JP2021056957A - Vehicle travel management system, vehicle travel management device, and vehicle travel management method - Google Patents

Abstract

To provide: a vehicle travel management system capable of coping with the case that a vehicle becomes unable to stop at a get-off location, so as to effectively search an alternative get-off location until the vehicle arrives at the get-off location; a vehicle travel management device; and a vehicle travel management method.SOLUTION: The present invention comprises: acquiring circumference environment information at stop candidate points; setting a first get-off location from the stop candidate points; determining before a vehicle arrives at the first get-off point, whether or not there is a possibility that the vehicle cannot stop at the first get-off location when the vehicle arrives at the first get-off location on the basis of the circumference environment information of the first get-off location; specifying a stop candidate point positioned within a range of a prescribed distance from the first get-off location as a second get-off location when it is determined that there is a possibility that the vehicle cannot stop at the first get-off location; and transmitting information of the second get-off location to a terminal device which can communicate with the vehicle traveling management device, and into which a user inputs information.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle travel management system, a vehicle travel management device, and a vehicle travel management method.

When allocating an autonomous vehicle that transports a user to a destination, one or more recommended locations are selected based on the pick-up destination and destination location provided by the user, the recommended location is presented to the user, and the user is presented with the recommended location. There are known vehicle allocation systems and methods that allow the vehicle to make a choice. (For example, Patent Document 1).

U.S. Patent Application Publication No. 2016/0370194

However, in Patent Document 1, when the landing place is occupied by parked and stopped vehicles after the autonomous driving vehicle departs for the landing place and before the vehicle arrives at the landing place, the vehicle is actually concerned. Is inefficient because it takes extra time to stop because it cannot stop even if it arrives at the drop-off point and it is necessary to search for another drop-off point and move after arriving at the drop-off point. There was a problem.

The problem to be solved by the present invention is a vehicle travel management system that can efficiently search for another drop-off point when the vehicle cannot stop at the drop-off point before the vehicle arrives at the drop-off point. , A vehicle travel management device, and a vehicle travel management method.

The present invention acquires information on the surrounding environment of a candidate stop point, sets a first drop-off point from the candidate stop point, and is based on the surrounding environment information of the first drop-off point before the vehicle arrives at the first stop-off point. When the vehicle arrives at the first drop-off point, it is determined whether or not there is a possibility that the vehicle cannot stop at the first drop-off point. A terminal that can specify a stop candidate point located within a predetermined distance from one drop-off point as a second drop-off point, communicate information on the second drop-off point with the vehicle travel management device, and input information by the user. The above problem is solved by sending to.

According to the present invention, if the vehicle cannot stop at the drop-off point before the vehicle arrives at the drop-off point, it is possible to efficiently search for another drop-off point.

FIG. 1 is an example showing a vehicle allocation scene in which the vehicle travel management system according to the present embodiment is used. FIG. 2 is a configuration diagram showing an example of a vehicle travel management system according to the present embodiment. FIG. 3 is a flowchart showing an example of changing the drop-off point while traveling to the first drop-off point in the present embodiment. FIG. 4 is a diagram showing an example of specifying the second drop-off point in the present embodiment. FIG. 5 is a diagram showing an example of generating a travel route to a stop candidate point in the present embodiment. FIG. 6 is a diagram showing an example of a change in the situation of the first disembarkation place after the disembarkation place is changed to the second disembarkation place in the present embodiment. FIG. 7 is a flowchart showing an example of changing the drop-off point while traveling to the second drop-off point in the present embodiment.

Hereinafter, an embodiment of the vehicle travel management system according to the present invention will be described with reference to the drawings.

The system of the present embodiment is a vehicle travel management system that allocates a vehicle in response to a vehicle allocation request from a user, sets a travel route from a boarding point desired by the user to a disembarking point, and travels the vehicle based on the traveling route. Is.

FIG. 1 describes a vehicle allocation scene to which the system of the present embodiment is applied. The vehicle allocation scene shown in FIG. 1 is merely an example, and is not limited to this. FIG. 1 shows a scene in which the user U and the vehicle Vm meet at the boarding place Ps, and the vehicle Vm heads for the getting-off place Pe along the traveling route Rm. Each point indicated by Px is a stop candidate point that can be stopped for getting on and off, and the stop candidate point may be an area of a certain section. The vehicle travel management system is connected to the vehicle (Vm, Vo1, Vo2, Vo3 in FIG. 1) by a network constituting a telecommunication network, and bidirectional communication is possible. In addition, the vehicle travel management system acquires information on the surrounding environment of each stop candidate point, and grasps the stop candidate points where the vehicle may not be able to stop, such as being occupied by obstacles such as parked and stopped vehicles. be able to. In FIG. 1, candidate stop points where the vehicle may not be able to stop are displayed in black, and candidate stop points where the vehicle may be able to stop are displayed in white.

When the vehicle travel management system receives a request from the user U to dispatch the vehicle via the user terminal, the vehicle travel management system determines the vehicle to be dispatched to the user U (in FIG. 1, Vm is determined as the vehicle to be dispatched). Further, based on the position information of the user U, the boarding place Ps is selected from the stop candidate points Px. In FIG. 1, the place where the notation changes from Px to Ps is the boarding place. Similarly, the drop-off point Pe is set based on the destination set by the user U. In FIG. 1, the place where the notation changes from Px to Pe is the place of disembarkation. Note that Pf in FIG. 1 is the position of the destination where the user U heads after getting off, and the user U heads for Pf after getting off at Pe.

Next, the configuration of the vehicle travel management system according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing an example of a vehicle travel management system 100 including the vehicle travel management device 101 according to the present embodiment. As shown in FIG. 2, the vehicle travel management system 100 in the present embodiment includes a vehicle travel management device 101, a vehicle 201, and a terminal 301. The vehicle travel management device 101 and the vehicle 201 may be connected to each other via a network constituting a telecommunication network, and the vehicle travel management device 101 may be connected to a plurality of vehicles 201. Similarly, the vehicle travel management device 101 and the terminal 301 may also be connected to each other via a network constituting a telecommunication network, and the vehicle travel management device 101 may be connected to a plurality of terminals 301. The terminal 301 is a device for the user to input and output information exchanged with the vehicle travel management device 101, for example, a mobile phone terminal, a portable computer terminal, or a user on board. If it is inside, the vehicle terminal provided in the vehicle 201 can be mentioned.

In the present embodiment, the vehicle travel management device 101 is provided outside the vehicle 201, and is arranged, for example, in a control center or the like that manages the dispatched vehicles. When the user makes a vehicle allocation request via a terminal 301 such as a mobile phone terminal owned by the user, the vehicle travel management device 101 selects which vehicle to allocate to the user, and the boarding place where the user and the vehicle meet. Is determined, and the boarding / alighting place information and the vehicle allocation vehicle information are transmitted to the terminal 301 such as a mobile phone owned by the user, and the boarding / alighting place information and the user information are transmitted to the vehicle 201.

The vehicle travel management device 101 records the stop candidate points by associating the position information of the stop candidate points with the map information of the map database 120. Further, the vehicle travel management device 101 acquires and records the surrounding environment information at the stop candidate point. The stop candidate point may be set as an area of a certain section. As the surrounding environment information at the stop candidate point, the information acquired by the infrastructure sensor installed at the stop candidate point may be used, or the sensor provided in the vehicle traveling near the stop candidate point acquires the information. You may use the information to be used.

