JP2021018578A - Control device used for autonomous driving bus - Google Patents

Abstract

To provide novel technology to operate an autonomous driving bus smoothly.SOLUTION: Control devices 60 and 60a estimate a first time T1 which is an estimated arrival time of a user to a bus stop from received boarding information; estimate a second time T2 which is an estimated arrival time of an autonomous driving bus to a bus stop; acquire a third time T3 which is a scheduled departure time; and use the first time, the second time, and the third time to determine a stop or passage of the autonomous driving bus at the bus stop, and in the case of the stop, determine a departure time. If the second time is before the third time, the stop is determined; furthermore, if the first time is before the third time, the departure time is determined to be the third time; if the first time is later than the third time and a difference therebetween is less than or equal to a first margin time ST1, the departure time is determined to be a time based on the first time; and if the first time is later than the third time and a difference therebetween is larger than the first margin time, the departure time is determined to be the third time.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a control device used for an autonomous driving bus.

In Patent Document 1, the presence or absence of waiting passengers at the bus stop is detected by the waiting passenger detecting means installed at each bus stop and transmitted to the monitoring station, and the bus stops at the bus stop where the waiting passengers are based on the detection signal. A bus operation system is described in which an instruction is transmitted from a monitoring station to a bus and a stop instruction at the corresponding bus stop is displayed on an instruction display means in the bus.

Japanese Unexamined Patent Publication No. 8-63697

In the technique described in Patent Document 1, the driver can recognize the bus stop to be stopped in advance based on the displayed information, so that it is possible to prevent the occurrence of erroneous bus stop or erroneous passage. .. However, this technology does not consider users who have not arrived at the bus stop among users who wish to board the bus. Therefore, for example, a user who arrives near the bus stop immediately after the bus arrives at the bus stop. May not be able to get on the bus. Furthermore, in the automatic driving bus, there is a possibility that the driver or conductor who judges the stop or passing at the stop is not on board, so there is an intention to get on the bus, which was done by the driver or conductor. It is more difficult to identify the user and determine whether or not to stop the bus at the stop, and when the bus is stopped, fine-tune the departure time to determine whether or not to allow the user to board the bus. Therefore, in the autonomous driving bus, a new technology for smoothly operating the autonomous driving bus has been desired while providing convenience for users who wish to board the bus.

The present disclosure has been made to solve the above-mentioned problems, and can be realized in the following forms.

According to the first aspect of the present disclosure, a control device (60, 60a) for an automatic driving bus (10, 10a) is provided. This control device includes boarding information including a boarding request signal indicating a boarding request of a user who wishes to board the automatic driving bus from the bus stop (12) of the automatic driving bus, and a transmission position of the boarding desired signal. A boarding information receiving unit (64) that receives the bus stop, and a first time estimating unit (61) that estimates the first time (T1), which is the expected arrival time of the user at the bus stop, using the boarding information. The second time estimation unit (62) that estimates the second time (T2), which is the estimated arrival time of the automatic driving bus to the bus stop, using the traveling condition of the road on which the automatic driving bus travels, and the automatic driving bus. Using the timetable of the driving bus, the third time acquisition unit (63) for acquiring the third time (T3), which is the scheduled departure time at the stop of the automatic driving bus, and the first time and the second time. And the third time are used to determine whether to stop or pass the automatic driving bus at the stop, and when stopping at the stop, the departure time from the stop is determined. When the control unit (71, 71a) causes the automatic operation device (30) to operate the automatic operation bus based on the determination, and the second time is before the third time (S50, YES), the above. The stop at the bus stop is determined (S55), and if the first time is before the third time (S60, YES), the departure time is determined to be the third time (S80), and the first time is determined. The time is later than the third time (S60, NO), and the difference between the first time and the third time is set by using the allowable limit of delay with respect to the timetable of the automatic operation bus. If it is less than or equal to the time (ST1) (S70, YES), the departure time is determined to be the time (T1 + α) based on the first time (S90), and the first time is later than the third time (S60). , NO), when the difference between the first time and the third time is larger than the first margin time (S70, NO), the departure time is determined to be the third time (S80).

According to this form of control device, when the autonomous driving bus arrives at the bus stop before the third time specified in the timetable, the user who arrives at the bus stop later within the range of the first spare time from the third time. It is possible to prevent the operation of the automatic driving bus from being delayed from the timetable while getting on the automatic driving bus for the convenience of the user.

According to the second aspect of the present disclosure, a control device (60b, 60c) for an automatic driving bus (10b, 10c, 10d) is provided. This control device gets on the autonomous driving bus while the autonomous driving bus arrives at the stop (12), stops traveling, and the doors (21, 22) of the autonomous driving bus are open. The disembarkation intention reception unit (65) that accepts the disembarkation intention of the user (u) and the first elapsed time (Fet) after the door is opened have reached a predetermined first time (t1). When at least one of the predetermined conditions including the above is satisfied, the notification device (25) provided in the automatic driving bus is notified of departure information indicating that the automatic driving bus is about to depart (66). , 66c), and the door opening / closing device (31) provided in the automatic driving bus is executed to open / close the door after arriving at the stop and stopping the traveling, and closing the door after the departure information is notified. At least one of the opening / closing control unit (67) to be operated, the time until the first elapsed time reaches the first time, and the time after the departure information is notified until the door is closed. It is provided with a reset unit (68) that resets the first elapsed time when the intention to get off is received in between.

According to this form of the control device, the departure information is notified after at least one of the predetermined conditions including that the first elapsed time since the door is opened has reached the first time is satisfied. , A user who has not been able to get off the autonomous driving bus due to congestion in the vehicle can know that the autonomous driving bus will soon depart. Therefore, it is possible to urge users who have not been able to get off the autonomous driving bus to show their intention to get off. In addition, when the intention to get off is accepted at least between the time when the first elapsed time reaches the first time and the time when the door is closed after the departure information is notified, the first Since the elapsed time is reset, it is possible to prevent a user who intends to get off the bus from getting off the autonomous driving bus.

According to the third aspect of the present disclosure, the control device (60e) of the automatic driving bus (10e) is provided. This control device acquires the presence or absence of an object (u, n) in the door area (A1, A2), which is an area near the door required for the doors (21, 22) of the automatic operation bus to open and close. 1 acquisition unit (75), a second acquisition unit (76) that acquires the in-vehicle condition including the position of an object in the vehicle of the automatic driving bus other than the door area, and an instruction signal for opening or closing the door. When the instruction signal acquisition unit (77) and the instruction signal are acquired and it is acquired that an object exists in the door area, the acquired in-vehicle condition is used to other than the door area. Determine the destination region (A3, A4, A5) where the abundance density of the object in the vehicle is relatively low, and determine the destination of the object in the vehicle for moving the object in the door region to other than the door region. A unit (78) and a notification unit (79) that notifies a notification device (25e) provided in the automatic operation bus of movement information for moving an object in the door region based on the determined movement destination. Be prepared.

According to the control device of this form, when the instruction signal for opening or closing the door is acquired and it is acquired that the object exists in the door area, the moving destination determining unit is in the acquired vehicle. The situation is used to determine a marginal region where the presence density of the object other than the door region is relatively low, and to determine the destination of the object in the vehicle for moving the object in the door region to other than the door region. In addition, the notification unit causes the notification device to notify the movement information for moving the object in the door region based on the determined movement destination. Therefore, the object in the door region can be moved to open / close the door in the automatic driving bus. As a result, the automatic driving bus can be operated smoothly.

In the present disclosure, in addition to the control device of the autonomous driving bus, a computer program, a control method of the autonomous driving bus, a vehicle equipped with the control device, a system including the control device and the mobile terminal, a system including the control device and the management center, etc. It can be realized in the form.

The figure which shows the automatic driving bus in 1st Embodiment. The flowchart which shows the process executed by the control apparatus of 1st Embodiment. The flowchart which shows the process executed by the control apparatus of 1st Embodiment. The figure which shows the 1st example of the departure time determined by the process in 1st Embodiment. The figure which shows the 2nd example of the departure time determined by the process in 1st Embodiment. The figure which shows the 3rd example of the departure time determined by the process in 1st Embodiment. The figure which shows the 4th example of the departure time determined by the process in 1st Embodiment. The figure which shows the automatic driving bus in the modified example 4 of 1st Embodiment. The flowchart which shows the process executed by the control apparatus of the modification 4 of the 1st Embodiment. The flowchart which shows the process executed by the control apparatus of the modification 4 of the 1st Embodiment. The figure which shows the automatic driving bus in 2nd Embodiment. The figure which looked at the state of the inside of the self-driving bus which is stopped at a stop in 2nd Embodiment from above. The figure which shows the display of the get-off button while running and the display of the get-off button while stopped. The flowchart which shows the door open / close control process executed by the control device of 2nd Embodiment. The figure which shows the automatic driving bus which mounted the control device in the modification 1 of the 2nd Embodiment. The figure which looked at the state of the inside of the self-driving bus which stopped at the stop in the modification 1 of the 2nd Embodiment from above. FIG. 5 is a flowchart showing a door opening / closing control process executed by the control device in the first modification of the second embodiment. The figure which shows the automatic driving bus in the modification 2 of the 2nd Embodiment. FIG. 3 is a flowchart showing a door opening / closing control process executed by the control device in the fourth modification of the second embodiment. FIG. 3 is a flowchart showing a door opening / closing control process executed by the control device in the fourth modification of the second embodiment. The figure which shows the automatic driving bus in 3rd Embodiment. The figure which looked at the state of the inside of the self-driving bus which stopped at the stop in 3rd Embodiment from above. The flowchart which shows the notification processing executed by the control device of 3rd Embodiment. The figure which shows a mode that a margin area which a user of a door area can move is formed by the movement of a user in a car.

