JP2023071199A - passenger transport system - Google Patents

Abstract

To enable a passenger to get off a vehicle at a get-off place, where the passenger can get off the vehicle, and at a position desired to get off the vehicle by the passenger by suppressing an opportunity that a passenger cannot get off a vehicle at a desired get-off place.SOLUTION: The present invention relates to a passenger transport system for controlling a vehicle which transports a passenger to a destination by autonomous traveling. The passenger transport system includes a server 1 for receiving information of a desired get-off place designated by the passenger of the vehicle. The server detects a vehicle with a possibility that the vehicle cannot stop at least one of at an estimated time of arrival and at a place, where the passenger can get off the vehicle, and notifies the detected vehicle of an alternative plan capable of avoiding the possibility that the vehicle cannot stop at least one of at the estimated time of arrival and at the place where the passenger can get off the vehicle.SELECTED DRAWING: Figure 1

Description

The present application relates to passenger transportation systems.

Conventionally, a vehicle that transports passengers to a destination by autonomous driving is known. For example, Patent Literature 1 discloses a technique for specifying a drop-off position where a vehicle that transports passengers without a driver can stop, like a conventional taxi.

Japanese Patent Application Laid-Open No. 2020-079996

However, according to the technology disclosed in Patent Document 1, the selection of the stop position can only be determined based on the situation immediately before the passenger is allowed to make the determination or the prohibition area known in advance, so the passenger cannot get off at the destination. In some cases, it is not possible to know in advance that there is a problem, and passengers may not be able to get off at the expected position.
For example, when a passenger expects to get off at a destination where the scheduled stop position is occupied by another vehicle, the vehicle cannot stop at the arrival time.
Especially when heading to a place such as a station, there is limited space for boarding and alighting, and if multiple cars are heading to the station at the same time, there is a high possibility that they will not be able to stop immediately to let passengers get off. .

In view of the above problems, the object of the present application is to make it easier for passengers to get off at a position where they can get off and where they want to get off when they are transported by a vehicle that can travel autonomously. be.

A passenger transport system disclosed in the present application is a passenger transport system that controls a vehicle that transports passengers to a destination by autonomous driving, and includes a server that receives information on a desired drop-off position designated by a passenger of the vehicle from the vehicle. and the server detects a vehicle that may not stop at at least one of the estimated arrival time and the exitable position, and provides the detected vehicle with at least one of the estimated arrival time and the exitable position It informs you of alternatives that can avoid the possibility of getting stuck.

When a passenger is transported by an autonomous vehicle, it is possible to reduce the chances that the passenger cannot disembark at the desired disembarkation position, and facilitate disembarkation at the disembarkation position where the passenger can disembark and at the desired disembarkation position. can be

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing Embodiment 1 of the present application, and is a system configuration diagram illustrating a schematic configuration of an entire passenger transportation system; 1 is a diagram showing Embodiment 1 of the present application, and is a hardware block diagram schematically illustrating the internal hardware configuration of an autonomously traveling vehicle used in a passenger transport system. FIG. FIG. 10 is a diagram showing the first embodiment of the present application, and is a relationship diagram illustrating an outline of the functional relationship between a communication terminal owned by a passenger, a server in charge of service functions of a passenger transport system, and a vehicle. FIG. 2 is a diagram showing the first embodiment of the present application, and is a functional block diagram illustrating a schematic system configuration of a communication system between a server and a vehicle; FIG. FIG. 10 is a diagram showing the first embodiment of the present application, and is a bird's-eye view schematically illustrating a possible alighting area for explaining the relationship between the transfer and reception of passenger alighting information between the server and the vehicle and the alighting position. FIG. 10 is a diagram illustrating the first embodiment of the present application, and is a flowchart illustrating an example of a function of the server (a function of detecting a vehicle that cannot stop at the scheduled arrival time). FIG. 10 is a diagram showing the first embodiment of the present application, and is a flow diagram showing an example of other functions of the server (an instruction to decelerate the vehicle and an instruction to change the route). FIG. 10 is a diagram showing the first embodiment of the present application, and is a flow diagram illustrating the relationship between still another function of the server (extracting a plurality of locations around the destination where it is possible to get off the vehicle) and the corresponding operation in the vehicle. FIG. 10 is a diagram showing the first embodiment of the present application, and is a flow diagram illustrating the relationship between still another function of the server (extracting a get-off position at which the vehicle can get off during travel to the destination) and corresponding operations in the vehicle. FIG. 4 is a diagram showing the first embodiment of the present application, and is a flow diagram illustrating the relationship between transmission from the vehicle to the server of a message indicating that a passenger has stopped halfway and the corresponding operation in the server. FIG. 10 is a diagram showing the first embodiment of the present application, and is a flow diagram illustrating the relationship between the reaction of the vehicle and the corresponding operation in the server when a passenger gets off on the way. FIG. 10 is a diagram showing the second embodiment of the present application, and is a flow diagram illustrating a corresponding operation in the server considering also vehicles traveling toward the same destination group. FIG. 10 is a diagram showing the third embodiment of the present application, and is a flow diagram illustrating an operation of causing vehicles exceeding the number of drop-off positions to wait in the waiting area after arriving at the destination group.

