4 </ b> C may perform the processing of Step S <b> 411 to Step S <b> 414 in FIG.

  In the seventh embodiment, the vehicle 4A does not include the destination information acquisition unit 221 and the input unit 213, the communication unit 411 does not transmit the destination information to the server 3, and the communication unit 312 transmits the destination information to the vehicle 3. It is not necessary to receive from 4A. In this case, the processes in steps S416 and S417 in FIG. 18 are not performed, and in step S418, the communication unit 312 receives destination information from an external device different from the car 4A. The external device is, for example, a dispatch device connected to the server 3 so as to communicate with the server 3 and dispatching a vehicle such as a taxi. The dispatching device determines the vehicle 4A to be dispatched, acquires destination information indicating the destination position and arrival time of the destination of the vehicle 4A, and transmits information identifying the determined vehicle 4A and destination information to the server 3. I do. The communication unit 312 of the server 3 receives the destination information transmitted by the vehicle allocation device. Note that the above method of acquiring destination information is an example, and does not limit the present disclosure.

  Further, in Embodiment 7, the automobile 4A includes the movement request generation unit 223A, but the present disclosure is not particularly limited thereto, and the server 3 may include the movement request generation unit 223A. In this case, the movement request generation unit 223A outputs a movement request to move the car 4A to the standby position to the car 4A.

  In addition, since the automobile 4A according to the seventh embodiment is an autonomous vehicle, it automatically moves to the standby position without a driving operation by a person. However, the present disclosure is not particularly limited thereto. Instead of an autonomous vehicle, the vehicle may be driven by a person. In this case, the vehicle 4A does not include the movement control unit 22 and the driving unit 23, and does not need to perform the process of step S423. In addition, the vehicle 4A may include a display unit that displays the movement request for moving the vehicle 4A to the standby position generated by the movement request generation unit 223A. After the processing in step S422, the display unit displays the movement request generated by the movement request generation unit 223A, and ends the processing. The transfer request displayed on the display unit indicates, for example, the address of the standby position or a route from the current position to the standby position. Thereafter, the actual movement of the vehicle 4A is performed by the driving of a person who has recognized the movement request displayed on the display unit. Note that the above-described movement control is an example, and does not limit the present disclosure.

(Embodiment 8)
In the second vehicle according to the fifth embodiment, the standby position is determined using the vehicle position information, the status information, and the obstacle information received in real time from the first vehicles 10A, 10B, and 10C. The second vehicle stands by using not only the vehicle position information, status information, and traffic obstruction information received in real time from the first vehicles 10A, 10B, and 10C but also the vehicle position information, status information, and traffic obstruction information received in the past. Determine the position.

  Hereinafter, the overall configuration and overall operation of the vehicle control system according to Embodiment 8 of the present disclosure will be described in detail.

  FIG. 19 is a diagram illustrating an overall configuration of a vehicle control system according to the eighth embodiment of the present disclosure.

  The vehicle control system 100C shown in FIG. 19 includes first vehicles 10A, 10B, 10C and a second vehicle 2B. The second vehicle 2B is communicably connected to the first vehicles 10A, 10B, 10C via the network 5. The network 5 is, for example, the Internet.

  The first automobiles 10A, 10B, 10C are equipped with sensors used for object detection. The first vehicles 10A, 10B, and 10C each use the sensing information output from the sensor to indicate a situation outside the first vehicles 10A, 10B, and 10C, and that the other vehicles passing by the first vehicles 10A, 10B, and 10C. The determination result of determining the mode of the vehicle is transmitted to the second vehicle 2B. Also, the first vehicles 10A, 10B, 10C transmit vehicle position information (moving body position information) indicating the positions of the first vehicles 10A, 10B, 10C to the second vehicle 2B, respectively.

  The second vehicle 2B provides a predetermined service to the user. The predetermined service is, for example, a service that allows a user to view video content in the second automobile 2B.

  The second vehicle 2B acquires each of the determination results of determining the aspect of another vehicle passing by the first vehicle 10A, 10B, 10C, and obtains the vehicle position information indicating the position of the first vehicle 10A, 10B, 10C, respectively. And obtains reference position information indicating a reference position of the second vehicle 2B. Note that the reference position is the destination of the second vehicle 2B. The second vehicle 2B determines a second position at which the second vehicle 2B waits according to the first position specified using each of the determination result and the moving object position information and the reference position indicated by the reference position information. . In addition, the second vehicle 2B generates a movement request to move the second vehicle 2B to the second position.