A1. 1st Embodiment The automatic driving bus 10 shown in FIG. 1 is a bus in which all control related to traveling can be automatically executed without the judgment of the driver. As the automatic operation, for example, the operation of levels 4 to 5 is applicable among the operation levels from levels 0 to 5 defined in SAE (Sociity of Automotive Engineers). The automatic driving bus 10 includes a communication device 20, an automatic driving device 30, and a control device 60. In another form, the control device 60 may be provided in a management center that manages the operation of the automatic driving bus 10 and can communicate with the automatic driving bus 10.

The communication device 20 is configured to be capable of wireless communication with the camera device 13 installed at the bus stop 12 and the user's mobile terminal 100.

The mobile terminal 100 includes a CPU (not shown), a memory, a communication device, and a position estimation device capable of estimating the current position. The CPU of the mobile terminal 100 functions as a terminal control unit (not shown) by expanding and executing a program stored in the memory. The terminal control unit of the mobile terminal 100 is configured to be able to receive a boarding request signal, which is a signal desired to board the automatic driving bus 10, from a user via a touch panel or the like. When the terminal control unit receives the boarding desired signal, the terminal control unit repeatedly transmits the boarding information including the boarding desired signal and the current position estimated by the position estimation device to the control device 60. The boarding information includes an identifier that identifies the user who is the source of the boarding information.

The automatic driving device 30 stops the automatic driving bus 10 at the stop 12 or passes through the stop 12 based on the matters determined by the control device 60. Further, the automatic driving device 30 causes the automatic driving bus 10 stopped at the stop 12 to depart based on the departure time determined by the control device 60.

The control device 60 is configured as an ECU including a CPU, a memory, and an interface (not shown). The CPU functions as a boarding information reception unit 64, a first time estimation unit 61, a second time estimation unit 62, a third time acquisition unit 63, and a control unit 71 by expanding and executing a program stored in the memory. To do.

The boarding information reception unit 64 receives boarding information including a boarding desired signal of a user who wishes to board the automatic driving bus 10 and a transmission position of the boarding desired signal via the communication device 20. The boarding information receiving unit 64 is configured to receive boarding information from the mobile terminal 100 and also to receive boarding information when there is a user waiting for the automatic driving bus 10 at the stop 12. In the present embodiment, the boarding information reception unit 64 acquires and analyzes the captured image of the camera device 13 provided at the stop 12, and determines whether or not there is a user waiting for the automatic driving bus 10 at the stop 12. It is configured to be determinable. When the boarding information reception unit 64 determines that there is a user waiting for the automatic driving bus 10 at the stop 12, the boarding information reception unit 64 acquires the boarding desired signal and the position of the stop 12 as the transmission position of the boarding desired signal, and boarding information. Accept as.

The first time estimation unit 61 estimates the first time T1, which is the estimated arrival time of the user at the bus stop 12, by using the boarding information. The first time estimation unit 61 estimates the first time T1 from, for example, the transmission position of the desired boarding signal, the position of the stop 12 stored in the memory in advance, and the moving speed of the user. The movement speed of the user can be calculated from, for example, a change in the transmission position included in the desired boarding signal. The moving speed of the user may be selected by the user in the mobile terminal 100.

The second time estimation unit 62 estimates the second time T2, which is the estimated arrival time of the autonomous driving bus 10 at the stop 12, using at least the traveling condition of the road on which the autonomous driving bus 10 travels. The traveling situation includes traffic congestion information, construction information, and lane regulation information on the road on which the autonomous driving bus 10 travels. The second time estimation unit 62 can acquire the traveling status from, for example, the management center that manages the operation of the automatic driving bus 10.

The third time acquisition unit 63 acquires the third time T3, which is the scheduled departure time at the stop 12 of the automatic driving bus 10, by using the timetable of the automatic driving bus 10. The timetable is time information in which the departure time at the stop 12 of the autonomous driving bus 10 is defined. The timetable may be stored in advance in the memory of the control device 60, and the third time acquisition unit 63 may acquire the third time T3 from the timetable stored in the memory. Alternatively, the third time acquisition unit 63 may acquire the third time T3 from the management center that manages the operation of the automatic driving bus 10.

The control unit 71 uses the first time T1, the second time T2, and the third time T3 to determine whether to stop or pass the automatic driving bus 10 at the stop 12. When the automatic driving bus 10 is stopped at the stop 12, the control unit 71 determines the departure time from the stop 12. The control unit 71 causes the automatic driving device 30 to execute the operation of the automatic driving bus 10 based on the determined items. The automatic driving device 30 stops the automatic driving bus 10 when the automatic driving bus 10 reaches the stop 12 in response to the decision when the automatic driving bus 10 is decided to stop at the stop 12.

A process of determining the stop or passage of the automatic driving bus 10 at the stop 12 and the departure time, which is executed by the control device 60, will be described with reference to FIGS. 2 and 3. This process is executed during the operation of the automatic driving bus 10.

First, in step S10, the second time estimation unit 62 estimates the second time T2, which is the estimated arrival time at the stop 12, by using the traveling condition of the road on which the automatic driving bus 10 travels.

In step S20, the third time acquisition unit 63 acquires the third time T3, which is the scheduled departure time from the stop 12, using the timetable. Step S10 and step S20 may be executed at the same time, or the order of processing may be changed.

In step S30, the control unit 71 determines whether or not the boarding information has been received by the boarding information receiving unit 64. When the boarding information is not accepted, the boarding information receiving unit 64 has not received the boarding request signal at the stop 12 from the mobile terminal 100, and the boarding information reception unit 64 has reached the stop 12 from the analysis result of the image captured by the camera device 13. This is the case when it is determined that the user is not waiting.

When the boarding information is not accepted (step S30, NO), the control unit 71 determines in step S32 whether or not the second time T2 is before the third time T3. The case where step S32 is affirmatively determined is the case where there is no user who wishes to board the bus at the stop 12 (steps S30, NO) and the automatic driving bus 10 is not delayed with respect to the timetable.

When the second time T2 is before the third time T3 (step S32, YES), the control unit 71 determines in step S34 that the automatic driving bus 10 stops at the stop 12. Further, the control unit 71 advances the process to step S80, and determines the departure time at which the automatic driving bus 10 departs from the stop 12 at the third time T3. In this case, the automatic driving bus 10 will depart from the stop 12 according to the timetable after stopping at the stop 12. In another embodiment, in step S32, the second time T2 and the third time T3 are the same time, or the difference between the second time T2 and the third time T3 is a predetermined time, for example, within several seconds. In that case, the control unit 71 may determine the passage at the stop 12 in step S34.

Next, a case where the boarding information at the stop 12 is received by the boarding information receiving unit 64 will be described. When the boarding information is accepted (step S30, YES), the first time estimation unit 61 determines the transmission position of the boarding desired signal, the position of the stop 12 stored in the memory of the control device 60 in advance, and the user. The first time T1 is estimated from the moving speed of. In the present embodiment, the first time estimation unit 61 estimates the first time T1 for each source of boarding information. When a user is waiting at the bus stop 12, the first time T1 for the user is the current time.

When the first time T1 is estimated, the control unit 71 determines in step S50 whether or not the second time T2 is before the third time T3.

The processing when the affirmative determination of step S50 is made, that is, when there is a user who wants to board the bus at the stop 12 (step S30, YES) and the automatic driving bus 10 is not delayed with respect to the timetable will be described. .. When the second time T2 is before the third time T3 (step S50, YES), the control unit 71 determines in step S55 to stop the automatic driving bus 10 at the stop 12, and proceeds to step S60.

In step S60, the control unit 71 determines whether or not the first time T1 is before the third time T3. When the first time T1 is before the third time T3 (step S60, YES), the user who wishes to board the automatic driving bus 10 has the scheduled departure time of the automatic driving bus 10 specified in the timetable (third). This is the case of arriving at the stop 12 before the time T3). When a plurality of boarding information is received in step S30, the control unit 71 performs processing in step S80 when the first time T1 corresponding to each boarding information is all before the third time T3. You may proceed to. Further, when the first time T1 corresponding to one or more boarding information is later than the third time T3, the control unit 71 may proceed to the process in step S70.

In step S80, the control unit 71 determines the departure time at which the automatic driving bus 10 departs from the stop 12 at the third time T3. In this case, the autonomous driving bus 10 departs from the stop 12 according to the timetable.

