JP2020077177A - Reserved vehicle confirmation system - Google Patents

Abstract

To provide a reserved vehicle confirmation system capable of easily confirming a reserved vehicle by a user.SOLUTION: A reserved vehicle confirmation system includes a mobile terminal 2 having imaging means, communication means, position acquisition means, orientation detection means, a display portion 25, and a control portion. The control portion obtains position information of a reserved vehicle 10R, which is an autonomous driving vehicle reserved by a user of the mobile terminal, from the communication means, acquires position information of the mobile terminal from the position acquisition means, and detects an orientation of the mobile terminal from the orientation detection means. The control portion generates an image 63 in which information of the reserved vehicle is superimposed on a peripheral image 61 captured by the imaging means, based on the position information of the reserved vehicle, the position information of the mobile terminal, and the orientation of the mobile terminal, and displays the superimposed image on the display portion.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a reserved vehicle confirmation system.

  Conventionally, there is a technology for allocating vehicles. Patent Document 1 includes a vehicle allocation management server and an automatic driving vehicle managed by the vehicle allocation management server. Based on a vehicle allocation request to the vehicle allocation management server by the user, the vehicle allocation management server sends the automatic driving vehicle to the user. A technology of a vehicle allocation management system for allocating vehicles is disclosed.

JP, 2016-115364, A

  Here, the user who has reserved the vehicle needs to identify which vehicle is his / her reserved vehicle at the boarding place. If the reserved vehicle can be easily confirmed, the convenience for the user is improved.

  An object of the present invention is to provide a reserved vehicle confirmation system that allows a user to easily confirm a reserved vehicle.

  The reserved vehicle confirmation system of the present invention includes a mobile terminal having an image pickup means, a communication means, a position acquisition means, an orientation detection means, a display section, and a control section, and the control section is the mobile terminal. The position information of the reserved vehicle that is the autonomous driving vehicle reserved by the user is acquired by the communication unit, the position information of the mobile terminal is acquired from the position acquisition unit, and the orientation of the mobile terminal is detected by the orientation detection unit. Then, the control unit superimposes the information of the reserved vehicle on the peripheral image captured by the imaging unit based on the position information of the reserved vehicle, the position information of the portable terminal, and the orientation of the portable terminal. The generated image is generated, and the superimposed image is displayed on the display unit.

  A reserved vehicle confirmation system according to the present invention includes a mobile terminal including an image pickup unit, a communication unit, a position acquisition unit, a direction detection unit, a display unit, and a control unit. The control unit acquires the position information of the reserved vehicle, which is the autonomous driving vehicle reserved by the user of the mobile terminal, by the communication unit, acquires the position information of the mobile terminal from the position acquisition unit, and determines the orientation of the mobile terminal from the orientation detection unit. To detect.

  The control unit generates an image in which the information of the reserved vehicle is superimposed on the peripheral image captured by the imaging unit based on the position information of the reserved vehicle, the position information of the portable terminal, and the orientation of the portable terminal, and the superimposed image is generated. The displayed image is displayed on the display unit. According to the reserved vehicle confirmation system of the present invention, the reserved vehicle information is displayed on the display unit based on the position information of the reserved vehicle and the position information and the orientation of the mobile terminal. Therefore, it is possible to display appropriate information according to the relative position and direction of the reserved vehicle with respect to the mobile terminal. Therefore, the reserved vehicle confirmation system according to the present invention has an effect that the user can easily confirm the reserved vehicle.

FIG. 1 is a block diagram of a reserved vehicle confirmation system according to the first embodiment. FIG. 2 is a plan view of the mobile terminal according to the first embodiment. FIG. 3 is a rear view of the mobile terminal according to the first embodiment. FIG. 4 is a sequence diagram of the reserved vehicle confirmation system according to the first embodiment. FIG. 5 is a diagram showing a balloon image according to the first embodiment. FIG. 6 is a diagram of a peripheral image in which information on reserved vehicles is not superimposed in the first embodiment. FIG. 7 is a diagram illustrating the determination of the imaging direction. FIG. 8 is a diagram showing a mobile terminal according to the second embodiment. FIG. 9 is a block diagram of a mobile terminal according to the second embodiment. FIG. 10 is a diagram for explaining the direction determination according to the second embodiment. FIG. 11 is a diagram showing a balloon image according to the first modified example of the embodiment. FIG. 12 is a diagram showing a guide message according to the second modification of the embodiment. FIG. 13 is a diagram showing a balloon image according to the second modified example of the embodiment.

  Hereinafter, a reserved vehicle confirmation system according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. The constituent elements in the following embodiments include those that can be easily conceived by those skilled in the art or those that are substantially the same.

[First Embodiment]
The first embodiment will be described with reference to FIGS. 1 to 7. This embodiment relates to a reserved vehicle confirmation system. FIG. 1 is a block diagram of a reserved vehicle confirmation system according to the first embodiment, FIG. 2 is a plan view of a mobile terminal according to the first embodiment, and FIG. 3 is a rear view of the mobile terminal according to the first embodiment. FIG. 4 is a sequence diagram of the reserved vehicle confirmation system according to the first embodiment, FIG. 5 is a view showing a balloon image according to the first embodiment, and FIG. 6 is information of reserved vehicles superimposed in the first embodiment. FIG. 7 is a diagram of a peripheral image that is not displayed, and FIG. 7 is a diagram illustrating determination of an imaging direction.