  In the eighth embodiment, the vehicle control system 100C includes three first vehicles 10A, 10B, and 10C. However, the present disclosure is not particularly limited thereto, and two or less first vehicles are used. Or four or more first automobiles.

  Further, the first automobiles 10A, 10B, 10C and the second automobile 2B may be driven by a person or may be an automatic driving vehicle in which no person drives.

  FIG. 20 is a block diagram illustrating a configuration of a first vehicle and a second vehicle according to Embodiment 8 of the present disclosure. 20, the same components as those of the first vehicle and the second vehicle in Embodiment 8 of the present disclosure are denoted by the same reference numerals, and description thereof will be omitted.

  As shown in FIG. 20, the first automobile 10A includes an information processing device 16. The information processing device 16 includes a sensor 111, a processor 112, a GPS receiver 113, and a communication unit 114. The processor 112 includes a position information acquisition unit 161, a status information acquisition unit 162, and a traffic obstacle detection unit 163. The configuration of the first automobiles 10B and 10C is the same as that of the first automobile 10A.

  The second automobile 2B includes an information processing device 21B, a movement control unit 22, and a driving unit 23. The information processing device 21B includes a communication unit 211B, a processor 212B, an input unit 213, and a storage unit 214. The processor 212B includes a destination information acquisition unit 221, a standby position determination unit 222B, and a movement request generation unit 223.

  The communication unit 211B receives the vehicle position information, the status information, and the obstacle information transmitted by the first vehicle 10A. The communication unit 211B outputs the received vehicle position information, status information, and traffic obstruction information to the processor 212B, and stores the received vehicle position information, status information, and traffic obstruction information in the storage unit 214.

  The storage unit 214 stores the vehicle position information, the status information, and the obstacle information received by the communication unit 211B. The storage unit 214 stores the vehicle position information, the status information, and the traffic obstacle information in association with the received date and time.

  The standby position determination unit 222B is configured to specify a past specific position (past) specified using each of past traffic obstacle information (determination result) and past vehicle position information (moving body position information) stored in the storage unit 214. First position), a current specific position (current result) determined by using the current traffic obstacle information (determination result) and current vehicle position information (moving object position information) received by the communication unit 211B. The standby position (second position) is determined according to the first position) and the position of the destination (reference position).

  That is, the standby position determining unit 222B specifies a past specific position using each of past traffic obstacle information and past vehicle position information stored in the storage unit 214. Further, the standby position determining unit 222B specifies the current specific position using each of the current traffic obstacle information and the current vehicle position information received by the communication unit 211B. At this time, the traffic obstruction information includes a determination result as to whether the first vehicle has obstructed the traffic of another vehicle.

  The standby position determining unit 222 </ b> B determines a past specific position (i.e., a position where the first vehicle has blocked the passage of another moving body) among the positions indicated by the past vehicle position information, which is determined based on each of the past traffic obstacle information. (3rd position in the past). Further, the standby position determining unit 222B determines, based on each of the current traffic obstruction information, the current identification of the position at which the first vehicle in the position indicated by the current vehicle position information has blocked the passage of another moving object. A position (current third position) is specified. Then, the standby position determination unit 222B is a position other than the obstructed past specific position (past third position) and the obstructed current specific position (current third position), and is within a predetermined range from the destination position. Is determined as the standby position.

  In addition, the standby position determination unit 222 determines a past vehicle position determined based on each past traffic obstacle information item, in which the first vehicle among the positions indicated by the past vehicle position information does not prevent the passage of another moving body. The specific position (past fourth position) may be specified. In addition, the standby position determining unit 222 determines the current vehicle position information, which is determined based on each of the current traffic obstruction information, in which the first vehicle among the positions indicated by the current vehicle position information does not obstruct the passage of another moving body. The specific position (current fourth position) may be specified. Then, the standby position determination unit 222B is configured to determine the past specific position (previous fourth position) that is not obstructed and the current specific position (current fourth position) that is not obstructed within a predetermined range from the position of the destination. May be determined as the standby position.

  Note that the standby position determination unit 222B acquires the arrival time until the second vehicle 2B arrives at the destination position. The predetermined range is a range that can be moved from the standby position to the destination position within the arrival time or a range that can be moved from the current position of the second vehicle 2B to the destination position via the standby position within the arrival time. It is. Further, the predetermined range may be a range equal to or less than a predetermined distance.

  Further, the standby position determining unit 222B specifies the position indicated by the vehicle position information as the specific position (first position) based on the degree of the first vehicle obstructing the passage of other vehicles.