A case where the first time T1 is later than the third time T3 in step S60 will be described. When the first time T1 is later than the third time T3 (step S60, NO), a user who wishes to board the automatic driving bus 10 at the stop 12 decides to depart the automatic driving bus 10 specified in the timetable. This is the case of arriving at the stop 12 after the time (third time T3). In this case, in step S70, the control unit 71 determines whether or not the difference between the first time T1 and the third time T3 is equal to or less than the first margin time ST1. The first margin time ST1 is a time set by using the allowable limit of delay with respect to the timetable of the automatic driving bus 10. In the first margin time ST1, the user who wishes to board the automatic driving bus 10 at the stop 12 is boarded on the automatic driving bus 10 while reducing the degree to which the departure time from the stop 12 is delayed from the third time T3. The time for this is set by the control unit 71. In the present embodiment, the first margin time ST1 is stored in advance in the memory of the control device 60. The first margin time ST1 may be, for example, any time from 10 seconds to 60 seconds.

When a plurality of boarding information is received, the control unit 71 calculates the difference from the third time T3 for each first time T1 in step S70, and the difference is equal to or less than the first margin time ST1. You may judge whether or not it is. The control unit 71 may proceed to step S80 when one or more of the calculated differences are equal to or less than the first margin time ST1.

When the difference between the first time T1 and the third time T3 is equal to or less than the first margin time ST1 (step S70, YES), the control unit 71 determines the departure time to be the time based on the first time T1 in step S90. To do. In the present embodiment, the control unit 71 determines the departure time as the departure time T1 + α, which is the sum of the first time T1 and the additional time α. The time α is an estimated time required for the user to board the automatic driving bus 10 after arriving at the stop 12, and is stored in advance in the memory of the control device 60. The time α is, for example, a time of 5 seconds or less. The control unit 71 receives a plurality of boarding information, and when there are a plurality of first time T1s for which step S70 is positively determined, the first time T1 having the largest difference from the third time T3. The time T1 + α, which is obtained by adding the additional time α to, may be determined as the departure time.

When the difference between the first time T1 and the third time T3 is larger than the first margin time ST1 (step S70, NO), the control unit 71 determines the departure time to the third time T3 in step S80. In this case, the self-driving bus 10 departs from the stop 12 according to the timetable, and the user who is the source of the boarding information in which the difference between the first time T1 and the third time T3 is larger than the first margin time ST1 , I can't get on the self-driving bus 10 at the stop 12.

Using FIGS. 4 and 5, the estimated arrival time (second time T2) of the autonomous driving bus 10 to the stop 12 is before the scheduled departure time (third time T3) specified in the timetable, and the user The processing when the expected arrival time (first time T1) of is later than the third time T3 will be described. In FIG. 4, the horizontal axis is the time, the second time T2 is before the third time T3 (step S50, YES), the first time T1 is later than the third time T3 (step S60, NO), and the third An example of the departure time determined in step S90 is shown when the difference between the 1st time T1 and the 3rd time T3 is equal to or less than the first margin time ST1 (step S70, YES). In the example shown in FIG. 4, the departure time at the stop 12 of the automatic driving bus 10 is determined by adding the additional time α to the first time T1. In other words, the departure time is extended by the time obtained by adding the additional time α to the difference (T1-T3) between the first time T1 and the third time T3. In the example shown in FIG. 4, the user who is the source of the boarding information can board the automatic driving bus 10 at the stop 12. Further, the departure time of the automatic driving bus 10 is delayed from the third time T3, which is the departure time in the timetable, but the delay is within the time range of the first time T1 plus the additional time α.

In FIG. 5, the second time T2 is before the third time T3 (step S50, YES), the first time T1 is later than the third time T3 (step S60, NO), and the first time T1 and the third time. The departure time determined in step S80 when the difference between the time T3 is larger than the first margin time ST1 (step S70, NO) is shown. In the example shown in FIG. 5, the departure time at the stop 12 of the automatic driving bus 10 is the third time T3, which is the scheduled departure time in the timetable. In the example shown in FIG. 5, if the departure time is extended until the user who is the source of the boarding information arrives at the stop 12, the delay with respect to the timetable of the automatic driving bus 10 becomes large, so that the control unit 71 sets the automatic driving bus. Decide to depart according to the timetable of 10.

Returning to FIGS. 2 and 3, when step S50 is negatively determined, that is, there is a user who wants to board the bus at the stop 12 (step S30, YES), and the automatic driving bus 10 is delayed with respect to the timetable. The processing in the case of is described. When the second time T2 is later than the third time T3 (step S50, NO), the control unit 71 advances the process to step S100 (see FIG. 3), and whether the first time T1 is before the second time T2. Judge whether or not.

When the first time T1 is before the second time T2 (step S100, YES), the control unit 71 determines in step S105 that the automatic driving bus 10 stops at the stop 12, and proceeds to step S110. Further, in step S110, the control unit 71 determines the departure time at which the automatic driving bus 10 departs from the stop 12 at the second time T2.

When a plurality of boarding information is received, the control unit 71 steps the process in step S100 when the first time T1 corresponding to each boarding information is all before the second time T2. You may proceed to S105. Further, when the first time T1 corresponding to one or more boarding information is later than the second time T2, the control unit 71 may proceed to the process in step S120.

When the first time T1 is later than the second time T2 (step S100, NO), the control unit 71 determines that the difference between the first time T1 and the second time T2 is less than or equal to the second margin time ST2 in step S120. Determine if it exists. The second margin time ST2 is a time set by using the allowable limit of delay with respect to the timetable of the automatic driving bus 10. The second margin time ST2 is a state in which the departure time from the stop 12 is delayed from the third time T3, and the user who desires to board the automatic driving bus 10 at the stop 12 while reducing the degree of delay is used. The time for getting on the automatic driving bus 10 is set by the control unit 71. In the present embodiment, the second margin time ST2 is stored in advance in the memory of the control device 60.

When the difference between the first time T1 and the second time T2 is equal to or less than the second margin time ST2 (step S120, YES), the control unit 71 determines in step S125 that the automatic driving bus 10 stops at the stop 12. Then, the process proceeds to step S130.

When a plurality of boarding information is received, the control unit 71 calculates the difference from the second time T2 for each first time T1 corresponding to each boarding information in step S120, and the difference is said. May be determined whether or not is equal to or less than the second margin time ST2. The control unit 71 may proceed to step S125 when at least one of the calculated differences is equal to or less than the second margin time ST2.

In step 130, the control unit 71 determines the departure time to a time based on the first time T1. Specifically, the control unit 71 determines the departure time as the departure time T1 + β, which is the sum of the first time T1 and the additional time β. The time β is an estimated time required for the user to board the automatic driving bus 10 after arriving at the stop 12, and is stored in advance in the memory of the control device 60. Time β may be substantially equal to time α or shorter than time α. When there are a plurality of first time T1 in which the difference between the first time T1 and the second time T2 is equal to or less than the second margin time ST2, the control unit 71 adds the additional time β to the first time T1 having the largest difference. The added time T1 + β may be determined as the departure time.

When the difference between the first time T1 and the second time T2 is larger than the second margin time ST2 (step S120, NO), the control unit 71 advances the process to step S140 and stops the automatic driving bus 10 at the stop 12. Determine the passage. In this case, the user who is the source of the boarding information cannot board the automatic driving bus 10 at the stop 12, but further delay of the automatic driving bus 10 with respect to the timetable is suppressed.

Using FIGS. 6 and 7, the estimated arrival time (second time T2) of the autonomous driving bus 10 to the stop 12 is later than the scheduled departure time (third time T3) specified in the timetable, and the user The processing when the expected arrival time (first time T1) of is later than the second time T2 will be described. In FIG. 6, the second time T2 is later than the third time T3 (step S50, NO), the first time T1 is later than the second time T2 (step S100, NO), and the first time T1 and the second time An example of the departure time determined in step S125 is shown when the difference between the times T2 is equal to or less than the second margin time ST2 (step S120, YES). In the example shown in FIG. 6, the departure time at the stop 12 of the automatic driving bus 10 is determined by adding the additional time β to the first time T1. In other words, the departure time is extended by the time obtained by adding the additional time β to the difference (T1-T2) between the first time T1 and the second time T2. In the example shown in FIG. 6, the user who is the source of the boarding information can board the automatic driving bus 10 at the stop 12. Further, the departure time of the automatic driving bus 10 is delayed from the second time T2, which is the expected arrival time, but the delay is within the time range of the first time T1 plus the additional time β.

In FIG. 7, the second time T2 is later than the third time T3 (step S50, NO), the first time T1 is later than the second time T2 (step S100, NO), and the first time T1 and the second time An example is shown in which the difference between the times T2 is larger than the second margin time ST2 (step S120, NO). In the example shown in FIG. 7, the autonomous driving bus 10 is expected to pass the stop 12 at the second time T2. In the example shown in FIG. 7, if the departure time is extended until the user who is the source of the boarding information arrives at the stop 12, the delay with respect to the timetable of the automatic driving bus 10 becomes larger, so that the control unit 71 automatically operates. Do not stop bus 10.