  As shown in FIG. 1, the reserved vehicle confirmation system 1 according to the present embodiment includes a mobile terminal 2, a management device 3, and an in-vehicle device 4. The mobile terminal 2 is, for example, a smartphone or a tablet. The mobile terminal 2 has an imaging unit 21, a communication unit 22, a position acquisition unit 23, an orientation detection unit 24, a display unit 25, and a control unit 26.

  As shown in FIG. 2, the mobile terminal 2 has a housing 5. The housing 5 has a thin rectangular parallelepiped shape. The display unit 25 is arranged on the front surface 51 of the housing 5. The display unit 25 is, for example, a liquid crystal display device such as a TFT-LCD (Thin Film Transistor-Liquid Crystal Display). A touch panel may be arranged on the front surface 51 side of the display unit 25. Buttons 27 for operation input and a speaker 28 are arranged on the front surface 51.

  As shown in FIG. 3, the image pickup means 21 is arranged on the back surface 52 of the housing 5. The imaging unit 21 is, for example, an image sensor having an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge-Coupled Device). The image capturing unit 21 captures an image of the surroundings according to a user operation or an application command.

  The communication unit 22 shown in FIG. 1 is a communication device that performs wireless communication. The mobile terminal 2 wirelessly communicates with surrounding base stations by the communication means 22. The mobile terminal 2 communicates with the management device 3 via the communication unit 22.

  The position acquisition means 23 has a GPS receiver 23A and a position calculation unit 23B. The GPS receiver 23A receives GPS radio waves output from a GPS (GLOBAL POSITIONING SYSTEM) satellite. The position calculation unit 23B calculates the position of the mobile terminal 2 based on the received GPS radio wave.

  The orientation detection means 24 has an electronic compass 24A and a direction calculation unit 24B. The electronic compass 24A is a sensor that detects a direction. The electronic compass 24A is, for example, a triaxial sensor. The direction calculation unit 24B calculates the orientation of the mobile terminal 2 based on the detection result of the electronic compass 24A. The direction calculation unit 24B can calculate the orientation of the imaging unit 21, for example. The orientation of the image capturing unit 21 is, for example, the azimuth of the lens of the image capturing unit 21 in the optical axis direction and the inclination in the optical axis direction with respect to the horizontal direction.

  The controller 26 has a relative position calculator 26A and an image generator 26B. The control unit 26 is communicatively connected to the communication unit 22, the position acquisition unit 23, the orientation detection unit 24, and the display unit 25. The relative position calculation unit 26A calculates the relative position between the mobile terminal 2 and a reserved vehicle described later. The image generation unit 26B generates a superimposed image (composite image) in which information about the reserved vehicle is superimposed on the peripheral image.

  The management device 3 has a management server 31 and a communication means 32. The management device 3 is a device that allocates the autonomous driving vehicle 10 in response to a vehicle reservation request from a user. The management device 3 of the present embodiment dispatches passenger cars such as taxis and hire cars. The self-driving vehicle 10 is a vehicle that travels automatically and, for example, is a vehicle that travels without requiring a driving operation by a passenger.

  The management server 31 has a database that stores data regarding vehicle allocation. The management server 31 stores vehicle information of vehicles to be managed by the management device 3 and user information of registered users. The vehicle information includes, for example, vehicle identification information (hereinafter, referred to as “vehicle ID”), the number of vehicles, the current position of the vehicle, the reservation status of the vehicle, and the like. The user information includes registered user identification information (hereinafter referred to as “user ID”), the user's name, the user's contact information, the user's current location, and the like.

  The communication unit 32 is a communication device that communicates with the mobile terminal 2 and the in-vehicle device 4. The management server 31 exchanges information with the mobile terminal 2 and the in-vehicle device 4 via the communication unit 32.

  The in-vehicle device 4 is a device mounted on the autonomous driving vehicle 10. The vehicle-mounted device 4 has a communication unit 41 and a position acquisition unit 42. The communication unit 41 is a communication device that performs wireless communication. The vehicle-mounted device 4 communicates with the management device 3 via the communication unit 41. The vehicle-mounted device 4 may perform wireless communication with the management device 3 via the peripheral base station by the communication unit 41, or may perform direct wireless communication with the management device 3.

  The position acquisition unit 42 has a GPS receiver 42A and a position calculation unit 42B. The GPS receiver 42A receives GPS radio waves output from GPS satellites. The position calculation unit 42B calculates the position of the autonomous driving vehicle 10 based on the received GPS radio wave.

  Below, with reference to FIG. 4, allocation of the autonomous driving vehicle 10 and confirmation of a reserved vehicle will be described. The reserved vehicle confirmation system 1 of this embodiment executes a vehicle information acquisition step Sa, a reservation step Sb, and a vehicle confirmation step Sc.

  The vehicle information acquisition step Sa is a step of acquiring information on the autonomous driving vehicle 10. In the vehicle information acquisition step Sa, the management device 3 acquires the vehicle information of the self-driving vehicle 10 by communication. Specifically, the management device 3 acquires the vehicle ID and the current position from the autonomous driving vehicle 10. The management device 3 of the present embodiment manages a plurality of autonomous driving vehicles 10. The management device 3 acquires the vehicle ID, the current position, information on the actual vehicle / empty vehicle, and the like from the vehicle-mounted device 4 of each autonomous vehicle 10. The vehicle information may be automatically transmitted by the vehicle-mounted device 4 or may be transmitted by the vehicle-mounted device 4 in response to a request from the management device 3. The management device 3 stores the acquired vehicle information in the management server 31. Therefore, the management server 31 stores the latest vehicle position of each self-driving vehicle 10, the presence / absence of passengers, and the like.