  Further, the standby position determining unit 222 </ b> B determines the vehicle position of the first vehicle indicated by the vehicle position information stored in the storage unit 214 and the vehicle of the first vehicle indicated by the vehicle position information received by the communication unit 211. After passing through the position, the vehicle position at which the second vehicle 2B can reach the position of the destination acquired by the destination information acquisition unit 221 by the arrival time acquired by the destination information acquisition unit 221 Based on the vehicle position information, the situation information, and the traffic obstruction information stored in the storage unit 214 and the vehicle position information, the situation information, and the traffic obstruction information received by the communication unit 211B, a traffic obstruction of another vehicle is generated. The position of the vehicle that is less likely to become may be determined as the standby position.

  In this case, the standby position determination unit 222B uses the car navigation function to obtain the destination information after passing from the current position to the vehicle position received by the communication unit 211B and the vehicle position stored in the storage unit 214. The estimated arrival time when the vehicle arrives at the destination position acquired by the unit 221 is acquired, and a vehicle position whose estimated arrival time does not exceed the arrival time is selected as a reachable vehicle position. In addition, the standby position determination unit 222B receives the destination information from the current location via the vehicle position received by the communication unit 211B and the vehicle position stored in the storage unit 214 from outside via wireless communication. The estimated arrival time when arriving at the destination position acquired by the unit 221 may be acquired, and a vehicle position whose estimated arrival time does not exceed the arrival time may be selected as a reachable position. .

  Then, the standby position determination unit 222B sequentially searches the vehicle position received by the communication unit 211B and the vehicle position stored in the storage unit 214 for a vehicle position that can reach the destination by the arrival time. Then, the vehicle position indicating that the first vehicle is not obstructing the passage of the other vehicle from the traffic obstruction information received and stored together with each vehicle position is determined as the standby position. In addition, the standby position determination unit 222B sequentially searches the vehicle position received by the communication unit 211B and the vehicle position stored in the storage unit 214 for a vehicle position that can reach the destination by the arrival time. Then, the situation information and the traffic obstruction information received and stored together with the respective vehicle positions are weighted and summed up with a value corresponding to the degree of obstruction of the traffic of other vehicles, and the vehicle having the lowest sum is calculated. The position may be determined as the standby position.

  The numerical value associated with the situation information and the traffic obstacle information stored in the storage unit 214 may have a smaller weight as the stored time becomes older.

  Further, of the vehicle position information, the situation information, and the traffic obstruction information stored in the storage unit 214, only the vehicle position information, the situation information, and the traffic obstruction information at the same time as the current time before the previous day may be used. . For example, when the current time is 18:30, only the vehicle position information, the situation information, and the traffic obstacle information at 18:30 on the day before the previous day are used.

  Further, of the vehicle position information, the situation information, and the traffic obstruction information stored in the storage unit 214, only the vehicle position information, the situation information, and the traffic obstruction information in the time zone before the previous day including the same time as the current time are used. May be done. For example, when the current time is 18:30, only the vehicle position information, the situation information, and the traffic obstacle information in the time zone from 18:00 to 19:00 on the day before the previous day are used.

  Further, of the vehicle position information, the situation information, and the traffic obstruction information stored in the storage unit 214, only the vehicle position information, the situation information, and the traffic obstruction information from the current time to a time earlier than the predetermined time may be used. . For example, when the current time is 18:00, only the vehicle position information, the status information, and the traffic obstacle information up to 17:00, which is one hour before the current time, are used.

  FIG. 21 is a flowchart for describing the control operation of the vehicle control system according to the eighth embodiment of the present disclosure. In the following description, the processing of the first automobile 10A and the second automobile 2B among the first automobiles 10A, 10B, and 10C will be described. However, the processing of the first automobiles 10B and 10C and the second automobile 2B will be described. Is performed similarly.

  The processing in steps S501 to S505 is the same as the processing in steps S211 to S215 in FIG.

  Next, the communication unit 211B stores the vehicle position information, the status information, and the obstacle information received from the first vehicle 10A in the storage unit 214 together with the current time (Step S506). As a result, the storage unit 214 stores the history of the vehicle position information, the situation information, and the traffic obstacle information.

  Next, the destination information acquisition unit 221 acquires destination information indicating the position of the destination and the arrival time from the input unit 213 (Step S507).