According to the control device 60 of this form, when the second time T2 is before the third time T3 (S50, YES), the control unit 71 determines the stop at the stop 12, and the first time T1 is further set. If it is before the third time T3 (S60, YES), the departure time is determined to be the third time (S80). Further, the first time T1 is later than the third time T3 (S60, NO), and the difference between the first time T1 and the third time T3 is set by using the delay tolerance limit for the timetable of the automatic operation bus 10. If the first margin time is ST1 or less (S70, YES), the departure time is determined to be the time based on the first time T1 (first time T1 + α) (S90), and the first time T1 is from the third time T3. If it is late (S60, NO) and the difference between the first time T1 and the third time T3 is larger than the first margin time ST1 (S70, NO), the departure time is determined to be the third time T3 (S80). ). Therefore, when the automatic driving bus 10 arrives at the bus stop 12 before the third time T3 specified in the timetable, the user who arrives at the bus stop 12 later within the range of the first spare time from the third time T3 is automatically executed. It is possible to prevent the operation of the automatic driving bus 10 from being delayed from the timetable while getting on the driving bus 10 for the convenience of the user.

Further, according to the control device 60 of this form, the control unit 71 is in the case where the second time T2 is later than the third time T3 (S50, NO), and the first time T1 is before the second time. In the case of (S100, YES), the stop at the stop 12 is determined (S105), the departure time is determined at the second time T2 (S110), and the first time T1 is later than the second time T2 (S100, YES). NO), and when the difference between the first time T1 and the second time T2 is larger than the second margin time ST2 set by using the delay tolerance limit for the timetable of the automatic operation bus 10 (S120, NO), the passage of the stop 12 is determined (S140), the first time T1 is later than the second time T2 (S100, NO), and the difference between the first time T1 and the second time T2 is the second margin. If it is less than the time (S120, YES), the stop at the stop 12 is determined (S125), and the departure time is determined to be the time (T1 + β) based on the first time T1. Therefore, when the automatic operation bus 10 arrives at the bus stop 12 later than the third time T3 specified in the timetable, it is within the range from the second time T2, which is the arrival time at the bus stop, to the second margin time ST2. It is possible to prevent the operation of the automatic driving bus 10 from being delayed from the timetable while allowing the user who arrives at the stop 12 late to board the automatic driving bus 10 for the convenience of the user.

A2. Modification example A2-1 of the first embodiment. Modification 1 of the first embodiment
In the above embodiment, the control unit 71 may set the second margin time ST2 to a time shorter than the first margin time ST1. According to this form, when the automatic driving bus 10 arrives at the stop 12 later than the third time T3 specified in the timetable, it is possible to further suppress the delay of the automatic driving bus 10 from the timetable. it can.

A2-2. Modification 2 of the first embodiment
In the above embodiment, the control unit 71 receives boarding information, and when the second time T2 is later than the third time T3 (step S50, NO), the second time T2 is larger than the third time T3. The later, the shorter the second margin time ST2 may be set. According to this form, the delay with respect to the timetable can be further suppressed.

A2-3. Modification 3 of the first embodiment
In the above embodiment, the second time estimation unit 62 estimates the second time T2 at the stop 12 where the automatic driving bus 10 will stop next, and the second time T2 at the stop 12 where the automatic driving bus 10 will stop next, and the third time acquisition unit 62. 63 may acquire the third time T3 at the stop 12 where the automatic driving bus 10 will stop next, in addition to the third time T3 at the stop 12 where the automatic driving bus 10 will stop next. The control unit 71 may calculate whether or not the second time T2 is before the third time and the difference between the second time T2 and the third time T3 for each stop 12, and the stop where the difference will stop in the future. The first margin time ST1 and the second margin time ST2 may be set to shorter times as it is predicted that the time will gradually increase in 12. According to this form, the delay with respect to the timetable can be further suppressed. Further, in this case, the second time estimation unit 62 may acquire the past traffic jam information from the management server and estimate the second time T2 at the bus stop 12 to be stopped in the future by using the past traffic jam information. Good.

A2-4. Modification example 4 of the first embodiment
As shown in FIG. 8, the control device 60a in the fourth modification of the first embodiment controls the first embodiment at a point where the control unit 71a is provided instead of the control unit 71 and a point where the notification unit 72 is provided. Unlike the device 60, other configurations are the same as in FIG.

The process of determining the stop or passage of the automatic driving bus 10a at the stop 12 and the departure time, which is executed by the control device 60a in the present modification shown in FIGS. 9 and 10, is the process of determining the departure time in FIGS. It corresponds to. In this modification, the point where step S45 is provided between step S40 and step S50, the point where step S72 is provided between step S70 and step S80, and the point where step S132 is provided between step S120 and step S140 are shown. 2 and FIG. 3 are different.

In step S45 shown in FIG. 9, the control unit 71a predicts a future delay of the second time T2 with respect to the third time, and calculates the first margin time ST1 and the second margin time ST2 based on the prediction. Set. The control unit 71a can predict the above-mentioned future delay by using, for example, the traffic congestion condition of the road to be traveled, the number of boarding information at the bus stop 12 to be stopped, and the statistical information of the past delay. The control unit 71a sets the first margin time ST1 and the second margin time ST2 so that the delay with respect to the timetable of the automatic driving bus 10 is reduced.

In step S70, when the difference between the first time T1 and the third time T3 is larger than the first margin time ST1 (step S70, NO), the control unit 71a advances the process to step S72. In step S72, the notification unit 72 notifies the user, who is the source of the boarding information, that he / she cannot board the automatic driving bus 10a at the stop 12.

In step S120 shown in FIG. 10, when the difference between the first time T1 and the second time T2 is larger than the second margin time ST2 (step S120, NO), the control unit 71a advances the process to step S132. In step S132, the notification unit 72 notifies the user who is the source of the boarding information that he / she cannot board the automatic driving bus 10a at the stop 12 as in step S72. In the present embodiment, the notification unit 72 transmits a notification indicating that the vehicle cannot be boarded to the mobile terminal 100 via the communication device 20 in steps S72 and S132. The terminal control unit of the mobile terminal 100 is configured to display the notification on the display of the mobile terminal 100 when the notification is received, and the user cannot board the automatic driving bus 10a at the stop 12 due to the notification. You can know. Therefore, the user can know in advance that he / she cannot get on the automatic driving bus 10a at the stop 12, and for example, he / she hurries toward the stop 12 because he / she thinks that he / she may be in time for the departure of the automatic driving bus 10a. It is possible to suppress the occurrence of a situation in which the passenger cannot get on the automatic driving bus 10a even though he / she has moved in. Therefore, it is possible to provide convenience for the user who uses the automatic driving bus 10a.

B1. Second Embodiment In the following, the same reference numerals are used for the same configurations as those in the above-described embodiment, and the description thereof will be omitted. The automatic driving bus 10b shown in FIGS. 11 and 12 is a bus in which all control related to traveling can be automatically executed without the judgment of the driver, as in the above-described embodiment. As the automatic operation, for example, among the operation levels from level 0 to 5 specified in SAE, the operation of levels 4 to 5 corresponds. The automatic driving bus 10b includes an automatic driving device 30, a door opening / closing device 31, a disembarkation button 23, a reading device 24, a notification device 25, and a control device 60b. In another form, the control device 60b may be provided in a management center that manages the operation of the automatic driving bus 10b and can communicate with the automatic driving bus 10b. The automatic driving device 30 performs general operation of the automatic driving bus 10b under the control of a driving control device (not shown). The door opening / closing device 31 opens / closes the front door 21 and the rear door 22 of the automatic driving bus 10b under the control of the control device 60b. Hereinafter, the front door 21 and the rear door 22 are collectively referred to as “doors 21 and 22”. The automatic driving bus in the present embodiment is a type of bus that gets on from the rear door 22 and gets off from the front door 21.

FIG. 12 is a view from above of the inside of the vehicle in which the autonomous driving bus 10b is stopped at the stop 12. FIG. 12 shows the positions of the doors 21, 22, the disembarkation button 23, and the reading device 24 on the automatic driving bus 10b. The hatched circles in FIG. 12 indicate the user u. These positions and sizes are examples.

For example, Japanese Patent Application Laid-Open No. 10-278788 describes the door and the vicinity of the door provided in the vehicle, recognizes the presence or absence of a user and the moving direction from the imaged result, and closes the door when there is a user heading for the door. A door open / close control device that temporarily suspends the door is described. However, in the technique described in Japanese Patent Application Laid-Open No. 10-278788, when the inside of the vehicle is congested as shown in FIG. 12 and it is difficult for the user who wants to get off (the user who wants to get off) to move from the current position, he / she wants to get off. The user may not be able to recognize that the user is moving toward the door 21, for example, and the door 21 may be closed. When the vehicle is an automatic driving bus 10b as in the present embodiment, there is a possibility that the driver or the conductor is not on board, and the driver or the conductor confirms the intention to get off from the movement or voice of the user u. , The user cannot close the door after getting off. Therefore, in the control device 60b of the present embodiment, even if the automatic driving bus 10b is crowded as shown in FIG. 12, the user u who wants to get off is disembarked from the automatic driving bus 10b, and then the doors 21 and 22 are closed. Performs door open / close control, which enables The functions of each part of the control device 60b and the door opening / closing control will be described in detail later.

Returning to the description of the automatic driving bus 10b of the present embodiment. A plurality of disembarkation buttons 23 are provided at a position other than the user u sitting on the seat S of the automatic driving bus 10b and a place other than the seat S, for example, a place in the vehicle where the user u near the aisle or the doors 21 and 22 can press. ing. In the present embodiment, as shown in the left figure of FIG. 13, the disembarkation button 23 is displayed to accept that the automatic driving bus 10b is stopped at the next stop 12 while the automatic driving bus 10b is traveling. Functions as a button. Further, as shown in the right figure of FIG. 13, the disembarkation button 23 is a button for accepting the intention to disembark when the automatic driving bus 10b stops at the stop 12 and the doors 21 and 22 are opened. Functions as. In this way, the disembarkation button 23 capable of receiving the disembarkation intention is also referred to as a “disembarkation intention reception device”.