  The reservation step Sb is a step of allocating the autonomous driving vehicle 10 in response to a vehicle reservation request from the user. The reservation step Sb is started by a reservation request from the mobile terminal 2, for example. The user activates a vehicle reservation application (hereinafter, simply referred to as “reservation application”) on the mobile terminal 2. The user inputs information necessary for reservation in the reservation application. The reservation application transmits a reservation request to the management device 3 based on the input information. The reservation request includes the boarding time, the boarding / alighting place, the number of passengers, the user ID, and the like.

  Upon receiving the reservation request, the management device 3 executes the reservation process. The management server 31 associates at least one self-driving vehicle 10 with this reservation request based on the content of the received reservation request. In the following description, the autonomous driving vehicle 10 associated with the reservation request will be referred to as a “reserved vehicle 10R”. The management server 31 stores the reservation information in which the user ID and the vehicle ID of the reserved vehicle 10R are associated with each other. The reservation information includes a boarding time, a boarding / alighting place, the number of passengers, and the like in addition to the user ID and the vehicle ID.

  The management device 3 transmits the reservation information to the vehicle-mounted device 4 of the reserved vehicle 10R. Reservation vehicle 10R that has received the reservation information transmits confirmation information indicating that the reservation information has been received to management device 3. The reserved vehicle 10R performs automatic driving toward the boarding place so as to reach the boarding place at the reserved boarding time. When receiving the confirmation information from the reserved vehicle 10R, the management device 3 transmits the reservation completion information indicating that the reservation is completed to the mobile terminal 2. Upon receiving the reservation completion information, the mobile terminal 2 displays a reservation completion message on the display unit 25.

  The vehicle confirmation step Sc is a step of confirming the reserved vehicle 10R. In the vehicle confirmation step Sc, the management device 3 transmits the vehicle information of the reserved vehicle 10R in response to the confirmation request from the mobile terminal 2. The vehicle confirmation step Sc is started, for example, by the first confirmation request from the mobile terminal 2. The user activates a vehicle confirmation application (hereinafter, simply referred to as “confirmation application”) on the mobile terminal 2. The reservation application and the confirmation application may be separate applications or the same application.

  In the confirmation application, the mobile terminal 2 transmits a confirmation request to the management device 3. The confirmation request includes at least the user ID, and may further include the current position of the user. When receiving the confirmation request, the management device 3 specifies the reserved vehicle 10R associated with the user ID, based on the user ID included in the confirmation request.

  Here, the management device 3 executes the vehicle information acquisition step Sa in parallel with the vehicle confirmation step Sc. Therefore, the management device 3 regularly communicates with the vehicle-mounted device 4 to acquire the position of each autonomous vehicle 10. The management device 3 updates the vehicle position information in the database every time the position of each self-driving vehicle 10 is acquired.

  The management server 31 reads the latest position information of the reserved vehicle 10R from the database and generates reserved vehicle information. The management server 31 transmits the generated reserved vehicle information to the mobile terminal 2. The reserved vehicle information includes the vehicle ID of the reserved vehicle 10R and the latest position information of the reserved vehicle 10R. That is, the management server 31 transmits to the mobile terminal 2 the position of the reserved vehicle 10R and the vehicle ID of the reserved vehicle 10R that were received last from the reserved vehicle 10R. The mobile terminal 2 that has received the reserved vehicle information displays an image on the display unit 25 as described below so as to facilitate confirmation of the reserved vehicle 10R.

  In the confirmation application, the mobile terminal 2 displays the peripheral image captured by the image capturing unit 21 on the display unit 25. The peripheral image is an image of the periphery of the mobile terminal 2. The peripheral image displayed on the display unit 25 is updated at any time. For example, the control unit 26 causes the image capturing unit 21 to capture a peripheral image at regular intervals. The control unit 26 updates the display image on the display unit 25 every time a new peripheral image is captured by the image capturing unit 21.

  In the confirmation application, the control unit 26 determines whether or not the image pickup means 21 is directed toward the reserved vehicle 10R when the peripheral image is picked up. In the following description, "determination as to whether or not the imaging means 21 was directed toward the reserved vehicle 10R when capturing the peripheral image" is simply referred to as "determination of imaging direction". The determination of the imaging direction is a simple determination of whether or not the reserved vehicle 10R is shown in the peripheral image. The control unit 26 determines the imaging direction based on the position information of the reserved vehicle 10R, the position information of the mobile terminal 2, and the orientation of the mobile terminal 2. The position information of the reserved vehicle 10R used for the determination of the imaging direction is the information acquired from the communication unit 22. Further, the position information and the orientation of the mobile terminal 2 used for the determination of the imaging direction are acquired from the position acquisition means 23 and the orientation detection means 24.

  In the following description, determining that the image pickup means 21 is directed toward the reserved vehicle 10R at the time of capturing the peripheral image is referred to as “affirmative determination”, and the image pickup means 21 is directed toward the reserved vehicle 10R at the time of capturing the peripheral image. Determining that it was not directed is referred to as "negative determination". When a positive determination is made, the control unit 26 superimposes the balloon image 62 on the peripheral image 61, as shown in FIG. The peripheral image 61 shown in FIG. 5 includes an image 61a of the reserved vehicle 10R. The image generation unit 26 </ b> B superimposes the balloon image 62 on the peripheral image 61 acquired from the imaging unit 21 to generate the composite image 63.