In the present embodiment, the vehicle 201 is a vehicle capable of autonomous driving, and is a vehicle equipped with a navigation device and having a function of automatically controlling traveling control (speed control and steering control). Vehicle 201 may be manned or unmanned. However, the vehicle does not necessarily have to have an automatic control function, and may be a vehicle having a driving support function and driven by a human.

The vehicle travel management device 101 will be described. As shown in FIG. 2, the vehicle travel management device 101 includes at least a vehicle planning unit 110, a map database 120, and a communication unit 121.

The vehicle planning unit 110 includes a vehicle allocation planning unit 111, a disembarkation location information acquisition unit 112, a stop possibility determination unit 113, and a second disembarkation location identification unit 114.

The vehicle allocation planning unit 111 determines a vehicle to be allocated based on the vehicle allocation request information acquired by the communication unit 121 from the terminal 301 such as a mobile phone owned by the user. Further, the vehicle allocation planning unit 111 identifies the boarding place where the user and the vehicle meet from the candidate stop point and the disembarkation where the vehicle heads after the user has boarded, based on the vehicle allocation request information. The vehicle allocation request information includes user information, user's location information, and information on the destination. The boarding place and the getting-off place are specified based on the user's position information and the information about the destination acquired by the communication unit 121. After identifying the boarding place and getting off, the vehicle allocation planning unit 111 generates a traveling route from the current position of the vehicle 201 to be dispatched to the boarding place and a traveling route from the boarding place to getting off. If the drop-off location is changed while the vehicle 201 is traveling, a travel route to the changed drop-off location is generated. When the travel route is generated, the travel route is transmitted to the vehicle-mounted communication device 202 via the communication unit 121.

The getting-off place information acquisition unit 112 acquires and records the surrounding environment information at the stop candidate point. The getting-off place information acquisition unit 112 acquires the surrounding environment information at the stop candidate point from the infrastructure sensor installed at the stop candidate point and the sensor of the vehicle passing through the stop candidate point via the communication unit 121. Further, the history information of the vehicle stopped or departed at the stop candidate point may be acquired.

The infrastructure sensor can always detect the surrounding environment information of the stop candidate point. Further, it is possible to communicate with the communication unit 121, acquire the surrounding environment information of the stop candidate point at a fixed cycle, and transmit the surrounding environment information to the communication unit 121 together with the identification information of the stop candidate point. As a result, the getting-off place information acquisition unit 112 can periodically acquire the surrounding environment information of the stop candidate point.

In addition, various sensors provided in the vehicle passing through the candidate stop point can also acquire the surrounding environment information of the candidate stop point. For example, if the system according to the present embodiment manages a plurality of dispatched vehicles equipped with various sensors, when each vehicle stops or passes a stop candidate point, the sensor determines the stop candidate. The surrounding environment information of the point is acquired and transmitted to the communication unit 121 together with the position information of the vehicle. Since each vehicle acquires surrounding environment information by a sensor while moving, it is possible to acquire information by reducing the number of blind spots due to obstacles such as parked and stopped vehicles.

Further, if the vehicle can communicate with the vehicle travel management device 101, the history information of stopping or departing at the stop candidate point can be transmitted to the communication unit 121. For example, when a vehicle having a position information acquisition function and a communication function stops or departs at a stop candidate point, the vehicle transmits the stop information and the departure information to the communication unit 121 together with the stop / departure time. , The getting-off place information acquisition unit 112 can acquire information about the occupied state by an obstacle such as a parked vehicle at a stop candidate point.

When the getting-off place information acquisition unit 112 acquires the surrounding environment information of the stop candidate point, it records the position information of the stop candidate point and the surrounding environment information of the stop candidate point in association with each other based on the map database 120. In addition, if it is determined that the vehicle may not be able to stop at the disembarkation while the vehicle is traveling until the disembarkation, the surrounding environment information of another stop candidate point is acquired at that time. The getting-off place information acquisition unit 112 may acquire the surrounding environment information at a fixed cycle. For example, when the surrounding environment information is transmitted from the vehicle passing through the stop candidate candidate point, the surrounding environment information is acquired. Environmental information may be acquired and recorded.

The stop possibility determination unit 113 determines the stop possibility at the stop candidate point based on the surrounding environment information of the stop candidate point acquired by the disembarkation information acquisition unit 112. In the present embodiment, the possibility of stopping is such that the vehicle 201 traveling to the drop-off point is traveling before the vehicle 201 approaches a distance at which the surrounding environment information of the stop candidate point, which is the drop-off point, can be detected by the vehicle surrounding environment detection device 203. It is performed based on the surrounding environment information of the getting-off place acquired by the getting-off place information acquisition unit 112 at a certain point in time. Therefore, the possibility of stopping is not determined based on the information actually acquired by the vehicle surrounding environment detection device 203, and the vehicle 201 can stop at the place of disembarkation when it arrives at the place of disembarkation. Whether or not there is a possibility (or whether or not there is a possibility that the vehicle cannot be stopped) is determined. The getting-off place information acquisition unit 112 acquires the surrounding environment information of the getting-off place by communicating with the infrastructure sensor or the like installed at the getting-off place. For example, based on the surrounding environment information of the candidate stop point, if the candidate stop point is occupied by an obstacle such as a parked vehicle, it is determined that the vehicle 201 may not be able to stop at the candidate stop point. If there is a stop space at the candidate stop point, it is determined that the vehicle 201 may be able to stop at the candidate stop point. In the present embodiment, the stop possibility determination unit 113 determines whether or not the vehicle 201 may not be able to stop at the drop-off point while the vehicle 201 is traveling along the travel route to the drop-off point. I do. Further, after changing the drop-off place, it is determined whether or not the vehicle 201 may be able to stop at the drop-off place before the change based on the surrounding environment information of the drop-off place before the change. Thereby, the system according to the present embodiment can avoid the determination that the vehicle 201 cannot stop after approaching the disembarkation place to a distance where the surrounding environment information of the disembarkation place can be directly detected.

The second stop candidate point 114 identifies a stop candidate point that may be able to stop based on the surrounding environment information of the stop candidate point, the position information of the first stop place, and the user's destination information. In the present embodiment, when the stop possibility determination unit 113 determines that the vehicle 201 may not be able to stop at the first stop, the second stop identification unit 114 may be able to stop the vehicle 201. Identify a certain other candidate stop point as the second stop point. In the present embodiment, the first drop-off location indicates the first drop-off location set by the vehicle allocation planning unit 111 in response to the vehicle allocation request from the user. The conditions of the second drop-off point to be specified can be set in advance. For example, a stop candidate point located within a predetermined distance from the first drop-off point is set as the second drop-off point. Further, a stop candidate point located within a predetermined distance from the destination where the user heads after getting off may be specified as the second getting-off place. In addition, the degree of deviation between the travel route to each stop candidate point and the travel route to the first stop is calculated, and the stop candidate points other than the first stop where the travel route with the smallest deviation is generated are second. It may be specified as a drop-off point, or a plurality of second drop-off points may be specified instead of narrowing down the second drop-off point to one. After the second drop-off point identification unit 114 identifies the second drop-off point, the information regarding the second drop-off point is a mobile phone used by the user who is in the vehicle 201 or the vehicle 201 via the communication unit 121. It is sent to the terminal.