The reading device 24 identifies the boarding section of the user u by, for example, reading the mobile terminal 100 or the card of the user u who got on the bus and reading the mobile terminal 100 or the card of the user u who gets off from the automatic driving bus 10b. This is a device for paying the usage fee of the automatic driving bus 10b to the user u. The information read by the reading device 24 is transmitted to a payment device (not shown), and the usage fee is settled by a known method.

The notification device 25 notifies the user u who gets on the automatic driving bus 10b of various information under the control of the notification unit 66, which will be described later. The notification device 25 is, for example, a speaker provided in the vehicle of the automatic driving bus 10b. The notification device 25 may be a liquid crystal panel or the like provided in the vehicle of the automatic driving bus 10b and capable of displaying characters and figures.

The control device 60b is configured as an ECU including a CPU, a memory, and an interface (not shown). The CPU functions as a disembarkation intention reception unit 65, a notification unit 66, an open / close control unit 67, and a reset unit 68 by expanding and executing a program stored in the memory. In the present embodiment, the control device 60b includes a first timer 73 and a second timer 74 for time measurement. The first timer 73 counts up, for example, the time after the automatic driving bus 10b arrives at the stop 12 and the doors 21 and 22 are opened, and counts up the time after the intention to get off is received. Used to do. The elapsed time since the doors 21 and 22 are opened and the elapsed time after the intention to get off is received are also referred to as the first elapsed time Fet. The second timer 74 is used to measure the second elapsed time Set, which is the elapsed time after the departure information is notified.

The disembarkation intention reception unit 65 disembarks the user u who is on the automatic driving bus 10b while the automatic driving bus 10b arrives at the stop 12 and stops traveling and the doors 21 and 22 are open. The intention is accepted via the disembarkation button 23.

The notification unit 66 causes the notification device 25 to notify the departure information when at least one of the predetermined conditions is satisfied. The departure information is information including that the autonomous driving bus 10b will soon depart. In the present embodiment, the predetermined condition is that the first elapsed time Fet has reached the predetermined first time t1. The notification unit 66 can acquire the first elapsed time Fet from the first timer 73. The first time t1 is a time determined based on the average time required for the user u who wants to get off to move to the door 21 after the automatic driving bus 10b stops at the stop 12, and is a memory of the control device 60b. It is stored in advance in.

The reset unit 68 gets off at least one of the time until the first elapsed time Fet reaches the first time t1 and the time after the departure information is notified until the doors 21 and 22 are closed. When the intention reception unit 65 accepts the intention to get off, the first elapsed time Fet is reset.

The opening / closing control unit 67 controls the door opening / closing device 31 to open the doors 21 and 22 after the automatic driving bus 10b arrives at the stop 12 and stops traveling, and opens the doors 21 and 22 after the departure information is notified. close. In the present embodiment, the open / close control unit 67 controls the door opening / closing device 31 when the second elapsed time Set, which is the elapsed time from the notification of the departure information, reaches the second time t2, and the door 21 Close 22. The second time t2 is a predetermined time based on the average required time for the user u who wants to get off to move to the door 21, and is stored in advance in the memory of the control device 60b. In the present embodiment, the second time t2 is shorter than the first time t1.

A door opening / closing control process at the stop 12 of the automatic driving bus 10b, which is executed by the control device 60b, will be described with reference to FIG. This process is started when the automatic driving bus 10b stops at the stop 12.

When the automatic driving bus 10b stops at the stop 12, in step S210, the opening / closing control unit 67 controls the door opening / closing device 31 to open the doors 21 and 22.

In step S212, the reset unit 68 resets the first timer 73 for measuring the first elapsed time Fet. When the first timer 73 is reset, in step S214, the count-up of the first timer 73 is started, and the count-up of the first elapsed time Fet is started.

In step S216, the reset unit 68 determines whether or not the disembarkation intention reception unit 65 has received the disembarkation intention reception unit 65. When the intention to get off is accepted (step S216, YES), the reset unit 68 returns the process to step S212 and resets the first elapsed time Fet. In the present embodiment, the reset unit 68 returns the process to step S212 every time the disembarkation intention reception unit 65 accepts the disembarkation intention.

When the intention to get off is not accepted (step S216, NO), the notification unit 66 determines whether or not the measurement time (first elapsed time Fet) of the first timer 73 has reached the first time t1 in step S218. Is determined. When the first elapsed time Fet reaches the first time t1 (step S218, YES), in step S230, the notification unit 66 tells the notification device 25 that the automatic driving bus 10b will soon depart and depart. The user u who wants to extend the information is notified in the vehicle as in-vehicle information, including prompting the user to indicate the intention to get off. For example, the notification unit 66 causes the notification device 25 to make an in-vehicle announcement saying, "The vehicle will depart soon. If you want to extend the departure, press the disembarkation button 23 near you."

Subsequently, in step S232, the reset unit 68 resets the second timer 74 for measuring the second elapsed time Set, which is the elapsed time after the departure information is notified. When the second timer 74 is reset, in step S234, the count-up of the second timer 74 is started, and the count-up of the second elapsed time Set is started.

In step S236, the reset unit 68 determines whether or not the disembarkation intention reception unit 65 has received the disembarkation intention reception unit 65, as in step S216. When the intention to get off is accepted (step S236, YES), the reset unit 68 returns the process to step S212.

If the intention to disembark is not received in step S236 (step S236, NO), the open / close control unit 67 determines in step S238 whether or not the second elapsed time Set has reached the second time t2. If the second elapsed time Set has not reached the second time t2 (step S238, No), the processes of steps S234 to S238 are repeated.

When the second elapsed time Set reaches the second time t2 (step S238, YES), in step S240, the opening / closing control unit 67 controls the door opening / closing device 31 to close the doors 21 and 22. As described above, the door opening / closing control process by the control device 60b is executed.

According to the control device 60b of the second embodiment, at least one of predetermined conditions including that the first elapsed time Fet after the doors 21 and 22 are opened reaches the first time t1 is satisfied. Since the departure information is notified later, the user u who has not been able to get off the automatic driving bus 10b due to congestion in the vehicle or the like can know that the automatic driving bus 10b will soon depart. Therefore, it is possible to urge the user u who has not been able to get off the automatic driving bus 10b to show his / her intention to get off. In addition, when the intention to get off is accepted at least between the time when the first elapsed time Fet reaches the first time t1 and the time when the door is closed after the departure information is notified. Since the first elapsed time Fet is reset, it is possible to prevent the user u who has the disembarkation intention reception unit 65 accepting the disembarkation intention from getting off the automatic driving bus 10b.

Further, if the intention to get off is not accepted after the departure information is notified, the first elapsed time Fet is not reset, so even if the user u accidentally presses the get-off button 23, the automatic driving bus 10b Doors 21 and 22 can be closed. As a result, the doors 21 and 22 of the automatic driving bus 10b are not closed, and it is possible to prevent the operation of the automatic driving bus 10b from being delayed.

Further, the open / close control unit 67 closes the doors 21 and 22 when the second elapsed time Set after the departure information is notified reaches the second time t2, which is shorter than the first time t1, and the reset unit 68 sets the reset unit 68. If the intention to disembark is received before the second elapsed time Set reaches the second elapsed time t2, the first elapsed time Fet and the second elapsed time Set are reset. Therefore, if the user u who intends to disembark presses the disembarkation button 23 after the departure information is notified, the first elapsed time Fet and the second elapsed time Set are reset, so that the user u from the automatic driving bus 10b It is possible to suppress falling down. Further, since the second time t2 for closing the doors 21 and 22 after the departure information is notified is shorter than the first time t1, the user u who intends to get off is disembarked and the automatic driving bus 10b It is possible to suppress the delay in operation.

Further, the disembarkation intention reception unit 65 receives the disembarkation intention through the disembarkation intention reception device provided in the automatic driving bus 10b and accepts the disembarkation intention, and the disembarkation intention reception device receives the next stop while the automatic driving bus 10b is traveling. It functions as a button with a display for accepting that the automatic driving bus 10b is stopped at 12. The disembarkation intention reception device transmits a signal for stopping the automatic driving bus 10b at the next stop 12 to the traveling control device that controls the running of the automatic driving bus 10b when the button is pressed while driving, and the stop 12 When the automatic driving bus 10b stops and the doors 21 and 22 are opened, it functions as a button displayed to accept the intention to get off, and when the button is pressed, the intention to get off is notified by the disembarkation intention reception unit. Send to 65. Therefore, the disembarkation button 23 for stopping the automatic driving bus 10b at the stop 12 can be used as a device for accepting the intention to disembark. The disembarkation intention reception device is not limited to the disembarkation button 23, and may be a switch.

B2. Modification B2-1 of the second embodiment. Modification 1 of the second embodiment
The control device 60c in the first modification of the second embodiment shown in FIGS. 15 and 16 includes a notification unit 66c instead of the notification unit 66 and a disembarkation user determination unit 69. The other configuration is the same as that of FIG. 11, unlike the control device 60b of the above.