  The balloon image 62 is information on the reserved vehicle 10R. The balloon image 62 of the present embodiment is an image blown out from the image 61a of the reserved vehicle 10R. The balloon image 62 includes a message wording 62a including characters and symbols. The message wording 62a of the present embodiment is a message wording, a greeting wording, or a calling wording for the user. The control unit 26 displays, on the display unit 25, a message indicating that the reserved vehicle 10R has arrived, such as “Welcome XX”. The message wording 62a is preferably a message that includes the user's name. The wording 62a of the message may be a call message such as "Please take a ride" or a reservation confirmation message such as "This vehicle is Mr. XX's reserved vehicle."

  When the determination of the imaging direction is negative, the control unit 26 displays the peripheral image 71 on the display unit 25 without superimposing the balloon image 62, as illustrated in FIG. 6. The vehicle 10A shown in FIG. 6 is the autonomous driving vehicle 10 that was near the user at the time of image capturing, but is not the reserved vehicle 10R. The user points the imaging means 21 at the vehicle 10A in order to confirm whether or not the vehicle 10A is the reserved vehicle 10R. The position of the reserved vehicle 10R at this time is a position outside the imaging range of the imaging unit 21. That is, when the peripheral image 71 shown in FIG. 6 was captured, the direction of the reserved vehicle 10R with the mobile terminal 2 as a base point was different from the direction in which the imaging means 21 was directed. In this case, the control unit 26 makes a negative determination in the determination of the imaging direction.

  As a result of the negative determination, the control unit 26 displays the peripheral image 71 on the display unit 25, but does not display the balloon image 62. As shown in FIG. 6, since the balloon image 62 is not displayed for the image 71a of the vehicle 10A, the user can easily know that the vehicle 10A shown in the peripheral image 71 is different from the reserved vehicle 10R.

  Here, the determination of the imaging direction will be described with reference to FIG. 7. FIG. 7 shows the portable terminal 2 and the reserved vehicle 10R as viewed from above in the vertical direction. FIG. 7 shows the image pickup range IR of the image pickup means 21. The imaging range IR is determined according to the angle of view θ of the imaging unit 21 and the direction of the optical axis OX of the imaging unit 21. The control unit 26 calculates the imaging range IR based on the information acquired from the orientation detection unit 24. Further, the control unit 26 calculates the relative position of the reserved vehicle 10R with respect to the mobile terminal 2. Specifically, the relative position calculation unit 26A calculates the relative position of the reserved vehicle 10R with respect to the portable terminal 2 from the coordinate value of the position PT of the portable terminal 2 and the coordinate value of the position PC of the reserved vehicle 10R.

  The relative position calculation unit 26A determines whether or not the position PC of the reserved vehicle 10R is within the imaging range IR based on the calculated relative position. When the reserved vehicle 10R is located at the position shown by the solid line in FIG. 7, a positive determination is made that the position PC1 of the reserved vehicle 10R is within the imaging range IR. On the other hand, when the reserved vehicle 10R is at the position shown by the broken line in FIG. 7, a negative determination is made that the position PC2 of the reserved vehicle 10R is not within the imaging range IR.

  When the determination is affirmative, the control unit 26 superimposes the balloon image 62 on the peripheral image 61 to generate the composite image 63. At this time, the image generation unit 26B determines the position of the balloon image 62 so that the balloon image 62 is blown out from the image 61a of the reserved vehicle 10R. The position of the balloon image 62 is, for example, a position above the image 61a of the reserved vehicle 10R. The position of the image 61a in the horizontal direction of the image is determined, for example, according to the deviation of the position PC of the reserved vehicle 10R with respect to the optical axis OX. For example, if the position PC of the reserved vehicle 10R is shifted to the right with respect to the optical axis OX, the position of the balloon image 62 is set to the right of the image center. The position of the image 61a in the image vertical direction is determined, for example, according to the inclination of the optical axis OX. For example, the position of the image 61a is determined according to the elevation angle or the depression angle of the optical axis OX.

  Note that the relative position calculation unit 26A may further consider the distance L1 from the mobile terminal 2 to the reserved vehicle 10R in the determination of the imaging direction. The distance L1 is, for example, a linear distance from the position PT of the mobile terminal 2 to the position PC of the reserved vehicle 10R. For example, when the distance L1 is larger than the determination threshold, the relative position calculation unit 26A makes a negative determination in the determination of the imaging direction. In this case, a negative determination is made even if the position PC of the reserved vehicle 10R is within the imaging range IR.

  The determination threshold value is, for example, a value that determines whether the reserved vehicle 10R is approaching the mobile terminal 2 to a distance at which the imaging unit 21 can image the reserved vehicle 10R. When the reserved vehicle 10R is too far away from the mobile terminal 2, the imaging unit 21 may not be able to capture the image of the reserved vehicle 10R. In other words, the image 61a of the reserved vehicle 10R in the peripheral image 61 may be too small for the user to confirm the reserved vehicle 10R. Further, if the message 62a of the message as shown in FIG. 5 is displayed before the reserved vehicle 10R approaches the user, the user may feel uncomfortable.

  In the present embodiment, the message 62a of the message can be prevented from being displayed unless the reserved vehicle 10R is close to the mobile terminal 2 within a distance that can be imaged by the imaging unit 21. By doing so, the confirmation of the reserved vehicle 10R by the user can be further facilitated.

  The determination threshold value of the present embodiment is, for example, a value for determining whether or not the image 61a of the reserved vehicle 10R in the peripheral image 61 is recognizable. The determination threshold is, for example, a boundary value of whether or not the width or height of the image 61a becomes a predetermined value or more. The width of the image 61a is, for example, the number of pixels in the image horizontal direction on the display unit 25, and the height of the image 61a is the number of pixels in the image vertical direction on the display unit 25. The determination threshold may be set to a value such that the width of the image 61a is more than half the width of the display unit 25, for example.