  Next, the standby position determination unit 222B receives the current vehicle position of the first vehicle 10A, 10B, 10C received by the communication unit 211B and the past vehicle position of the first vehicle 10A, 10B, 10C stored in the storage unit 214. After passing through the vehicle position, the first automobiles 10A, 10B, and 10C are located at positions that can reach the destination position acquired by the destination information acquisition unit 221 by the arrival time acquired by the destination information acquisition unit 221. From the vehicle positions, the vehicle position information, the situation information, and the traffic obstruction information received by the communication unit 211B, and the vehicle position information, the situation information, and the traffic obstruction information stored in the storage unit 214. A vehicle position that is unlikely to obstruct the passage of the vehicle is determined as a standby position (step S508).

  The processing of steps S509 and S510 is the same as the processing of steps S218 and S219 in FIG.

  In addition, since the second vehicle 2B in the eighth embodiment is an autonomous vehicle, the vehicle automatically moves to the standby position without a driving operation by a person. The automobile 2B may be driven by a person instead of the self-driving car. In this case, the second vehicle 2B does not include the movement control unit 22 and the driving unit 23, and does not need to perform the process of step S510. Further, the second vehicle 2B may include a display unit that displays the movement request for moving the second vehicle 2B to the standby position generated by the movement request generation unit 223. After the processing in step S509, the display unit displays the movement request generated by the movement request generation unit 223, and ends the processing. The transfer request displayed on the display unit indicates, for example, the address of the standby position or a route from the current position to the standby position. Thereafter, the actual movement of the second vehicle 2B is performed by the driving of the person who has recognized the movement request displayed on the display unit. Note that the above-described movement control is an example, and does not limit the present disclosure.

  In the process of step S510, the second vehicle 2B can be moved to the standby position determined by the standby position determination unit 222B, even when the driver does not perform the driving operation or the driving operation is limited. . In particular, the effect is great when the second vehicle 2B is an automatic driving vehicle or a vehicle with a driving assistance function.

  Note that the processing performed by the traffic obstacle detection unit 163 and the standby position determination unit 222 may use machine learning. For machine learning, for example, supervised learning that learns the relationship between input and output by using teacher data to which a label (output information) is added to input information, and constructs a data structure from only unlabeled input Unsupervised learning, semi-supervised learning that handles both labeled and unlabeled, learning continuous actions that can get the most reward by obtaining feedback (reward) for the selected action from the state observation result And reinforcement learning. Further, specific methods of machine learning include neural networks (including deep learning using multilayer neural networks), genetic programming, decision trees, Bayesian networks, and support vector machines (SVM). . In the present disclosure, any of the specific examples described above may be used.

  In this disclosure, all or a part of a unit, an apparatus, a member, or a part, or all or a part of a functional block in a block diagram illustrated in a drawing is a semiconductor device, a semiconductor integrated circuit (IC), or an LSI (Large Scale Integration). ) May be performed by one or more electronic circuits. The LSI or IC may be integrated on a single chip, or may be configured by combining a plurality of chips. For example, functional blocks other than the storage element may be integrated on one chip. Here, the term is referred to as an LSI or an IC, but the term varies depending on the degree of integration, and may be referred to as a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). A Field Programmable Gate Array (FPGA), which is programmed after the manufacture of the LSI, or a Reconfigurable Logic Device capable of reconfiguring a bonding relationship inside the LSI or setting up a circuit section inside the LSI can also be used for the same purpose.

  Further, the functions or operations of all or a part of the unit, the device, the member or the unit can be executed by software processing. In this case, the software is recorded on one or more non-transitory recording media such as a ROM, an optical disk, and a hard disk drive, and is specified by the software when the software is executed by a processing device (Processor). The executed function is executed by the processing device (Processor) and the peripheral device. The system or apparatus may include one or more non-transitory recording media on which the software is recorded, a processing device (Processor), and required hardware devices, for example, an interface.

  An information processing apparatus, an information processing method, and an information processing program according to the present disclosure are capable of autonomously moving a mobile object without providing facilities to the other mobile object when the mobile object is obstructing traffic of the other mobile object. The present invention is useful as an information processing device, an information processing method, and an information processing program that can be moved and control the movement of a moving object.