FIG. 16 is a view of the inside of the vehicle in which the automatic driving bus 10c in this modified example is stopped at the stop 12 from above. The automatic driving bus 10c in this modification is different from the automatic driving bus 10b of the second embodiment in that it includes a plurality of in-vehicle cameras 26 and a door camera 27, and other configurations are the same as those in FIG. The in-vehicle camera 26 is arranged in the vehicle so that a user who presses the disembarkation button 23 arranged in the vicinity of the in-vehicle camera 26 can be imaged. The door camera 27 is arranged near the door 21 so that a user getting off from the door 21 of the automatic driving bus 10c can be imaged.

In this modification, the disembarkation intention reception unit 65c receives the disembarkation intention via the disembarkation button 23, and captures the captured image when the disembarkation button 23 is pressed, and the in-vehicle camera arranged near the pressed disembarkation button 23. Obtained from 26.

The disembarkation user determination unit 69 determines whether or not the user u who passes through the door 21 and disembarks from the automatic driving bus 10c is the user u who has pressed the disembarkation button 23. In this modification, the disembarkation user determination unit 69 includes a first image captured by the in-vehicle camera 26 near the disembarkation button 23 when the disembarkation button 23 is pressed, and a second image captured by the door camera 27. When the users appearing in the first image and the second image are the same, it is determined that the user u who has pressed the disembarkation button 23 has disembarked from the automatic driving bus 10c.

In this modification, the predetermined condition for the notification unit 66c to notify the departure information is that the disembarkation user determination unit 69 determines the disembarkation intention until the first elapsed time Fet reaches the first time t1. This includes that all the indicated users are determined to have disembarked from the automatic driving bus 10c. That is, when the notification unit 66c determines that all the users u who have indicated the intention to disembark have disembarked from the automatic driving bus 10c even when the first elapsed time Fet has not reached the first time t1. Controls the notification device 25 to notify the departure information.

The door opening / closing control process executed by the control device 60c in the present modification shown in FIG. 17 corresponds to FIG. 14 of the second embodiment. This modification is different from FIG. 14 in that step S217 is provided between step S216 and step S218.

In step S217, the disembarkation user determination unit 69 determines whether or not the disembarkation completion condition is satisfied. The disembarkation completion condition is that there is at least one user who has indicated the intention to disembark, and all the users u who have indicated the intention to disembark have disembarked from the automatic driving bus 10c. If the disembarkation completion condition is not satisfied (step S217, NO), the counting of the first elapsed time Fet is continued in step S214. In the present embodiment, the reset unit 68 returns the process to step S212 every time the disembarkation intention reception unit 65 accepts the disembarkation intention. If it is determined in step S217 that the disembarkation completion condition is satisfied (step S217, YES), in step S230, the notification unit 66c controls the notification device 25 to notify the disembarkation information.

According to the first modification of the second embodiment, when it is determined that the user u who has indicated the intention to get off the bus has disembarked from the automatic driving bus 10c, it is before the first elapsed time Fet reaches the first time t1. However, since the departure information is notified, the time until the doors 21 and 22 of the automatic driving bus 10c are closed can be shortened as compared with the second embodiment. As a result, the waiting time until the automatic driving bus 10c departs can be shortened.

B2-2. Modification 2 of the second embodiment
The automatic driving bus 10d in the second embodiment shown in FIG. 18 has a reading device 23d for getting off at a position corresponding to the getting-off button 23 of the second embodiment. Different from. In this modification, the disembarkation intention reception unit 65 accepts the disembarkation intention when the user u's card, mobile terminal, or the like is read by the disembarkation reading device 23d. In this case, for example, the notification unit 66c announces to the notification device 25, "The train will depart soon. If you want to extend the departure, touch the card to the reading device 23d for getting off near you." To let. This form also has the same effect as that of the second modification of the second embodiment.

B2-3. Modification 3 of the second embodiment
The modified example 1 and the modified example 2 of the second embodiment may be combined. In this case, the disembarkation user determination unit 69 also acquires a first identifier for identifying the user u when the user u's card, mobile terminal, or the like is read by the disembarkation reading device 23d. Further, the disembarkation user determination unit 69 is arranged near the doors 21 and 22 to identify the user u when the user u's card, mobile terminal, or the like is read by the reading device 24 for settling the charge. Get the second identifier of. When the first identifier and the second identifier match, the disembarkation user determination unit 69 determines that the user u who has indicated the intention to disembark has disembarked from the automatic driving buses 10b and 10c. According to this modification, it is possible to accurately determine that the user who has indicated the intention to disembark has disembarked from the automatic driving buses 10b and 10c.

B2-4. Modification 4 of the second embodiment
In the first modification of the second embodiment, the notification unit 66c may repeat the departure information twice or more. The door opening / closing control process shown in FIGS. 19 and 20 is different from FIG. 17 in that step S220, step S222, step S224, step S226, step S227, and step S228 are provided between step S218 and step S230. In step S220, the notification unit 66c notifies the departure information in the same manner as in step S230 of FIG. Step S222, step S224, step S226, step S227, and step S228 correspond to step S212, step S214, step S216, step S217, and step S218 in FIG. 17, respectively, and the first elapsed time Fet in FIG. The third elapsed time Tet is replaced, and the first hour t1 is replaced by the third hour t3. The third elapsed time Tet is the elapsed time since the departure information was notified in step S220, and is measured by a third timer (not shown) provided in the control device 60c. The third time t3 is a predetermined time based on the average required time for the user who wants to get off to move to the door 21, and is stored in advance in the memory of the control device 60c. The third time t3 is shorter than the first time t1 and longer than the second time t2.

According to this modification, since the departure information is notified at least twice (step S220, step S230), it is possible to further urge the user u to indicate the intention to get off, and the user can get off the automatic driving bus 10c. It can be suppressed more.

C1. Third Embodiment The automatic driving bus 10e shown in FIGS. 21 and 22 is a bus in which all control related to traveling can be automatically executed without the judgment of the driver, as in the above-described embodiment. As the automatic operation, for example, among the operation levels from level 0 to 5 specified in SAE, the operation of levels 4 to 5 corresponds. The automatic driving bus 10e includes a communication device 20, a notification device 25e, a first detection device 28, a second detection device 29, an automatic driving device 30, a door opening / closing device 31, and a control device 60e. In another form, the control device 60e may be provided in a management center that manages the operation of the automatic driving bus 10e and can communicate with the automatic driving bus 10e. The automatic driving device 30 performs general operation of the automatic driving bus 10e under the control of a driving control device (not shown). The door opening / closing device 31 opens / closes the front door 21 and the rear doors 22 (doors 21 and 22) of the automatic operation bus 10e under the control of a door opening / closing control device (not shown). As the door opening / closing control device, the control devices 60b to 60d in the above embodiment may be applied. The automatic driving bus 10e in the present embodiment is a type of bus that gets on from the rear door 22 and gets off from the front door 21.

FIG. 22 is a view from above of the inside of the vehicle after the automatic driving bus 10e stops at the stop 12, the doors 21 and 22 are opened, and the user gets on the bus. FIG. 22 shows the positions of the doors 21, 22, the disembarkation button 23, and the reading device 24 on the automatic driving bus 10e. The hatched circles indicate the user u. These positions and sizes are examples. Areas A1 and A2 are areas (door areas) required for the doors 21 and 22, respectively, to open and close. The door opening / closing device 31 is configured to be able to open / close the doors 21 and 22 when there is no user u, luggage n, or the like in the door areas A1 and A2. That is, as shown in FIG. 22, when the user exists in the door area A2, the doors 21 and 22 are not closed. Areas A3, A4, and A5 indicate areas (margin areas) in which the abundance density of objects such as user u and luggage n is lower than other areas in the vehicle other than the door areas A1 and A2. The user u is not seated in the seat S in the areas A4 and A5. Hereinafter, objects that can be moved in the vehicle, such as the user u and the luggage n, excluding the objects arranged in advance in the vehicle of the autonomous driving bus 10e, are also simply referred to as "objects".

For example, Japanese Patent Application Laid-Open No. 2003-155869 includes an automatic door sensor having a function of detecting the stationary of a user of a vehicle, and the user is stationary in the predetermined area and when the object moves out of the predetermined area. Described is an automatic door device that makes the door closing operation different depending on the case where the door is closed for a predetermined time. In this device, when the user remains stationary in a predetermined area near the door opening for a predetermined time, a warning voice is output to reduce the possibility that a person touches the door. For example, in a bus, if a user is in the vicinity of a vehicle door and a user other than the user near the door moves in the vehicle, an empty space may be created, and a user near the door may be able to move from the vicinity of the door. .. However, in the technique described in JP-A-2003-155869, since it is unknown whether the warning voice is directed to the other user, the movement of the other user is not prompted, and as a result, the door shown in FIG. 22 is displayed. There was a risk that the user u in the area A2 could not move from the door area A2. In such a case, there is a risk that the bus will not operate smoothly. Further, when opening and closing the door of the bus, the driver may be able to give an appropriate notification based on the situation inside the vehicle and the movement of the user. However, when the bus is an automatic driving bus 10e as in the present embodiment, there is a possibility that the driver or the conductor is not on board, and the driver or the conductor grasps the situation inside the vehicle or the movement of the user. Therefore, proper notification cannot be performed, and as a result, the doors 21 and 22 may not be opened or closed. Therefore, the control device 60e of the present embodiment provides movement information for encouraging the movement of the object in the door areas A1 and A2 when an object such as the user u or the luggage n exists in the door areas A1 and A2. Execute notification control to notify. The functions and notification control of each part of the control device 60e will be described in detail later.