The Passenger Transport System provides mobility services such as car-sharing services and ride-sharing services. Specifically, in response to a dispatch request from a passenger, an autonomously traveling vehicle is used to transport the passenger to a desired destination.

Embodiment 1.
As illustrated in FIG. 1, the passenger transportation system is a system in which a communication terminal 301, a server 1, and a vehicle 4 can communicate with each other via a wireless communication network 2. FIG.
The server 1 is composed of a processor 101, a memory 102, a wireless interface 103, a transmission line interface 104, and a storage device 105, and performs various functions as described later.
The vehicle 4 is an autonomously driven vehicle that transports the passenger 3 to a destination by autonomous driving without requiring a driver to operate the vehicle.
A plurality of vehicles are used because the vehicle 4 is used by a large number of passengers.
Vehicles 4 are managed by a service provider that provides mobility services.

As illustrated in FIG. 2, the vehicle includes an ECU 41 having a communication interface 411, a memory 412 and a processor 413, a peripheral information detection device 42, a vehicle state detection device 43, a passenger detection device 44, a GPS receiver 45, a map database 46, It has an actuator 47 , an HMI 48 that is a human-machine interface, a communication device 49 , and an antenna 491 for the communication device 49 .
The ECU 41 includes a communication interface 411, a memory 412 and a processor 413, and executes various vehicle controls. Communication interface 411 and memory 412 are connected to processor 413 via signal lines. Although one ECU 41 is provided in this embodiment, a plurality of ECUs may be provided for each function.

The communication interface 411 has an interface circuit for connecting the ECU 41 to an in-vehicle network conforming to standards such as CAN (Controller Area Network) CAN-FD (CAN Flexible Data rate) and Ethernet (registered trademark).
The ECU 41 communicates with other in-vehicle equipment via the communication interface 411 .

The processor 413 has a CPU (Central Processing Unit) and its peripheral circuits, and executes various processes. Note that the processor 413 may further have an arithmetic circuit such as a logical operation unit or a numerical operation unit.

The memory 412 includes primary storage and secondary storage. The main memory is composed of a RAM (Random Access Memory) or a combination of a RAM and a ROM (Read Only Memory). The auxiliary storage device is composed of a nonvolatile storage medium such as an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, or the like.

The vehicle 4 has an HMI (Human Machine Interface) 48 . HMI 48 is used to provide information to passengers from the vehicle. HMI 48 is preferably a touch panel display. A passenger inputs information to the vehicle 4 through the touch panel when an input request is generated from the vehicle 4 .

The vehicle 4 is equipped with a peripheral information detection device 42 . The peripheral information detection device 42 includes a millimeter wave radar, camera, ultrasonic sensor, LIDAR (Laser Imaging Detection and Rating), and the like. The peripheral information detection device 42 monitors the surrounding conditions for the vehicle 4 to run autonomously, detects peripheral information such as white lines on the road, other vehicles, pedestrians, bicycles, signs, traffic lights, obstacles, etc. It transmits the detected peripheral information to the ECU 41 .

The vehicle 4 has a vehicle state detection device 43 . The vehicle state detection device 43 acquires the state of the vehicle 4 in order for the vehicle 4 to travel autonomously. Vehicle state detection device 43 includes a vehicle speed sensor, a yaw rate sensor, and the like. A vehicle speed sensor detects the speed of the vehicle. A yaw rate sensor detects a yaw rate, which is a rotational speed around a vertical axis passing through the center of gravity of the vehicle.

Vehicle 4 is equipped with a passenger detection device 44 . A passenger detection device 44 is used to confirm that a passenger 3 is getting off or getting on the vehicle 4 . The passenger detection device 44 is connected to the ECU 41 via the in-vehicle network, and the output of the passenger detection device 44 is transmitted to the ECU 41 . For example, passenger detection devices 44 may include in-vehicle cameras, seat belt sensors, seat sensors, information readers, and the like.
The in-vehicle camera captures the interior of the vehicle 4 to generate an in-vehicle image. The in-vehicle camera is arranged, for example, on the ceiling of the vehicle 4 so as to photograph the passengers 3 of the vehicle 4 . Note that the in-vehicle camera may be a plurality of cameras arranged at different positions inside the vehicle.

Vehicle 4 is equipped with a GPS receiver 45 . GPS receiver 45 receives signals from three or more GPS satellites and detects the current position of vehicle 4 (eg, latitude and longitude of vehicle 4). The GPS receiver 45 is connected to the ECU 41 via the in-vehicle network, and the output of the GPS receiver 45 is transmitted to the ECU 41 .

Vehicle 4 is equipped with map database 46 . Map database 46 contains map information. A map database 46 is connected to the ECU 41 via an in-vehicle network, and the ECU 41 acquires map information from the map database 46 . The map information stored in the map database 46 is updated using data received from outside the vehicle 4, SLAM (Simultaneous Localization and Mapping) technology, and the like.