1, 1A, 1B, 1C Self-driving car 2, 2A, 2B Second car 3 Server 4A, 4B, 4C Car 5 Network 10A, 10B, 10C First car 11, 11A, 11B Sensor 12, 12, 12A, 12B, 12C Information Processing device 13 Movement control unit 14 Drive unit 15 GPS receiver 16, 21, 21A, 21B, 41 Information processing device 22, 42 Movement control unit 23, 43 Drive unit 100, 100A, 100B, 100C Vehicle control system 101, 101A, 101B Sensing information acquisition unit 102, 102A, 102B, 102C Traffic obstruction determination unit 103 Movement request generation unit 104 Current position acquisition unit 105 Map information acquisition unit 111 Sensor 112 processor 113 GPS receiver 114 Communication unit 121, 121A, 121B, 121C Processor 1 2, 122B, 122C Storage unit 161 Position information acquisition unit 162 Situation information acquisition unit 163 Traffic obstruction detection unit 201 Self-driving car 202 Vehicle 203 Road 211, 211A, 211B Communication unit 212, 212A, 212B Processor 213 Input unit 214 Storage unit 221 Destination information acquisition unit 222, 222B Standby position determination unit 223, 223A Movement request generation unit 311 processor 312 Communication unit 411 Communication unit 412 processor

Claims (16)

A sensing information acquisition unit that acquires sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body,
Using the sensing information, a determination unit that determines an aspect of another moving body passing by the moving body,
Using a determination result of the aspect of the other moving body, a movement request control unit that controls a movement request to the moving body,
An information processing apparatus comprising: The determination unit detects a width of a space that can be passed when the other moving body passes by the moving body, and a width of the other moving body, and detects the width of the other moving body as an aspect of the other moving body. Determining the width of the other moving object relative to the width of the passable space,
The information processing device according to claim 1. The determination unit determines whether the width of the passable space is shorter than the width of the other moving body,
The movement request control unit, when the width of the passable space is determined to be shorter than the width of the other moving body, generates a movement request to move the moving body,
The information processing device according to claim 2. The determination unit detects a width of the passable space using the sensing information,
The information processing apparatus according to claim 2. A current position acquisition unit that acquires current position information indicating a current position of the moving body,
A map acquisition unit that acquires map information including a current position of the moving object,
Further comprising
The determination unit detects a width of the width of the passable space using the map information and the sensing information,
The information processing apparatus according to claim 2. The sensor includes an optical sensor,
The information processing apparatus according to claim 1. The sensor includes an image sensor,
The determination unit, by processing image information obtained from the image sensor, to determine the operation of the other moving body as an aspect of the other moving body,
The information processing device according to claim 1. The determination unit determines whether or not the operation of the other moving object is an operation to avoid the moving object,
The movement request control unit generates a movement request to move the moving body when the operation of the other moving body is determined to be an operation to avoid the moving body,
The information processing device according to claim 7. The determination unit determines an operation or a change in operation of the other moving body when passing by the moving body as a mode of the other moving body,
The information processing device according to claim 1. The sensing information includes at least one of the position, speed, acceleration, and traveling direction of the other moving object,
The determination unit determines whether or not the other moving body has performed any one of deceleration, stop, and course change,
The movement request control unit generates a movement request to move the moving body when it is determined that the other moving body has performed any one of deceleration, stop, and course change.
The information processing device according to claim 9. The sensing information includes at least one of the position, speed, acceleration, and traveling direction of the other moving object,
The determination unit determines whether at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or greater than a predetermined threshold value,
The movement request control unit, when it is determined that at least one of the change amount of the speed, the change amount of the acceleration, and the change amount of the angle of the traveling direction is equal to or greater than a predetermined threshold, Generate a move request to move,
The information processing device according to claim 9. The sensor includes an image sensor,
The determination unit, by processing an image obtained from the image sensor, determines an aspect of the operator operating the other moving body as an aspect of the other moving body,
The information processing device according to claim 1. The determination unit determines whether the expression of the operator is an expression representing a predetermined emotion stored in advance,
The movement request control unit, when the expression of the operator is determined to be an expression representing a predetermined emotion stored in advance, generates a movement request to move the moving body,
The information processing apparatus according to claim 12. The determination unit detects a distance from the moving body to an end of the road on a road where the moving body is located, as a width of the passable space,
The information processing apparatus according to claim 2. Computer
Obtain sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body,
Using the sensing information, determine the mode of another moving body passing by the moving body,
Using the determination result of the aspect of the other moving body, controlling a movement request to the moving body,
Information processing method. On the computer,
Obtain sensing information indicating a situation outside the moving body from a sensor used for detecting an object mounted on the moving body,
Using the sensing information, determine the mode of another moving body passing by the moving body,
Using the determination result of the aspect of the other moving body, controlling a movement request to the moving body,
Information processing program that executes processing.

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