Further, even after the drop-off point is changed, the second drop-off point identification unit 114 is based on the surrounding environment information of the first drop-off point while the vehicle 201 is traveling to the second drop-off point. Select whether or not to change to the first drop-off point.

The communication unit 121 transmits / receives information to / from the terminal communication unit 304 of the terminal 301 and the in-vehicle communication device 202 of the vehicle 201 via the network. The communication unit 121 receives the vehicle allocation request information (destination information, user information, etc.) input by the user via the terminal 301 of the user's mobile phone terminal or the like, and receives the vehicle allocation request information (destination information, user information, etc.) to the terminal 301 of the user's mobile phone terminal or the like. , Send information about boarding points and information on dispatched vehicles. In addition, the communication unit 121 receives vehicle information and current position information from the vehicle 201, and transmits information on the boarding point, travel route information, and user information to the vehicle 201. Further, the communication unit 121 communicates with the infrastructure sensor installed at the stop candidate point and the vehicle traveling near the stop candidate point, and receives the ambient environment information at the stop candidate point transmitted from the infrastructure sensor and the vehicle.

The map database 120 stores map information including road information, for example, intersections and branch points are nodes, and road sections between nodes are links. In the present embodiment, the map information is used when the vehicle allocation planning unit 111 generates a traveling route, and when the getting-off place information acquisition unit 112 records the surrounding environment information of the stop candidate point.

Next, the vehicle 201 will be described. The vehicle 201 includes an in-vehicle communication device 202, a vehicle surrounding environment detection device 203, a vehicle position detection device 204, an in-vehicle map database 205, a drive device 206, and a controller 210. In the present embodiment, the vehicle 201 is premised on a vehicle capable of autonomous driving, but the present invention is not limited to this, and the vehicle 201 may be a vehicle operated by a human driver.

The in-vehicle communication device 202 transmits / receives information to / from the communication unit 121 of the vehicle travel management device 101 via the network. The in-vehicle communication device 202 receives information about the boarding point, a traveling route to the boarding / alighting place, user information, etc. from the communication unit 121, and transmits the current position information of the vehicle 201 and the vehicle information to the communication unit 121.

The vehicle surrounding environment detection device 203 acquires the vehicle surrounding environment information, and is composed of various sensors. For example, it is a CCD camera, a CMOS camera, or an HD camera, and images the objects in front of and around the vehicle 201 and outputs them as image data. Further, as a sensor for measuring the distance to an object existing in front of and around the vehicle 201, for example, a laser range finder or an ultrasonic sensor can be used, and as a sensor for detecting a moving object or an obstacle, the sensor can be used. An optical sensor or an infrared sensor can be used. Examples of the detection target include pedestrians, bicycles, motorcycles, automobiles, road obstacles (median strips, traffic lights, commercial facilities, residential facilities, vegetation, etc.). The state of the detection target is not particularly limited, and it can be detected whether it is moving or fixed. The vehicle 201 travels on a predetermined travel route based on the ambient environment information acquired by the vehicle ambient environment detection device 203.

The own vehicle position detection device 204 detects the current position of the vehicle 201, and for example, a GPS device can be used. In the present embodiment, the current position information is used when the vehicle 201 travels along the traveling route. Further, for example, when the vehicle travel management device 101 that receives a vehicle allocation request from the user selects a vehicle to be allocated to the user, the position information of the vehicle 201 is acquired via the communication unit 121 and the vehicle is allocated to the user. Vehicle 201 is determined.

The in-vehicle map database 205 stores map information including road information, for example, intersections and branch points are nodes, and road sections between nodes are links. In the present embodiment, the travel plan determination unit 211 is used when generating a travel locus and a travel vehicle speed for controlling the travel of the vehicle along the travel route.

The drive device 206 executes running control including acceleration / deceleration and steering of the vehicle 201 according to a target control amount output from the control command value calculation unit 212. The drive device 206 brakes, for example, an electric motor and / or an internal combustion engine that is a travel drive source, a power transmission device including a drive shaft or an automatic transmission that transmits output from these travel drive sources to drive wheels, and wheels. It is equipped with a drive mechanism such as a braking device. Further, the drive device 206 may include other devices necessary for traveling of the vehicle 201, such as headlights, turn signals, hazard lamps, and wipers.

The controller 210 includes at least a travel plan determination unit 211 and a control command value calculation unit 212. The controller 210 controls each part of the vehicle 201, and has a ROM (Read Only Memory) for storing the program, a CPU (Central Processing Unit) for executing the program stored in the ROM, and an accessible storage device. It is a computer composed of a RAM (Random Access Memory) that functions as a function. The controller 210 executes a stored control program based on, for example, various signals input from the in-vehicle communication device 202, the vehicle surrounding environment detection device 203, and the own vehicle position detection device 204 and the map information of the in-vehicle map database 205. Then, a signal of a target control amount for controlling traveling is output to the drive device 206.

The travel plan determination unit 211 uses the information on the position of the own vehicle detected by the own vehicle position detection device 204, the surrounding environment information acquired by the vehicle surrounding environment detection device 203, and the map information of the in-vehicle map database 205 in accordance with the traffic regulations. However, the travel plan regarding the travel locus and the travel vehicle speed for traveling on the set travel route is determined according to the surrounding conditions.

The control command value calculation unit 212 calculates each target control amount for controlling the vehicle 201 based on the travel plan determined by the travel plan determination unit 211. After calculating the target control amount, the control command value calculation unit 212 outputs the target control amount to the drive device 206.

Next, the configuration of the terminal 301 will be described. The terminal 301 includes at least an operation input unit 302, an output unit 303, and a terminal communication unit 304. The terminal 301 is a device for the user to input and output information to and from the vehicle travel management device 101, for example, a smartphone, a mobile phone terminal, a portable computer, or the user is on board. If so, the vehicle terminal provided in the vehicle 201 can be mentioned. When the user makes a vehicle allocation request, the request information is input via the terminal 301 such as a mobile phone owned by the user.

The operation input unit 302 receives the user's operation and input, and outputs the user's operation content and input content information to the terminal communication unit 304.

The output unit 303 displays the boarding point information and the vehicle dispatch vehicle information received by the terminal communication unit 304 when the user requests the vehicle allocation, and the second disembarkation location information received by the terminal communication unit 304 when selecting the disembarkation location change. Display selection information about the place of disembarkation.

The terminal communication unit 304 transmits / receives information to / from the communication unit 121 of the vehicle travel management device 101. The terminal communication unit 304 receives the vehicle information, the first disembarkation place information, and the second disembarkation place information from the communication unit 121, and transmits the vehicle allocation request information and the disembarkation place change selection information to the communication unit 121.