  According to the reserved vehicle confirmation system 1 of the present embodiment, the user can easily confirm the reserved vehicle 10R. For example, when there is a vehicle that is considered to be the reserved vehicle 10R near the user, it is possible to know whether or not the reserved vehicle 10R is just by pointing the imaging unit 21 toward the vehicle. Further, when the plurality of autonomous driving vehicles 10 are near the user, it is possible to easily determine which autonomous driving vehicle 10 is the reserved vehicle 10R simply by pointing the imaging means 21 toward the plurality of autonomous driving vehicles 10. You can check.

  As described above, the reserved vehicle confirmation system 1 according to the present embodiment includes the mobile terminal 2. The mobile terminal 2 includes an imaging unit 21, a communication unit 22, a position acquisition unit 23, an orientation detection unit 24, a display unit 25, and a control unit 26. The control unit 26 acquires the position information of the reserved vehicle 10R reserved by the user of the mobile terminal 2 using the communication unit 22. The control unit 26 acquires the position information of the mobile terminal 2 from the position acquisition unit 23, and acquires the orientation of the mobile terminal 2 from the orientation detection unit 24.

  The control unit 26 displays the composite image 63 on the display unit 25 based on the position information of the reserved vehicle 10R, the position information of the mobile terminal 2, and the orientation of the mobile terminal 2. The composite image 63 is an image in which the information of the reserved vehicle 10R is superimposed on the peripheral image 61 captured by the image capturing unit 21. In the present embodiment, the balloon image 62 is superimposed on the peripheral image 61 to generate the composite image 63. A message from the reserved vehicle 10R to the user is displayed in the balloon image 62 as information on the reserved vehicle 10R.

  By displaying the information of the reserved vehicle 10R based on the position information of the reserved vehicle 10R and the position information and the orientation of the mobile terminal 2, the user can easily confirm the reserved vehicle 10R. The control unit 26 may change the information displayed on the display unit 25 according to the position information of the reserved vehicle 10R, for example. With this, it is possible to provide the user with appropriate information according to the current position of the reserved vehicle 10R.

  The control unit 26 may change the information displayed on the display unit 25 according to at least one of the position information of the mobile terminal 2 and the orientation of the mobile terminal 2. As an example thereof, the control unit 26 may change the information (image to be superimposed on the peripheral image 61) displayed on the display unit 25 according to the orientation of the mobile terminal 2. By doing so, it is possible to provide the user with appropriate information according to the orientation of the mobile terminal 2. For example, when the orientation of the mobile terminal 2 changes, the reserved vehicle 10R, which was outside the imaging range IR, may come inside the imaging range IR. In such a case, the control unit 26 may fade-in display the information of the reserved vehicle 10R. On the contrary, when the reserved vehicle 10R inside the imaging range IR goes outside the imaging range IR, the control unit 26 may fade out the information of the reserved vehicle 10R.

  The control unit 26 of the present embodiment superimposes the information of the reserved vehicle 10R on the peripheral image 61 when the imaging unit 21 is directed toward the reserved vehicle 10R at the time of capturing the peripheral image 61. As a result, the user can be notified that the reserved vehicle 10R is in the direction in which the imaging unit 21 is facing. Therefore, the user can easily confirm the reserved vehicle 10R.

  The control unit 26 may change the image to be superimposed on the peripheral image 61 based on the distance that the imaging unit 21 can image. For example, when the distance from the mobile terminal 2 to the reserved vehicle 10R is larger than the distance that the imaging unit 21 can image, the control unit 26 indicates that the reserved vehicle 10R is located farther than the imageable distance. The message may be displayed on the display unit 25. In this case, the same message may be displayed regardless of whether the imaging means 21 is directed to the reserved vehicle 10R.

  When the reserved vehicle 10R is approaching the mobile terminal 2 to a distance where the imaging unit 21 can image the reserved vehicle 10R, the control unit 26 superimposes information indicating that the reserved vehicle 10R has arrived on the peripheral image 61. The information that the reserved vehicle 10R has arrived is, for example, the wording 62a of the message shown in FIG. In this way, the display unit 25 displays the image 61a of the reserved vehicle 10R and the information of the reserved vehicle 10R. Therefore, the user can easily confirm the reserved vehicle 10R.

  The control unit 26 of the present embodiment superimposes the balloon image 62 blown out from the image 61a of the reserved vehicle 10R on the peripheral image 61. By doing so, the position of the reserved vehicle 10R can be more clearly shown to the user.

  The control unit 26 of the present embodiment causes the reserved vehicle 10R to superimpose a message format message for the user on the peripheral image 61. By displaying the message format message from the reserved vehicle 10R on the display unit 25, it is possible to cultivate the user's familiarity with the reserved vehicle 10R.

[Second Embodiment]
The second embodiment will be described with reference to FIGS. 8 and 9. In the second embodiment, constituent elements having the same functions as those described in the first embodiment are designated by the same reference numerals, and redundant description will be omitted. FIG. 8 is a diagram showing a mobile terminal according to the second embodiment, FIG. 9 is a block diagram of the mobile terminal according to the second embodiment, and FIG. 10 is a diagram illustrating direction determination according to the second embodiment. .. The second embodiment is different from the first embodiment in that, for example, a glasses-type wearable terminal 6 is used as a mobile terminal.