Returning to the description of the automatic driving bus 10e of the present embodiment. The communication device 20 shown in FIG. 21 is configured to be capable of wireless communication with the mobile terminal 100 of the user u, the management center, and the like.

The notification device 25e notifies various information to the user u who gets on the automatic driving bus 10e under the control of the notification unit 79 described later. The notification device 25e is a device capable of notifying various information by sound, characters, etc., for example, a speaker provided in the vehicle of the automatic driving bus 10e, a liquid crystal panel capable of displaying characters, images, and the like. .. The notification device 25e may be an oscillator that vibrates a predetermined area on the floor surface in the vehicle, an oscillator that vibrates a predetermined strap, a light that illuminates a predetermined area in the vehicle, or the like.

The first detection device 28 is a device that detects the presence or absence of an object in the door areas A1 and A2. The first detection device 28 can be configured by a known sensor such as a camera that images the door areas A1 and A2 and a load sensor provided on the floor surface of the door areas A1 and A2. The second detection device 29 is a device that detects the layout of the seats in the autonomous driving bus 10e and the presence / absence of an object in the vehicle other than the door areas A1 and A2. The second detection device 29 can be configured by a known sensor such as a camera that images the inside of the vehicle and a load sensor provided on the floor surface or seat other than the door areas A1 and A2. The first detection device 28 and the second detection device 29 may be devices capable of acquiring the position information of the mobile terminal 100 possessed by the user u. The first detection device 28 may detect, for example, the presence or absence of the user u in the door areas A1 and A2 by using the position information.

The control device 60e is configured as an ECU including a CPU, a memory, and an interface (not shown). By expanding and executing the program stored in the memory, the CPU serves as the first acquisition unit 75, the second acquisition unit 76, the instruction signal acquisition unit 77, the movement destination determination unit 78, the notification unit 79, and the notification unit 80. Function.

The first acquisition unit 75 acquires the detection result of the first detection device 28 and acquires the presence / absence of an object in the door areas A1 and A2. The second acquisition unit 76 acquires the detection result of the second detection device 29, and acquires the in-vehicle condition including the position of the object in the vehicle other than the door areas A1 and A2. The situation inside the vehicle may include the layout of the seats of the autonomous driving bus 10e, and the second acquisition unit 76 may communicate with the management center by the communication device 20 and acquire the layout of the seats from the management center.

The instruction signal acquisition unit 77 acquires an instruction signal for opening or closing the doors 21 and 22. In the present embodiment, the instruction signal acquisition unit 77 is configured to acquire the instruction signal when the instruction signal is transmitted from the door opening / closing control device to the door opening / closing device 31.

When the instruction signal acquisition unit 77 acquires the instruction signal and the first acquisition unit 75 acquires that the object exists in the door areas A1 and A2, the movement destination determination unit 78 has the second acquisition unit 76. The margin area is determined by using the in-vehicle condition acquired by. The margin region is a region other than the door regions A1 and A2 in which the abundance density of the object is relatively low. The movement destination determination unit 78 determines the movement destination of the object in the vehicle for moving the object in the door areas A1 and A2 to other than the door areas A1 and A2 based on the determined margin area. In the present embodiment, the movement destination determination unit 78 determines the movement destination of the object in the door areas A1 and A2, equalizes the user density in the vehicle, and reduces the luggage n placed on the floor. By doing so, the destination of the user u and the luggage n is determined in order to improve the situation inside the vehicle.

The notification unit 79 causes the notification device 25e to notify the movement information for moving the object in the door areas A1 and A2 based on the determined movement destination. In the present embodiment, the movement information includes, in addition to the information for moving the object in the door areas A1 and A2, the information for prompting the seating of the vacant seat in the vehicle of the autonomous driving bus 10e (for example, "Please sit down"). , Information prompting to move the luggage n placed on the floor (for example, "Please move the luggage on the lap or on the shelf") and the like. When there are a plurality of movement information, the notification unit 79 mediates the movement information so that the plurality of movement information is not notified at the same time, or the plurality of movement information is shortened as one, for example. You may go.

When a predetermined time has elapsed after the movement information is notified by the notification unit 79, the notification unit 80 acquires that an object exists in the door areas A1 and A2 by the first acquisition unit 75. The door area information including the existence of an object in the door areas A1 and A2 is notified to the management center via the communication device 20.

The notification process for notifying the movement information will be described with reference to FIG. 23. This process is executed by the control device 60e when the automatic driving bus 10e is stopped at the stop 12.

First, in step S310, the movement destination determination unit 78 determines whether or not the instruction signal has been acquired by the instruction signal acquisition unit 77. When the instruction signal is acquired, the movement destination determination unit 78 advances the process to step S320, and determines whether or not the presence of an object in the door areas A1 and A2 has been acquired by the first acquisition unit 75. In the example shown in FIG. 22, since the user u exists in the door area A2 (step S320, YES), the movement destination determination unit 78 advances the process to step S330.

In step S330, the movement destination determination unit 78 determines the margin area based on the vehicle interior condition acquired by the second acquisition unit 76. In the example shown in FIG. 22, the movement destination determination unit 78 determines that the areas A3, A4, and A5 are spare areas.

In step S340, the movement destination determination unit 78 determines the movement destination of the object in the vehicle for moving the object in the door area A2 to other than the door area A2 based on the determined margin area. For example, as shown in FIG. 24, if the user u existing in the area B1 near the door area A2 moves to the margin area A3 near the area B1, the presence density of the user u in the area B1 becomes low, and the area B1 becomes It becomes a margin area. In that case, the user u in the door area A2 can move to the area B1. Therefore, the movement destination determination unit 78 determines the movement destination of the object in the area B1 to the margin area A3, and determines the movement destination of the object in the door area A2 to the area B1.

In step S350, the notification unit 79 causes the notification device 25e to notify the movement information for moving the object to the determined movement destination. For example, the notification unit 79 prompts the user u existing in the area B1 to move to the area A3 by causing the notification device 25e to announce "Please pack in the back". The notification unit 79 vibrates a strap (not shown) arranged in the area B1 or a vibrator arranged under the floor of the area B1 to vibrate the user u existing in the area B1 by itself. You may want to be aware that you are directed to. Further, the notification unit 79 may turn on the light of the area A3 to urge the user u of the area B1 to move to the area A3. Further, in the present embodiment, when there is a vacant seat in the seat S as shown in the areas A4 and A5 of FIG. 24, the notification unit 79 causes the notification device 25e to announce "Please sit down". The unseat user u near the areas A4 and A5 may be urged to move to a vacant seat. In this case, the notification unit 79 vibrates the straps of the regions B4 and B5 where the user u who is not seated is located in the vicinity of the regions A4 and A5, and vibrates the oscillators arranged under the floor of the regions B4 and B5. By letting the user u exist in the areas B4 and B5, the user u may be made aware that the announcement is directed to himself / herself.

Further, in step S350, when there is no spare area in the vehicle, the notification unit 79 announces to the user u in the door area A2 to get off the automatic driving bus 10e and board the next bus. You may. Further, when there are a plurality of movement information, the notification unit 79 may arbitrate the movement information. For example, if the movement information is two pieces of information, "Please sit down" to encourage you to sit in a vacant seat and "Please pack in the back" to encourage you to move to a spare area, "Sit down and back". You may try to shorten the movement information, such as "Please pack".

In step S360, the notification unit 80 determines whether or not a predetermined time has elapsed since the movement information was notified by the notification unit 79. In the present embodiment, the predetermined time is an average time for the user of the door area A2 to move to an area other than the door area A2, and is stored in advance in the memory of the control device 60e.

When the predetermined time elapses (step 360, YES), the notification unit 80 determines in step S370 whether or not the presence of the object in the door areas A1 and A2 has been acquired by the first acquisition unit 75. .. If the movement information is notified in step S350 and an object exists in the door areas A1 and A2 even after a predetermined period has elapsed (step S370, YES), the object in the door areas A1 and A2 moves. There may be something that cannot be done. Therefore, in step S390, the notification unit 80 notifies the management center of the door area information including the existence of an object in the door areas A1 and A2 via the communication device 20. At the management center, for example, the operator confirms the in-vehicle condition with a camera or the like provided in the vehicle of the automatic driving bus 10e, and moves the objects existing in the door areas A1 and A2 to other than the door area via the notification device 25e. Make an announcement to make it happen.

When no object exists in the door areas A1 and A2 in step S320 or step S380, the door opening / closing device 31 executes a door opening operation or closing operation.