Subsequently, with reference to FIG. 3, an example of a flowchart from when the vehicle 201 starts traveling toward the disembarkation point to when the disembarkation point is updated to another stop candidate point will be described by the vehicle travel management system having the above configuration. To do. In the flowchart of FIG. 3, the vehicle travel management device 101 sets the drop-off location based on the request information input by the user, completes the setting of the travel route to the drop-off location, and the vehicle 201 starts traveling. The flow after that is shown, and the drop-off point is the first drop-off point, and the travel route to the drop-off point is the first travel route. In the present embodiment, for example, when request information (user information, destination information, location information) is input to the operation input unit 302 of the terminal 301 such as a mobile phone terminal operated by the user, the vehicle planning unit. The 110 determines a vehicle to be dispatched to the user from the position information of the user and the position information of the vehicle, and sets a boarding point at which the user gets on the vehicle. For example, the vehicle to be dispatched sets a vehicle close to the user's current position, and the boarding point also identifies a point close to the user's current position. Then, from the destination set by the user, the disembarkation point where the user gets off the vehicle is specified, the disembarkation point is set as the first disembarkation point, and the traveling route to the disembarkation place is generated. The destination is a place where the user goes after getting off the vehicle, and the disembarkation point is specified as a place close to the destination, for example, a place located within a predetermined distance from the destination. Further, the first traveling route is generated as, for example, the shortest route connecting the boarding point and the first getting-off place.

In step S201, while the vehicle 201 is traveling toward the first disembarkation place, the disembarkation place information acquisition unit 112 acquires the surrounding environment information of the first disembarkation place. The surrounding environment information of the first drop-off point is, for example, information detected by the infrastructure sensor installed at the first drop-off point, transmitted to the communication unit 121 at regular intervals, and recorded in the drop-off point information acquisition unit 112. Has been done. Further, the information detected by the sensors of other vehicles traveling near the first drop-off point or the history information of the vehicle that stops or departs at the first drop-off point may be used. The disembarkation place information acquisition unit 112 acquires the surrounding environment information of the first disembarkation place at regular intervals while the vehicle 201 is traveling to the first disembarkation place.

In step S202, the stop possibility determination unit 113 determines whether or not the vehicle 201 may not be able to stop at the first stop based on the surrounding environment information of the first stop obtained in step S201. .. The possibility that the vehicle 201 cannot stop at the first drop-off point is, for example, when the first drop-off point is occupied by an obstacle such as a parked vehicle, or the area around the first drop-off point cannot be stopped due to construction work or the like. There are cases where it is. In the present embodiment, the stop possibility determination unit 113 determines the possibility that the vehicle 201 cannot stop at the first stop at a fixed cycle based on the surrounding environment information of the first stop, and there is a possibility that the vehicle cannot stop. If it is determined that there is, the process proceeds to step S205. If it is not determined that the vehicle may not be stopped, the process proceeds to step S203.

In step S203, the controller 210 determines whether or not the vehicle 201 has arrived at the first drop-off point based on the vehicle position information acquired by the own vehicle position detection device 204 and the map information of the vehicle-mounted map database 205. In the present embodiment, it is determined that the vehicle 201 has arrived at the disembarkation place when the vehicle 201 enters the range in which the surrounding environment information of the disembarkation place can be acquired by the vehicle surrounding environment detection device 203. If it is determined that the vehicle has arrived at the first drop-off point, the process proceeds to step S204, and if it is determined that the vehicle has arrived, the process returns to step S201, and the flow is repeated thereafter.

In step S204, when the vehicle 201 arrives at the first disembarkation place or the second disembarkation place, the controller 210 executes the stop determination and control at the first disembarkation place or the second disembarkation place. Specifically, the controller 210 determines whether or not the vehicle 201 can stop at the first or second drop-off point from the ambient environment information acquired by the vehicle surrounding environment detection device 203, and determines that the vehicle can stop. In this case, the travel plan determination unit 211 is made to determine the travel plan regarding the travel locus and the travel vehicle speed toward the stop. For example, when it is recognized that there is a stop space at the first disembarkation place or the second disembarkation place from the image data obtained by the vehicle surrounding environment detection device 203 that captures the surrounding situation of the vehicle, the vehicle 201 gets off first. It is determined that the vehicle can be stopped at the ground or the second drop-off point. After the travel plan determination unit 211 determines the travel plan, the control command value calculation unit 212 calculates various target control amounts for controlling the vehicle based on the travel plan determined by the travel plan determination unit 211. , Output to the drive device 206. The drive device 206 controls the traveling of the vehicle 201 based on various input target control amounts, and stops the vehicle 201 in the stop space. When the stop of the vehicle 201 is completed, the flow ends.

In step S205, the getting-off place information acquisition unit 112 acquires the surrounding environment information of the stop candidate points other than the first getting-off place. Similar to the acquisition of the surrounding environment information of the first drop-off point, the surrounding environment information of the stop candidate points other than the first drop-off point was detected by the infrastructure sensors installed at each of the stop candidate points other than the first stop-off point. The information is transmitted to the communication unit 121 at regular intervals and recorded in the getting-off place information acquisition unit 112. Further, the information detected by the sensors of other vehicles traveling in the vicinity of the candidate stop point may be acquired, or the history information of the vehicle stopped / departed at the candidate stop point may be used. For example, the disembarkation information acquisition unit 112 sets a range of a predetermined distance from the first disembarkation point, selects a stop candidate point located within the range, and acquires the surrounding environment information of the stop candidate point at that time. .. Regarding the search for the stop candidate points for which the surrounding environment information is acquired in step S205, the search conditions can be set in advance, and the search for the stop candidate points within a predetermined distance from the destination set by the user is also possible. Good. The range of the predetermined distance from the destination may be set as a range in which the walking time from the first disembarkation point to the destination is estimated and the walking time is about the same as the walking time. If there is no candidate stop point within a predetermined distance from the first drop-off point, the search condition setting may be changed, for example, the search distance range may be further expanded to further stop the candidate stop point. Acquires the surrounding environment information of.

In step S206, the stop possibility determination unit 113 determines whether or not there is a possibility that the vehicle 201 can stop at the stop candidate point based on the surrounding environment information and the traveling route of the stop candidate point acquired in step S205. .. Examples of the case where the vehicle 201 may be able to stop at the candidate stop point include a case where there are few obstacles such as parked and stopped vehicles at the candidate stop point and the stop space is vacant.

In step S207, the second disembarkation place identification unit 114 specifies a candidate for the disembarkation place as a substitute for the first disembarkation place as the second disembarkation place, based on the determination result of the stop possibility determination unit 113 in step S206. For example, the second drop-off point specifying unit 114 specifies a stop candidate point located within a predetermined distance from the first drop-off place as the second drop-off place. Further, for example, as shown in FIG. 4, if there is a stop candidate point determined that the vehicle 201 may be able to stop within a predetermined distance from the destination set by the user, the stop candidate point is found. May be specified as the second stop. In FIG. 4, the stop candidate points where the vehicle 201 may stop are represented as Pe1, Pe2, and Pe3, respectively. It is not always necessary to narrow down the second drop-off point to one, and a plurality of stop candidate points may be specified as the second stop-off point. For example, the second drop-off point specifying unit 114 identifies Pe1, Pe2, and Pe3 shown in FIG. 4 as the second drop-off point.

Further, not limited to the above, the second drop-off point identification unit 114 may specify the second stop-off point from among a plurality of stop candidate points that may be able to stop, according to predetermined conditions. For example, among a plurality of candidate stops, the candidate stop closest to the first stop may be specified as the second stop, or the candidate stop located within a predetermined distance from the first stop. May be specified as the second stop. In that case, the second disembarkation point identification unit 114 acquires the position of the first disembarkation place from the map information of the map database 120, and based on the position information of the first disembarkation place and the position information of other stop candidate points. , Identify a stop candidate point located within a predetermined distance from the first drop-off point. Further, for example, a stop candidate point closest to the destination set by the user or a stop candidate point located within a predetermined distance from the destination may be set as the second stop candidate point. In FIG. 4, since Pe2 is the stop candidate point closest to the destination Pf, Pe2 is specified as the second stop point.