  As shown in FIG. 8, the wearable terminal 6 is worn on the head of the user 100. The wearable terminal 6 has a light transmissive display unit 7. The display unit 7 has, for example, a liquid crystal that displays an image. The display unit 7 is located in front of the eyes of the user 100 when the wearable terminal 6 is worn by the user 100.

  As shown in FIG. 9, the wearable terminal 6 has a communication unit 22, a position acquisition unit 23, an orientation detection unit 24, and a control unit 26 in addition to the display unit 7. The communication unit 22, the position acquisition unit 23, the orientation detection unit 24, and the control unit 26 are housed in the housing 8 shown in FIG. The housing 8 is arranged on the side of the display unit 7.

  The control unit 26 of the second embodiment acquires the position information of the reserved vehicle 10R by the communication unit 22 as in the first embodiment. The control unit 26 also acquires the position information of the wearable terminal 6 from the position acquisition unit 23, and detects the orientation of the wearable terminal 6 from the orientation detection unit 24. The orientation of the wearable terminal 6 is, for example, the optical axis direction of the lens of the display unit 7.

  When the display unit 7 is directed toward the reserved vehicle 10R, the control unit 26 displays the balloon image 62 on the display unit 7 as illustrated in FIG. In FIG. 8, the reserved vehicle 10R is the actual reserved vehicle 10R seen through the display unit 7. The balloon image 62 is an image displayed on the display unit 7. The control unit 26 determines the display position of the balloon image 62 so that the balloon image 62 blows out from the reserved vehicle 10R.

  The control unit 26 determines whether or not to display the balloon image 62, as described with reference to FIG. 10, for example. FIG. 10 shows the predetermined range VR. The predetermined range VR is a range of a predetermined angle α about the optical axis OX of the display unit 7. When the position of the reserved vehicle 10R is within the predetermined range VR, the control unit 26 displays the balloon image 62 on the display unit 7 as shown in FIG. In other words, the control unit 26 displays the balloon image 62 on the display unit 7 when the reserved vehicle 10R is located in front of the display unit 7. On the other hand, when the position of the reserved vehicle 10R is not within the predetermined range VR, the control unit 26 does not display the balloon image 62 on the display unit 7.

  The predetermined angle α may be, for example, an angle corresponding to the effective visual field, or an angle including the effective visual field and the peripheral visual field. The control unit 26 determines the display position of the balloon image 62 based on the relative position of the reserved vehicle 10R with respect to the wearable terminal 6 and the orientation of the wearable terminal 6.

  The reserved vehicle confirmation system 1 of the present embodiment displays the balloon image 62 according to the orientation of the wearable terminal 6. That is, the balloon image 62 is displayed on the display unit 25 according to the orientation of the face of the user 100. The reserved vehicle confirmation system 1 displays the balloon image 62 on the display unit 25 when the user 100 is facing the reserved vehicle 10R. Therefore, the user 100 can easily find the reserved vehicle 10R simply by looking around. For example, when there are a plurality of autonomous driving vehicles 10 around the user 100, the reserved vehicle 10R can be found only by looking around these autonomous driving vehicles 10.

  As described above, the reserved vehicle confirmation system 1 of the present embodiment includes the wearable terminal 6. The wearable terminal 6 is a glasses-type terminal, and includes a communication unit 22, a position acquisition unit 23, a light-transmissive display unit 7, and a control unit 26. The control unit 26 acquires the position information of the reserved vehicle 10R reserved by the user 100 by the communication unit 22. The control unit 26 acquires the position information and the direction of the wearable terminal 6 from the position acquisition unit 23 and the direction detection unit 24.

  The control unit 26 displays the information of the reserved vehicle 10R on the display unit 7 based on the position information of the reserved vehicle 10R and the position information and the orientation of the wearable terminal 6. Therefore, the reserved vehicle confirmation system 1 of the present embodiment can facilitate the confirmation of the reserved vehicle 10R by the user 100.

  The control unit 26 of the present embodiment displays the information of the reserved vehicle 10R on the display unit 7 when the display unit 7 is directed toward the reserved vehicle 10R. Therefore, it is possible to easily inform the user 100 that the reserved vehicle 10R is in the direction in which the user 100 is facing. Note that the control unit 26 may change the image to be superimposed on the peripheral image 61 variously according to the orientation of the display unit 7.

  When the reserved vehicle 10R is close to the wearable terminal 6 within a distance where the user 100 can visually recognize the reserved vehicle 10R, the control unit 26 preferably displays information indicating that the reserved vehicle 10R has arrived on the display unit 7.

  The control unit 26 may display, in the display unit 7, a message format message for the user 100 when the reserved vehicle 10R is located in the line-of-sight direction of the user 100. In this way, when the user 100 looks at the reserved vehicle 10R, the message format message is displayed. Further, when the user 100 is looking in a direction different from that of the reserved vehicle 10R, the message format message is not displayed. Therefore, it becomes clearer that the displayed message is a message directed from the reserved vehicle 10R to the user 100.

  The reserved vehicle confirmation system 1 may have a head mounted display instead of the wearable terminal 6. In this case, the head mounted display has an image pickup unit 21 in addition to the display unit 7, the communication unit 22, the position acquisition unit 23, the orientation detection unit 24, and the control unit 26. The head mounted display displays the peripheral image captured by the image capturing unit 21 on the display unit 7. As the display unit 7, for example, a non-transmissive display device is used. The appearance of the head mounted display is similar to that of the wearable terminal 6, for example.