According to this embodiment, when an instruction signal for opening or closing the doors 21 and 22 is acquired and it is acquired that an object exists in the door areas A1 and A2, the movement destination determination unit 78 determines the movement destination. Using the acquired vehicle interior conditions, it is possible to determine a margin region in which the abundance density of objects other than the door regions A1 and A2 is relatively low, and to move the objects in the door regions A1 and A2 to other than the door region. Decide where to move. Further, the notification unit 79 causes the notification device 25e to notify the movement information for moving the object in the door areas A1 and A2 based on the determined movement destination. Therefore, since the objects in the door areas A1 and A2 can be moved, the doors 21 and 22 in the automatic driving bus 10e can be opened and closed. As a result, the automatic driving bus 10e can be operated smoothly.

Further, the movement destination determination unit 78 determines the movement destination of the object in the door areas A1 and A2, makes the user density in the vehicle uniform, and reduces the luggage n placed on the floor in the vehicle. The destination for moving the user u and the luggage n is determined so as to improve the situation. Therefore, the occupancy rate of the user can be improved. Further, even when the automatic driving bus 10e stops suddenly, for example, it is possible to prevent passengers from tipping over, so that the automatic driving bus 10e can be operated more safely.

Further, when the first acquisition unit 75 acquires that an object exists in the door areas A1 and A2 after a predetermined time has elapsed from the notification of the movement information, the notification unit 80 determines the door area. The door area information including the existence of an object in A1 and A2 is notified to the management center that manages the operation of the automatic operation bus 10e. Therefore, for example, even though the user who gets on the automatic driving bus 10e with the door opened and stands in the door areas A1 and A2 is announced as "Please get on the next bus", the user concerned Even if a situation occurs in which the driver does not want to get off, the management center can take appropriate measures to smoothly operate the automatic driving bus 10e. Appropriate response is, for example, "Customers with a yellow bag near the rear door, can't close the door, so could you take the next bus? The next bus will arrive in 3 minutes. It may be an announcement that identifies the user, such as "I will.", Or an announcement regarding the arrival time of the next bus.

C2. Modification Example of the Third Embodiment In the third embodiment, the notification control when the door closing operation of the automatic driving bus 10e is executed has been mainly described, but in the third embodiment, the door opening operation has been described. May be applied to.

D. Other Embodiments The number of doors of the self-driving bus and the type of getting on and off are not limited to this. For example, the number of doors may be one or three or more. Further, the type of getting on and off may be a type of getting on and off from the front door and getting off from the rear door, or a type of getting on and off using one door of the automatic driving bus.

Each part such as a control part and a method thereof described in the present disclosure is a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. May be realized by. Alternatively, each unit such as the control unit and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

The present disclosure is not limited to the above-described embodiments and modifications, and can be realized with various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the column of the outline of the invention may be used to solve some or all of the above-mentioned problems, or one of the above-mentioned effects. It is possible to replace or combine as appropriate to achieve part or all. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

10, 10b, 10c, 10d, 10e ... Automatic driving bus, 12 ... Stop, 21, 22 ... Door, 25, 25e ... Notification device, 31 ... Door opening / closing device, 60, 60a, 60b, 60c, 60e ... Control device, 61 ... 1st time estimation unit, 62 ... 2nd time estimation unit, 63 ... 3rd time acquisition unit, 64 ... Boarding information reception unit, 65, 65c ... Disembarkation intention reception unit, 66, 66c ... Notification unit, 67 ... Open / close Control unit, 68 ... Reset unit, 71, 71a ... Control unit, 75 ... First acquisition unit, 76 ... Second acquisition unit, 77 ... Instruction signal acquisition unit, 78 ... Movement destination determination unit, 79 ... Notification unit

Claims (10)

It is a control device (60, 60a) of the automatic driving bus (10, 10a).
Boarding information reception that receives boarding information including a boarding request signal indicating a boarding request of a user who wishes to board the self-driving bus from the automatic driving bus stop (12) and a transmission position of the boarding desired signal. Part (64) and
A first time estimation unit (61) that estimates the first time (T1), which is the estimated arrival time of the user at the bus stop, using the boarding information.
A second time estimation unit (62) that estimates a second time (T2), which is an estimated arrival time of the autonomous driving bus at the stop, using at least the traveling condition of the road on which the autonomous driving bus travels.
Using the timetable of the autonomous driving bus, a third time acquisition unit (63) for acquiring the third time (T3), which is the scheduled departure time of the autonomous driving bus at the stop,
The first time, the second time, and the third time are used to determine whether to stop or pass the automatic driving bus at the stop, and further, when stopping at the stop, from the stop. A control unit (71, 71a) that determines the departure time of the bus and causes the automatic driving device (30) to drive the automatic driving bus based on the determination.
If the second time is before the third time (S50, YES), the stop at the stop is determined (S55), and further.
When the first time is before the third time (S60, YES), the departure time is determined to be the third time (S80).
The first time is later than the third time (S60, NO), and the difference between the first time and the third time is set by using the allowable limit of delay of the automatic operation bus with respect to the timetable. If it is equal to or less than the first margin time (ST1) (S70, YES), the departure time is determined to be the time (T1 + α) based on the first time (S90).
When the first time is later than the third time (S60, NO) and the difference between the first time and the third time is larger than the first margin time (S70, NO), the departure The time is determined to be the third time (S80),
Control device. The control device according to claim 1.
In the control unit, when the second time is later than the third time (S50, NO), the control unit further
When the first time is before the second time (S100, YES), the stop at the stop is determined (S105), and the departure time is determined to be the second time (S110).
The first time is later than the second time (S100, NO), and the difference between the first time and the second time uses the allowable limit of the delay of the automatic operation bus with respect to the timetable. If it is equal to or less than the set second margin time (S120, YES), the stop at the stop is determined (S125), and the departure time is determined to be the time (T1 + β) based on the first time (S130).
When the first time is later than the second time (S100, NO) and the difference between the first time and the second time is larger than the second margin time (ST2) (S120, NO), the control device that determines the passage of the stop (S140). The control device according to claim 2.
The control unit is a control device that sets the second margin time to a time shorter than the first margin time. The control device according to claim 3.
The control unit is a control device that sets the second margin time to a shorter time as the second time becomes later than the third time. It is a control device (60b, 60c) of an automatic driving bus (10b, 10c, 10d).
A user who is on the self-driving bus while the self-driving bus arrives at the stop (12) and stops traveling, and the doors (21, 22) of the self-driving bus are open. u) The disembarkation intention reception department (65) that accepts the disembarkation intention,
The automatic operation is performed when at least one of the predetermined conditions including the fact that the first elapsed time (Fet) after the door is opened reaches the predetermined first time (t1) is satisfied. A notification unit (66, 66c) that notifies the notification device (25) provided on the bus of departure information indicating that the autonomous driving bus is about to depart.
An opening / closing control unit (31) that causes a door opening / closing device (31) included in the automatic driving bus to perform opening / closing control of opening the door after arriving at the stop and stopping traveling and closing the door after the departure information is notified. 67) and
The disembarkation intention was accepted at least between the time when the first elapsed time reaches the first time and the time after the departure information is notified and until the door is closed. In this case, a reset unit (68) for resetting the first elapsed time is provided.
Control device. The control device according to claim 5.
The disembarkation user determination unit (69) for determining whether or not the user who disembarks from the automatic driving bus from the door is the user who has accepted the disembarkation intention is provided.
The condition includes that it is determined that all the users who have accepted the disembarkation intention have disembarked from the automatic driving bus.
When the notification unit determines that the user who has accepted the disembarkation intention has disembarked from the automatic driving bus before the first elapsed time reaches the first time, the first A control device that notifies the departure information even when the elapsed time has not reached the first time. The control device according to claim 5 or 6.
The open / close control unit closes the door when the second elapsed time (Set) after the departure information is notified reaches (t2) a predetermined second time shorter than the first time.
The reset unit is a control device that resets the first elapsed time and the second elapsed time when the disembarkation intention is received before the second elapsed time reaches the second elapsed time. It is a control device (60e) of the automatic driving bus (10e).
The first acquisition unit (75) for acquiring the presence or absence of an object (u, n) in the door area (A1, A2), which is an area near the door required for the doors (21, 22) of the automatic driving bus to open and close. )When,
A second acquisition unit (76) for acquiring the in-vehicle condition including the position of an object in the vehicle of the autonomous driving bus other than the door area, and
An instruction signal acquisition unit (77) that acquires an instruction signal for opening or closing the door, and
When the instruction signal is acquired and it is acquired that an object exists in the door region, the margin region (existence density of the object other than the door region is relatively low) using the acquired vehicle interior condition ( A3, A4, A5) are determined, and a movement destination determination unit (78) for determining the movement destination of the object in the vehicle for moving the object in the door region to other than the door region.
A notification unit (79) is provided, which notifies a notification device (25e) provided in the automatic driving bus of movement information for moving an object in the door region based on the determined movement destination.
Control device. The control device according to claim 8.
When an object other than the door region moves to the current margin region (A3), the movement destination determining unit forms a new margin region (B1) in which the object in the door region can move. Determines the destination of the moving object other than the door area to the current margin area.
The notification unit is a control device that notifies the notification device of information that urges an object other than the door area to move to the current margin area as the movement information. The control device according to claim 8 or 9.
When the first acquisition unit acquires that an object exists in the door region after a predetermined time has elapsed after the movement information is notified by the notification unit, the object is in the door region. A control device further comprising a notification unit (80) that notifies a management center that manages the operation of the automatic driving bus of door area information including the existence of the door area.

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