Further, as a method of specifying the second stop location, the vehicle allocation planning unit 111 generates travel routes from the position of the vehicle 201 to the stop candidate points for a plurality of stop candidate points, respectively, and the second stop location is specified. The specific unit 114 may specify the second drop-off point by comparing the generated travel routes. For example, the degree of deviation between each generated travel route and the first travel route is calculated, and a stop candidate point other than the first stop that can generate the travel route with the smallest degree of deviation is specified as the second stop. .. FIG. 5 shows the traveling routes to Pe1, Pe2, and Pe3, and the second drop-off point specifying unit 114 compares the degree of deviation between these traveling routes and the first traveling route. As a method of calculating the degree of divergence, for example, the distance of a section of one traveling route that passes through the same traveling route as the first traveling route is calculated, and the ratio of the distance of the section to the total distance of the traveling route is calculated. .. Then, the travel route having the largest ratio is specified as the travel route having the lowest degree of deviation, and the stop candidate point where the travel route is generated is specified as the second drop-off point. In FIG. 5, Pe2 having the smallest degree of divergence is specified as the second drop-off point. As a result, even if the stop candidate point is close to the first stop point in terms of distance, such as Pe3, a detour is required as a travel route, and as a result, a stop candidate point that prolongs the travel time is specified. It can be prevented from being lost. Further, when there are a plurality of travel routes having the same degree of divergence, the second stop identification unit 114 may specify each stop candidate point where the travel routes are generated as the second stop. ..

In step S208, the communication unit 121 notifies the user of the information regarding the second drop-off point specified in step S207. As a method of notification, for example, the communication unit 121 transmits the information to the terminal communication unit 304 of the vehicle terminal of the vehicle 201 on which the user is riding or the terminal communication unit 304 of the terminal 301 such as a mobile phone used by the user, and the information is transmitted. It is displayed on the display screen provided in the output unit 303. In addition, the communication unit 121 transmits information about the second drop-off place and also transmits selection information as to whether or not to change the destination from the first drop-off place to the second drop-off place.

In step S209, the second drop-off location specifying unit 114 selects whether or not to change the drop-off location from the first drop-off location to the second drop-off location. For example, if there is an input of selection to change the drop-off place from the first drop-off place to the second drop-off place via the operation input unit 302 of the terminal 301 by the user's selection, the second drop-off place identification unit 114 The input information is acquired via the communication unit 121, and the drop-off location change is selected. Further, the second drop-off point specifying unit 114 may automatically select to change the drop-off place to the second drop-off place. In that case, for example, the second stop candidate point 114 specifies and changes the stop candidate point closest to the first stop candidate point as the second stop candidate point based on the position information of the stop candidate point. When the user makes a selection, for example, if the display screen of the output unit 303 is a touch panel, a button as to whether or not to change is displayed on the display screen, and when the user touches the button to be changed, the drop-off location is changed. Information is entered. If the button for changing the drop-off location is touched, the process proceeds to step S210. If the button that does not change the drop-off location is touched, the process proceeds to step S211. Further, if the user's input cannot be detected within a predetermined time after displaying the disembarkation place change selection screen to the user, it may be determined that the disembarkation place change has not been selected. Further, when a plurality of second drop-off points are presented, the user may be allowed to select which second drop-off point to change to.

In step S210, the vehicle allocation planning unit 111 changes the disembarkation place from the first disembarkation place to the second disembarkation place according to the result of the selection of the disembarkation place change in step S209, and generates a traveling route to the second disembarkation place. And change the driving route. When the vehicle allocation planning unit 111 generates a travel route to the second drop-off point after the drop-off point is updated, information on the travel route to the second drop-off point is transmitted to the vehicle-mounted communication device 202 via the communication unit 121. The information received by the vehicle-mounted communication device 202 is input to the controller 210. Then, the controller 210 determines a traveling plan regarding the traveling locus and the traveling vehicle speed of the vehicle 201 based on the vehicle surrounding environment information according to the traveling route to the second getting-off place, and the drive device 206 determines the traveling plan based on the traveling plan. , Control the run. When the vehicle 201 starts traveling toward the second drop-off point, the process proceeds to step S700.

In step S211, the change of the drop-off point to the second drop-off point is not selected in step S209, and the vehicle 201 continues to travel to the first drop-off point. When the vehicle 201 enters the range in which the surrounding environment information of the first disembarkation place can be detected by the vehicle surrounding environment detection device 203, it is determined that the vehicle has arrived at the first disembarkation place, and the process proceeds to step S204.

As described above, the vehicle travel management system 100 according to the present embodiment acquires the surrounding environment information of the stop candidate point, sets the first stop point from the stop candidate point, and before the vehicle arrives at the first stop point. In addition, based on the surrounding environment information of the first drop-off point, it is determined whether or not there is a possibility that the vehicle cannot stop at the first drop-off point when the vehicle arrives at the first drop-off point, and there is a possibility that the vehicle cannot stop at the first drop-off point. If it is determined that there is, a stop candidate point located within a predetermined distance from the first disembarkation point is specified as the second disembarkation place, and the information of the second disembarkation place is referred to as a vehicle travel management device. It can communicate and sends it to a terminal where the user inputs information. As a result, if the vehicle cannot stop at the drop-off point before the vehicle arrives at the drop-off point, it is possible to efficiently search for another drop-off point.

Further, in the present embodiment, a stop candidate point located within a predetermined distance from the destination set by the user is specified as the second drop-off place. As a result, the second drop-off point can be specified while maintaining the convenience of the user's movement from the drop-off point to the destination.

Further, in the present embodiment, a travel route to the stop candidate point is generated, the degree of deviation between the travel route to the first stop point and the travel route to the stop candidate point is obtained, and the travel route having the smallest deviation is generated. A stop candidate point other than the first stop is specified as the second stop. As a result, even if the vehicle can stop at the first drop-off point while traveling to the second drop-off point, the travel route can be easily changed to the first drop-off point.

Next, a flow for reselecting the drop-off location change after changing the drop-off location from the first drop-off location to the second drop-off location will be described. In the flow after changing the drop-off point to the second drop-off point, the following two cases are mainly assumed. The first is the case where the first drop-off point is included in the travel route to the second drop-off point. That is, in this case, the vehicle 201 passes through the first drop-off point while traveling to the second drop-off point. When the vehicle 201 passes through the first disembarkation place while traveling to the second disembarkation place, the vehicle surrounding environment detection device 203 detects the situation of the first disembarkation place, and the controller 210 actually performs the first disembarkation place. It is determined whether or not the vehicle 201 can stop at the first drop-off point. The possibility that the vehicle 201 cannot stop at the first disembarkation place determined in step S202 is determined from the situation of the first disembarkation place at that time while the vehicle 201 is traveling. Therefore, it is possible that when the vehicle 201 actually arrives at the first drop-off point, another vehicle that occupies the first drop-off point has already departed and the stop space is vacant. In that case, by returning the disembarkation place from the second disembarkation place to the first disembarkation place, the vehicle 201 can be stopped more reliably than heading to the second disembarkation place. The second drop-off point is only a possibility judged from the situation of the second drop-off place at that time while the vehicle 201 is running, and whether or not the vehicle can actually stop arrives at the second drop-off place. It's because you don't know without it.