  The control unit 26 of the head mounted display, based on the position information of the reserved vehicle 10R, the position information of the head mounted display, and the orientation of the head mounted display, the information of the reserved vehicle 10R in the peripheral image captured by the imaging unit 21. An image in which is superimposed is generated, and the generated image is displayed on the display unit 7. The displayed composite image is, for example, an image similar to the composite image 63 shown in FIG. For example, the control unit 26 superimposes the balloon image 62 and the like on the peripheral image 61 when the imaging unit 21 is directed toward the reserved vehicle 10R at the time of capturing the peripheral image 61. Note that the control unit 26 may change the image to be superimposed on the peripheral image 61 according to the orientation of the display unit 7. The control unit 26 may change the image to be superimposed on the peripheral image 61 based on the distance that the imaging unit 21 can image.

[First Modification of Embodiment]
A first modified example of the first embodiment and the second embodiment will be described. FIG. 11 is a diagram showing a balloon image according to the first modified example of the embodiment. The difference between the first modification and the first and second embodiments is that, for example, different messages are displayed according to the position of the reserved vehicle 10R. Here, an example in which the display message is changed in the mobile terminal 2 according to the first embodiment will be described.

  FIG. 11 shows an example of the balloon image 62 displayed when the reserved vehicle 10R is distant. The control unit 26 determines a message to be displayed according to the distance L1 from the mobile terminal 2 to the reserved vehicle 10R when the imaging unit 21 is directed to the reserved vehicle 10R. For example, when the reserved vehicle 10R is located far away and is moving toward the boarding place, the control unit 26 displays the information 62b regarding the estimated arrival time in the balloon image 62. The information 62b related to the estimated arrival time is, for example, the phrase “Mr. XX, I will arrive after ΔΔ minutes”.

  By displaying the information 62b about the estimated arrival time, the user can confirm that the reserved vehicle 10R is heading to the boarding place as instructed. In addition, the user can effectively use the time until the estimated arrival time.

  When the reserved vehicle 10R arrives at the boarding place, the control unit 26 displays the message 62a (see FIG. 5) of the same message as in the first embodiment on the balloon image 62. According to the first modified example, by displaying a message according to the distance L1 from the mobile terminal 2 to the reserved vehicle 10R, it becomes possible to provide more appropriate information to the user.

  According to the first modification, the user can confirm in advance from which direction the reserved vehicle 10R is approaching the boarding place. For example, the user can cross the road in advance so that the reserved vehicle 10R can easily get on.

  A similar message may be displayed on the wearable terminal 6 of the second embodiment. When the wearable terminal 6 is directed toward the reserved vehicle 10R, the control unit 26 of the wearable terminal 6 displays a different message on the display unit 7 according to the distance from the wearable terminal 6 to the reserved vehicle 10R. When the reserved vehicle 10R is located far away, the control unit 26 displays, for example, the information 62b regarding the estimated arrival time on the display unit 7.

  Similar messages may be displayed on the head mounted display. When the image pickup means 21 of the head mounted display is directed toward the reserved vehicle 10R, the control unit 26 of the head mounted display displays a different message on the display unit 7 depending on the distance from the head mounted display to the reserved vehicle 10R. To do.

[Second Modification of Embodiment]
A second modification of the first and second embodiments will be described. FIG. 12 is a diagram showing a guide message according to a second modification of the embodiment, and FIG. 13 is a diagram showing a balloon image according to the second modification of the embodiment. The second modification is different from the first and second embodiments in that a guide message 64 for guiding the position of the reserved vehicle 10R is displayed, for example. An example of displaying the guide message 64 on the mobile terminal 2 according to the first embodiment will be described with reference to FIG.

  As illustrated in FIG. 12, the control unit 26 displays the guide message 64 on the display unit 25 when the mobile terminal 2 is directed toward the vehicle 10A different from the reserved vehicle 10R. The guide message 64 is a message informing in which direction the reserved vehicle 10R is in the current direction of the mobile terminal 2. For example, when the reserved vehicle 10R is located on the right side of the vehicle 10A as viewed from the user, the guide message 64 displays a rightward arrow 64a. In the guide message 64, in addition to the arrow 64a, a wording 64b for guiding the position of the reserved vehicle 10R may be displayed.

  The user turns the mobile terminal 2 toward the reserved vehicle 10R on the right side according to the guide message 64. By pointing the mobile terminal 2 toward the reserved vehicle 10R, a balloon image 62 as shown in FIG. 13 is displayed. The image 65a of the reserved vehicle 10R is included in the peripheral image 65 due to the mobile terminal 2 being turned to the reserved vehicle 10R. The control unit 26 superimposes the balloon image 62 on the peripheral image 65 and displays the balloon image 62 on the display unit 25.

  In this way, the control unit 26 of the second modified example changes the image to be superimposed on the peripheral image according to the orientation of the mobile terminal 2. According to the second modification, the user can quickly find the reserved vehicle 10R. For example, when there are a plurality of autonomous driving vehicles 10 at the boarding place, it is possible to find the reserved vehicle 10R from the plurality of autonomous driving vehicles 10 in a short time.

  A similar guide message may be displayed on the wearable terminal 6 of the second embodiment. The control unit 26 of the wearable terminal 6 displays the guide message 64 on the display unit 7 when the wearable terminal 6 is oriented in a direction different from the reserved vehicle 10R.

  A similar guide message may be displayed on the head mounted display. The control unit 26 of the head mounted display displays the guide message 64 on the display unit 7 when the imaging unit 21 of the head mounted display is directed in a direction different from that of the reserved vehicle 10R.