Next, in the second case, the second drop-off point is included in the first travel route. In this case, the disembarkation place information acquisition unit 112 acquires the surrounding environment information of the first disembarkation place at regular intervals while the vehicle 201 is traveling to the second disembarkation place, and the stop possibility determination unit 113. Determines whether or not the vehicle 201 may be able to stop at the first drop-off point. For example, in the example of FIG. 6, the first disembarkation is performed while the vehicle Vm is traveling on the travel route Rm to the second disembarkation place Pe'(that is, the vehicle Vm has not yet arrived at the second disembarkation place). This is a scene in which the vehicle Vo1 that had been stopped at the ground Pe departed and a stop space was vacated at the first stop. In such a situation, as shown in FIG. 6, the infrastructure sensor Ix installed at the first drop-off point Pe detects a situation in which a stop space is available at the first drop-off point, and provides information on the situation. It is transmitted to the communication unit 121 of the vehicle travel management device 101 (vehicle travel management device C in FIG. 6). The disembarkation place information acquisition unit 112 acquires information on the situation via the communication unit 121, and the stop possibility determination unit 113 determines that the vehicle 201 can stop at the first disembarkation place based on the information. As a result, even if it is determined in step S202 that the vehicle 201 cannot stop at the first disembarkation place, the disembarkation place is changed to the second disembarkation place, and the first disembarkation is performed while traveling to the second disembarkation place. If another vehicle that occupies the land departs and a stop space is created, it is possible to determine whether or not to change the drop-off location to the first drop-off location. For example, if the first stop is a stop candidate point with better conditions for the user, such as the first stop is closer to the destination than the second stop, the user changes the stop to the first stop. This can improve convenience.

Further, the case where the travel route to the second drop-off point is included in the first travel route is given as an example, but the travel route to the second drop-off point is the same as the first travel route halfway. It may be applied when the vehicle passes through a traveling route but branches in the middle. In that case, if it is determined that there is a possibility that the vehicle can stop at the first stop before the branch point, the travel route may be changed to the first travel route at the branch point as it is, or the branch point may be changed. The position of the vehicle 201 at the time when it is determined that the vehicle can stop at the first stop is closer to the first stop than the second stop even if the vehicle is traveling on the travel route to the second stop. In such a case, the drop-off point may be changed to the first drop-off point.

Hereinafter, the flow charts after step S700 in the present embodiment will be described with reference to FIG. 7 to change the drop-off points for the first drop-off point and the second drop-off point.

In step S701, the controller 210 determines whether or not the vehicle 201 is approaching the first drop-off point in the middle of the travel path while the vehicle 201 is traveling to the second drop-off point. If the travel route to the second drop-off point includes the first drop-off point, the vehicle will pass through the first drop-off point before arriving at the second drop-off point. The controller 210 determines whether or not the vehicle is approaching the first drop-off point based on the position information of the vehicle 201 acquired by the own vehicle position detection device 204 and the map information of the vehicle-mounted map database 205. Alternatively, it may be determined whether or not the vehicle 201 is approaching the first disembarkation place depending on whether or not the vehicle 201 is located within a range in which the surrounding environment information of the first disembarkation place can be acquired by the vehicle surrounding environment detection device 203. .. If it is determined that the vehicle is approaching the first drop-off point, the process proceeds to step S702. If it is not determined that the vehicle is approaching the first drop-off point, the process proceeds to step S705.

In step S702, the controller 210 determines whether or not the vehicle 201 can actually stop at the first disembarkation place based on the surrounding environment information detected by the vehicle surrounding environment detection device 203 of the vehicle 201. For example, if it can be recognized that the stop space is vacant from the image data obtained by capturing the situation of the first stop, it is determined that the vehicle 201 can stop at the first stop. If it is determined that the vehicle 201 can be stopped at the first drop-off point, the process proceeds to step S703. If it is not determined that the vehicle 201 can stop at the first drop-off point, the vehicle 201 will pass through the first drop-off point, and the flow proceeds to step S704.

In step S703, the controller 210 executes running control for the vehicle 201 to stop at the first drop-off point. The travel plan determination unit 211 determines a travel plan relating to a travel locus and a travel vehicle speed for stopping the vehicle 201 so as not to come into contact with surrounding obstacles with respect to the stop space detected by the vehicle surrounding environment detection device 203. Then, based on the travel plan, the control command value calculation unit 212 calculates various target control amounts and outputs them to the drive device 206. The drive device 206 executes travel control for stopping based on the input travel plan. When the stop control process is completed, the flow ends.

In step S704, the vehicle 201 travels according to the travel route to the first disembarkation place or the second disembarkation place. When the vehicle 201 enters the range in which the surrounding environment information of the first or second drop-off place can be detected by the vehicle surrounding environment detection device 203, it is determined that the vehicle 201 has arrived at the first or second drop-off place. The process proceeds to step S204.

In step S705, while the vehicle 201 is traveling toward the second disembarkation place, the disembarkation place information acquisition unit 112 acquires the surrounding environment information of the first disembarkation place. As the surrounding environment information of the first drop-off point, information acquired from an infrastructure sensor, another vehicle, or the like is used. The disembarkation place information acquisition unit 112 acquires the surrounding environment information of the first disembarkation place at regular intervals while the vehicle 201 is traveling to the second disembarkation place.

In step S706, the stop possibility determination unit 113 determines whether or not the vehicle 201 may be able to stop at the first stop based on the surrounding environment information of the first stop acquired in step S705. .. For example, if an obstacle such as a vehicle parked and stopped at the first drop-off point departs and the stop space becomes empty, it is determined that the vehicle 201 may be able to stop at the first stop-off point. To. The stop possibility determination unit 113 determines at regular intervals whether or not the vehicle 201 may be able to stop at the first stop, based on the surrounding environment information of the first stop. If it is determined that the vehicle 201 may be able to stop at the second drop-off point, the process proceeds to step S707. If it is not determined that the vehicle may be stopped, the process proceeds to step S710.

The determination of whether or not the vehicle 201 may be able to stop at the first drop-off point in step S706 is different from the determination of whether or not the vehicle 201 may be able to stop at the first drop-off point in step S702, up to the second drop-off point. It is assumed that the travel route does not include the first drop-off point (an example shown in FIG. 6). In the determination in step S702, when the vehicle actually passes through the first drop-off point, the vehicle surrounding environment detection device 203 provided in the vehicle 201 grasps the situation of the first drop-off point and makes a determination. 2 If the travel route to the drop-off point does not include the first drop-off point, the vehicle does not pass through the first drop-off point before arriving at the second drop-off point. Therefore, the vehicle surrounding environment detection device of the vehicle 201 It is not possible to directly grasp the situation of the first drop-off point at 203. Therefore, in step S706, the determination is made based on the surrounding environment information of the first disembarkation place acquired by the infrastructure sensor installed at the first disembarkation place and the sensors of other vehicles passing through the first disembarkation place.

In step S707, the communication unit 121 notifies the user of information that the vehicle 201 may be able to stop at the first drop-off point. As a method of notification, for example, the communication unit 121 transmits the information to the terminal communication unit 304 of the vehicle terminal of the vehicle 201 on which the user is riding or the terminal communication unit 301 of the terminal 301 such as a mobile phone used by the user, and the information is transmitted. It is displayed on the display screen provided in the output unit 303 of the terminal 301. In addition, the communication unit 121 transmits information about the first drop-off point and also transmits selection information as to whether or not to change the drop-off point from the second drop-off place to the first drop-off place.

In step S708, the second drop-off location specifying unit 114 selects whether or not to change the drop-off location from the second drop-off location to the first drop-off location. For example, if there is an input for selecting to change the drop-off location via the operation input unit 302 of the vehicle terminal of the vehicle 201 or the terminal 301 such as a mobile phone owned by the user, the second drop-off location identification unit is selected. 114 selects the drop-off location change and proceeds to step S709. If the user does not input the drop-off location change within a predetermined time, or if there is an input for selecting not to change the drop-off location, the second drop-off location identification unit 114 does not select the drop-off location change. As planned, the vehicle 201 will travel to the second drop-off point, and the flow proceeds to step S704. For example, if the display screen is a touch panel, a button as to whether or not to change is displayed on the display screen, and when the change button is touched, the drop-off location change is input.

In step S709, the vehicle allocation planning unit 111 changes the disembarkation place from the second disembarkation place to the first disembarkation place according to the selection of the disembarkation place change of the second disembarkation place specifying unit 114 in step S708, and the first disembarkation place. Generate a travel route to. When the vehicle allocation planning unit 111 generates a travel route to the first drop-off point, information on the travel route to the first drop-off point is transmitted to the vehicle-mounted communication device 202 via the communication unit 121. The information received by the in-vehicle communication device 202 is input to the travel plan determination unit 211. Then, the travel plan determination unit 211 determines the travel plan regarding the travel locus and the travel vehicle speed based on the vehicle surrounding environment information acquired by the vehicle surrounding environment detection device 203 of the vehicle 201 according to the travel route to the first disembarkation place. To do. When the travel plan is determined, the control command value calculation unit 212 calculates the target control amount based on the travel plan and outputs it to the drive device 206. The drive device 206 to which the target control amount has been input controls the travel of the vehicle 201 toward the first drop-off point, and the flow proceeds to step S704.

In step S710, the controller 210 determines whether the vehicle 201 has arrived at the second drop-off point. The controller 210 determines whether or not the vehicle 201 has arrived at the second drop-off point based on the position information of the vehicle 201 acquired by the own vehicle position detection device 204 and the map information of the in-vehicle map database 205. Alternatively, when the vehicle 201 enters the range in which the surrounding environment information of the second drop-off place can be detected by the vehicle surrounding environment detection device 203, it may be determined that the vehicle 201 has arrived at the second drop-off place. If it is determined that the vehicle has arrived at the second drop-off point, the process proceeds to step S204. If it is not determined that the vehicle has arrived at the second drop-off point, the process returns to step S701, and the flow is repeated thereafter.

Further, in the present embodiment, if it is not determined in step S702 that the vehicle can stop at the first drop-off point, the vehicle 201 is supposed to travel to the second drop-off point, but the vehicle 201 travels to the second drop-off point. While the vehicle is on the road, the drop-off point information acquisition unit 112 acquires the surrounding environment information of the second drop-off point, and the stop possibility determination unit 113 determines whether or not the vehicle 201 may not be able to stop at the second drop-off point. You may do it. In that case, if the stop possibility determination unit 113 determines that the vehicle 201 may not be able to stop at the second stop, the second stop identification unit 114 again substitutes the second stop. The ground is specified, and the flow after step S207 is started. Similarly, after updating the travel route, it is determined that the vehicle 201 may not be able to stop at the second or first drop-off point while the vehicle 201 is traveling toward the second or first drop-off point. Each time, the second drop-off point specifying unit 114 may specify a second drop-off place as an alternative.

Further, when the travel route to the second drop-off point includes the first drop-off point, it is determined that the vehicle 201 may be able to stop at the first drop-off point before approaching the first drop-off point. In some cases. In that case, if the disembarkation place is not changed to the first disembarkation place in step S708, the vehicle will continue to travel to the second disembarkation place, but when approaching the first disembarkation place, the flow after step S702. May be started.

Further, in step S204, when the controller 210 determines whether or not the controller 210 can stop at the first drop-off point or the second drop-off point, it may not be determined that the controller 210 can stop. For example, when the vehicle 201 arrives at the first or second drop-off point, if the first or second drop-off point is occupied by an obstacle such as another parked or stopped vehicle, the vehicle can be stopped. Not judged. If it is not determined that the vehicle can be stopped, the vehicle allocation planning unit 111 searches for a stop candidate point around the destination, resets the stop candidate point where the vehicle 201 may stop as the first stop point, and resets. Generate a travel route to the first drop-off point after setting. When the travel route to the first disembarkation place after the reset is generated, the information about the travel route of the first disembarkation place after the reset is transmitted to the in-vehicle communication device 202 via the communication unit 121. The information received by the in-vehicle communication device 202 is input to the controller 210, and the controller 210 starts the traveling of the vehicle 201 based on the traveling route to the first disembarkation place after the resetting. When the vehicle 201 starts traveling, the flow returns to step S201. Hereinafter, the flow is repeated until the vehicle 201 can stop at the drop-off point.

As described above, in the present embodiment, the vehicle surrounding environment information which is the vehicle surrounding environment information is acquired, it is determined whether or not the getting-off place is changed from the first getting-off place to the second getting-off place, and the getting-off place is set. After changing to the second drop-off point, if the vehicle approaches the first drop-off point while traveling to the second drop-off point, it is determined that the vehicle can stop at the first drop-off point based on the vehicle surrounding environment information. Then, the destination is updated from the second drop-off point to the first drop-off point. As a result, even after changing the destination to the second drop-off point, if it is determined that the vehicle can stop at the first drop-off point, the drop-off point is returned to the first drop-off point to return to the second drop-off point. It is possible to stop the vehicle 201 more reliably than when traveling to.

Further, in the present embodiment, it is determined whether or not the drop-off location is changed from the first drop-off location to the second drop-off location, and after changing the drop-off location to the second drop-off location, the vehicle travels to the second drop-off location. While, based on the surrounding environment information of the first drop-off point, it is determined whether or not there is a possibility of stopping at the first drop-off point, and it is determined that there is a possibility of stopping at the first drop-off point. The drop-off point will be updated from the second drop-off point to the first drop-off point. As a result, even after changing the drop-off point to the second drop-off point, if it is determined that there is a possibility that the vehicle can stop at the first drop-off point, the drop-off point will be returned to the first drop-off point and initially planned. The vehicle 201 can be stopped at the place of disembarkation.

Further, in the present embodiment, it is determined whether or not the drop-off place is changed from the first drop-off place to the second drop-off place, the drop-off place is changed to the second drop-off place, and then the vehicle travels to the second drop-off place. While, based on the surrounding environment information of the first drop-off point, it is determined whether or not there is a possibility of stopping at the first drop-off point, and it is determined that there is a possibility of stopping at the first drop-off point. Is to transmit the selection information of whether or not to update the drop-off place from the second drop-off place to the first drop-off place to the terminal operated by the user who uses the vehicle. As a result, if it is determined that there is a possibility that the vehicle can stop at the first drop-off point even after the drop-off point is updated to the second drop-off point, the second drop-off point and the first drop-off point are selected. You can select the drop-off point that suits your wishes.