[Third Modification of Embodiment]
A third modified example of the first embodiment and the second embodiment will be described. The self-driving vehicle 10 is not limited to taxis and hires. The self-driving vehicle 10 may be a vehicle shared in a vehicle sharing service (car sharing), for example.

  The self-driving vehicle 10 may be a vehicle that transports cargo. In this case, in the reservation step Sb, the user reserves the place and time to load the luggage on the self-driving vehicle 10, the destination, and the like. The user loads luggage on the reserved vehicle 10R that has arrived at the designated place. The user can easily confirm the reserved vehicle 10R by the confirmation application. The reserved vehicle 10R that has received the parcel from the user may carry the parcel to the destination or may carry the parcel to the distribution center.

  The image displayed on the display unit 25 or the display unit 7 is not limited to the balloon image 62. The image displayed on the display unit 25 or the display unit 7 may be any image that allows the user to confirm the reserved vehicle 10R. The control unit 26 may display, for example, a mark surrounding the reserved vehicle 10R on the display unit 25 or the display unit 7.

  The contents disclosed in each of the above-described embodiments and modifications can be appropriately combined and executed.

1 Reservation vehicle confirmation system 2 Mobile terminal 3 Management device 4 In-vehicle device 5 Case 6 Wearable terminal 7 Display section 8 Case 10 Self-driving vehicle 10A vehicle 10R Reserved vehicle 21 Imaging means 22 Communication means 23 Position acquisition means 23A GPS receiver 23B Position calculation unit 24 Direction detection unit 24A Electronic compass 24B Direction calculation unit 25 Display unit 26 Control unit 26A Relative position calculation unit 26B Image generation unit 31 Management server 32 Communication unit 41 Communication unit 42 Position acquisition unit 42A GPS receiver 42B Position calculation unit 61,65 Surrounding images 61a, 65a Image of reserved vehicle 62 Balloon image 62a Message text 62b Information about estimated arrival time 63 Composite image 64 Guide message 71 Surrounding image 71a Vehicle image 100 User IR imaging range OX Optical axis PC Reserved vehicle Position PT Position of mobile terminal VR Predetermined range α Predetermined angle θ Angle of view

Claims (11)

Including a mobile terminal having an imaging unit, a communication unit, a position acquisition unit, an orientation detection unit, a display unit, and a control unit,
The control unit acquires, by the communication unit, position information of a reserved vehicle which is an autonomous driving vehicle reserved by a user of the mobile terminal, acquires position information of the mobile terminal from the position acquisition unit, and the orientation detection unit. Detects the orientation of the mobile terminal from
The control unit superimposes the information of the reserved vehicle on the peripheral image captured by the imaging unit based on the position information of the reserved vehicle, the position information of the portable terminal, and the orientation of the portable terminal. A reserved vehicle confirmation system, which generates an image and displays the superimposed image on the display unit. The reserved vehicle confirmation system according to claim 1, wherein the control unit changes the image to be superimposed on the peripheral image according to the orientation of the mobile terminal. The reserved vehicle according to claim 1 or 2, wherein the control unit superimposes information on the reserved vehicle on the peripheral image when the imaging unit is directed toward the reserved vehicle at the time of capturing the peripheral image. Confirmation system. The reserved vehicle confirmation system according to any one of claims 1 to 3, wherein the control unit changes an image to be superimposed on the peripheral image based on a distance that the imaging unit can image. The control unit superimposes information indicating that the reserved vehicle has arrived on the peripheral image when the reserved vehicle is close to the mobile terminal to a distance at which the imaging unit can image the reserved vehicle. The reserved vehicle confirmation system described in. The reserved vehicle confirmation system according to claim 3, wherein the control unit superimposes a balloon image blown out from the image of the reserved vehicle on the peripheral image. The reserved vehicle confirmation system according to any one of claims 1 to 6, wherein the control unit superimposes a message format message from the reserved vehicle to the user on the peripheral image. Including a glasses-type wearable terminal having a communication unit, a position acquisition unit, an orientation detection unit, a light-transmissive display unit, and a control unit,
The control unit acquires, by the communication unit, position information of a reserved vehicle that is an autonomous driving vehicle reserved by a user of the wearable terminal, acquires position information of the wearable terminal from the position acquisition unit, and the orientation detection unit. Detect the orientation of the wearable terminal from
The reservation section displays the reservation vehicle information on the display section based on the position information of the reserved vehicle, the position information of the wearable terminal, and the orientation of the wearable terminal. Vehicle confirmation system. The reserved vehicle confirmation system according to claim 8, wherein the control unit displays information of the reserved vehicle on the display unit when the display unit is directed toward the reserved vehicle. The control unit displays information indicating that the reserved vehicle has arrived on the display unit when the reserved vehicle is close to the wearable terminal to a distance at which the user can visually recognize the reserved vehicle. Reservation vehicle confirmation system described. A head mount display having an image pickup means, a communication means, a position acquisition means, an orientation detection means, a display section, and a control section;
The control unit acquires, by the communication unit, position information of a reserved vehicle that is an autonomous driving vehicle reserved by a user of the head-mounted display, acquires position information of the head-mounted display from the position acquisition unit, and determines the orientation. Detecting the orientation of the head mounted display from the detection means,
The control unit superimposes the information of the reserved vehicle on the peripheral image captured by the imaging unit based on the position information of the reserved vehicle, the position information of the head mounted display, and the orientation of the head mounted display. A reserved vehicle confirmation system, wherein the reserved image is generated, and the superimposed image is displayed on the display unit.

Images