Further, in the present embodiment, the surrounding environment information is acquired from the detection device installed at the stop candidate point and detecting the surrounding environment information of the stop candidate point. As a result, when the situation of the candidate stop point changes, the situation of the candidate stop point can be efficiently grasped in accordance with the change in the situation of the candidate stop point.

Further, in the present embodiment, history information regarding the stop and start of the vehicle at the stop candidate point is acquired. As a result, when the situation of the candidate stop point changes, it is possible to efficiently grasp whether or not there is a stop space at the candidate stop point in accordance with the change in the situation of the candidate stop point.

Further, in the present embodiment, the surrounding environment information is acquired from the vehicle that acquires the surrounding environment information of the stop candidate point when traveling near the stop candidate point. As a result, it is possible to acquire information on the surrounding environment of the candidate stop point, including information on the blind spot that cannot be acquired by the infrastructure sensor. It is possible to grasp the situation of the candidate point.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

101 ... Vehicle travel management device 110 ... Vehicle planning unit 111 ... Vehicle allocation planning unit 112 ... Disembarkation location information acquisition unit 113 ... Stop possibility determination unit 114 ... Second disembarkation location identification unit 120 ... Map database 121 ... Communication unit 201 ... Vehicle 202 … In-vehicle communication device 203… Vehicle surrounding environment detection device 204… Own vehicle position detection device 205… In-vehicle map database 206… Drive device 210… Controller 211… Travel plan determination unit 212… Control command value calculation unit 301… Terminal 302… Operation Input unit 303 ... Output unit 304 ... Terminal communication unit 100 ... Vehicle travel management system

Claims (11)

A vehicle travel management device that plans the allocation of vehicles that travel to the user's boarding / alighting point,
It is equipped with a terminal capable of communicating with the vehicle travel management device and for inputting information by the user.
The vehicle travel management device is
The surrounding environment information acquisition department that acquires the surrounding environment information of the candidate stop point,
The vehicle allocation planning department that sets the first stop point from the stop candidate point, and
Before the vehicle arrives at the first drop-off point, when the vehicle arrives at the first drop-off point based on the surrounding environment information of the first drop-off point, there is a possibility that the vehicle cannot stop at the first drop-off point. A stop possibility judgment unit that determines whether or not there is a vehicle,
If it is determined that there is a possibility that the vehicle cannot stop at the first drop-off point, a second stop-off point that specifies a stop candidate point located within a predetermined distance from the first drop-off point as the second drop-off point is specified. With a specific part
A vehicle travel management system including a communication unit that transmits information on the second drop-off point to the terminal. The vehicle travel management system according to claim 1.
The second drop-off point specifying unit is a vehicle travel management system that specifies a stop candidate point located within a predetermined distance from a destination set by the user as the second drop-off point. The vehicle travel management system according to claim 1 or 2.
The vehicle allocation planning department generates a travel route to a stop candidate point and generates a travel route.
The second drop-off point identification unit obtains the degree of divergence between the travel route to the first stop location and the travel route to the stop candidate point.
A vehicle travel management system that specifies a stop candidate point other than the first disembarkation point where the travel route having the smallest degree of deviation is generated as the second disembarkation point. The vehicle travel management system according to any one of claims 1 to 3.
The vehicle travel management device further includes a vehicle surrounding information acquisition unit that acquires vehicle surrounding environment information which is the vehicle surrounding environment information.
The second drop-off point identification part is
It is determined whether or not the drop-off point is changed from the first drop-off point to the second drop-off point.
When the vehicle approaches the first drop-off point while the vehicle is traveling to the second drop-off point after changing the drop-off point to the second drop-off point, the first drop-off point is based on the vehicle surrounding environment information. A vehicle travel management system that updates the disembarkation place from the second disembarkation place to the first disembarkation place when it is determined that the vehicle can stop at the disembarkation place. The vehicle travel management system according to any one of claims 1 to 4.
The second drop-off point specifying unit determines whether or not to change the drop-off place from the first drop-off place to the second drop-off place.
The stop possibility determination unit is based on the surrounding environment information of the first disembarkation place while the vehicle is traveling to the second disembarkation place after changing the disembarkation place to the second disembarkation place. It is determined whether or not there is a possibility of stopping at the first drop-off point, and
When it is determined that there is a possibility that the second disembarkation place identification unit can stop at the first disembarkation place, the vehicle travel management that updates the disembarkation place from the second disembarkation place to the first disembarkation place. system. The vehicle travel management system according to any one of claims 1 to 4.
The second drop-off point specifying unit determines whether or not to change the drop-off place from the first drop-off place to the second drop-off place.
The stop possibility determination unit is based on the surrounding environment information of the first disembarkation place while the vehicle is traveling to the second disembarkation place after changing the disembarkation place to the second disembarkation place. It is determined whether or not there is a possibility of stopping at the first drop-off point, and
When it is determined that the communication unit may be able to stop at the first drop-off point, the communication unit provides selection information as to whether or not to update the drop-off point from the second drop-off point to the first drop-off point. , A vehicle travel management system that transmits to the terminal. The vehicle travel management system according to any one of claims 1 to 6.
The surrounding environment information acquisition unit
A vehicle travel management system that is installed at a stop candidate point and acquires the surrounding environment information from a detection device that detects the surrounding environment information of the stop candidate point. The vehicle travel management system according to any one of claims 1 to 7.
The surrounding environment information acquisition unit
A vehicle travel management system that acquires historical information regarding the stopping and starting of a vehicle at the candidate stop point. The vehicle travel management system according to any one of claims 1 to 8.
The surrounding environment information acquisition unit
A vehicle travel management system that acquires the surrounding environment information from a vehicle that acquires the surrounding environment information of the stop candidate point when traveling near the stop candidate point. It is a vehicle travel management device that plans the allocation of vehicles that travel to the user's boarding / alighting place.
The surrounding environment information acquisition department that acquires the surrounding environment information of the candidate stop point,
The vehicle allocation planning department that sets the first stop point from the candidate stop point,
Before the vehicle arrives at the first drop-off point, when the vehicle arrives at the first drop-off point based on the surrounding environment information of the first drop-off point, there is a possibility that the vehicle cannot stop at the first drop-off point. A stop possibility judgment unit that determines whether or not there is a vehicle,
If it is determined that there is a possibility that the vehicle cannot stop at the first drop-off point, a second stop-off point that specifies a stop candidate point located within a predetermined distance from the first drop-off point as the second drop-off point is specified. With a specific part
A vehicle travel management device having a communication unit capable of communicating information on the second drop-off point with the vehicle travel management device and transmitting the information to a terminal into which the user inputs the information. A vehicle travel management device equipped with a computer is a vehicle travel management method for planning the allocation of vehicles traveling to a user's boarding / alighting place.
Obtain information on the surrounding environment of the candidate stop point and
Set the first stop point from the candidate stop point,
Before the vehicle arrives at the first drop-off point, when the vehicle arrives at the first drop-off point based on the surrounding environment information of the first drop-off point, there is a possibility that the vehicle cannot stop at the first drop-off point. Determine if there is,
If it is determined that there is a possibility that the vehicle cannot stop at the first stop, a stop candidate point located within a predetermined distance from the first stop is specified as the second stop.
A vehicle travel management method in which information on the second drop-off point can be communicated with the vehicle travel management device and transmitted to a terminal into which the user inputs the information.

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