The vehicle 4 has an actuator 47 . Actuator 47 moves vehicle 4 . The actuator 47 is connected to the ECU 41 via the in-vehicle network, and the ECU 41 controls the actuator 47 . For example, the actuator 47 includes a driving device (at least one of an engine and a motor) for accelerating the vehicle 4, a brake actuator for braking the vehicle 4, a steering motor for steering the vehicle 4, and the like.

In order to communicate with the server 1, the vehicle 4 uses C-V2X (Cellular V2X) using LTE (Long Term Evolution), 5G (5th generation mobile communication system), etc., or wireless communication using OTA (Over The Air). A communication device 49 capable of any communication and an antenna 491 are provided.

The server 1 comprises a CPU (Central Processing Unit) which is a processor 101, a memory 102, a wireless IF (wireless interface) 103, and a transmission line IF (transmission line interface) 104, which are interconnected via a bus. An antenna is connected to the wireless IF 103 . The transmission line IF 104 is connected to the external network 2 via a transmission line such as a wired LAN.

The memory 102 includes primary storage and secondary storage. The main memory is composed of a RAM (Random Access Memory) or a combination of a RAM and a ROM (Read Only Memory). The auxiliary storage device is composed of a nonvolatile storage medium such as an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, or the like.

The operation of the automatic driving system described in the present application will be described below using FIG.
The passenger 3 uses the communication terminal 301 to request the server 1 to dispatch the vehicle 4 to a predetermined place where the vehicle 4 can be boarded, and sends the desired destination to the server 1. to send.
In response to the request, the server 1 selects one vehicle to drive to the requested destination (step S1), determines the departure time and travel route, and creates a travel plan (step S2). ).

Based on the travel plan, the server 1 directs one vehicle 4 to the location designated by the passenger 3 via the communication terminal 301. FIG.
The server 1 transmits to the communication terminal 301 held by the passenger 3 vehicle allocation information notifying that one vehicle 4 has been deployed, and notifies the passenger 3 that the vehicle 4 has been arranged.

The dispatch information includes an estimated arrival time, an ID number (for example, a vehicle number) for identifying the vehicle 4, a vehicle type, and the like. The server 1 transmits a travel instruction to the vehicle 4 to move to the point where the passenger 3 gets on. Upon receiving the travel instruction, the vehicle 4 moves to the indicated point (step S3). The travel instructions include a point where the passenger 3 gets on, a destination desired by the passenger 3, and a travel route to the destination. When detecting that the passenger 3 has boarded the vehicle 4, the vehicle 4 starts traveling to the destination (steps S4 and S5).

In FIG. 4, which is a functional block diagram illustrating a schematic system configuration of a communication system between the server 1 and the vehicle 4, the server 1 has a receiving section 106, a transmitting section 107, and a getting-off decision section .
The vehicle includes a receiver 401 , a transmitter 402 , a vehicle controller 403 , an image display 404 and a drop-off position detector 405 .
In FIG. 5, which is a bird's-eye view schematically illustrating a possible alighting area for explaining the relationship between the transfer and reception of passenger alighting information between the server 1 and the vehicle 4 and the alighting position, vehicle standby areas 5 and 8 of the vehicle 4, passenger An example layout of the boarding/disembarking locations 6 and boarding facilities 7 of 3 is shown.

The described method for detecting vehicles that cannot get off at the destination in step S6 will be described with reference to the flow chart of FIG.

The server 1 receives position information, speed, and direction of travel from the running vehicle 4 at regular intervals (for example, every 0.1 seconds). (Step S21)
When there are a plurality of vehicles 4 traveling to the same destination among the traveling vehicles 4, the server 1 extracts the vehicle 4 for each destination. (Step S22)

The map information held by the server 1 is referred to, and the estimated time of arrival at the destination is calculated from the information received from the vehicle 4 . If there are multiple vehicles 4 heading for the same destination and the difference between the estimated arrival times of the vehicles is less than a certain value (for example, 5 minutes), the vehicle 4 will arrive later at the estimated arrival time. Since it is assumed that the vehicle 4 cannot stop at the destination, the relevant vehicle 4 is specified. (Step S23)

The plurality of identified vehicles 4 are more likely to be unable to stop if the estimated arrival time is closer to the first scheduled arrival vehicle, so the vehicles are selected in descending order of arrival time. (Step S24)

A message indicating that the selected vehicle 4 cannot stop at the destination at the scheduled arrival time is sent to the vehicle 4.例文帳に追加Upon receiving the message, the vehicle 4 displays an alternative means, which will be described later, to the passenger 3 through the display of the vehicle 4, prompting the passenger to select an alternative means. (Step S25)

The vehicle 4 sends the alternative selected by the passenger 3 to the server 1 . Based on the alternative means selected by the passenger 3, the server 1 transmits to the vehicle 4 instructions related to vehicle control such as changing the travel route and decelerating the travel speed described in the means described later.

When the vehicle 4 reaches the destination desired by the passenger 3, the vehicle 4 disembarks the passenger 3. (Step S7)

The server 1 settles the usage fee for the service after the passenger 3 gets off. (Step S8)
For example, based on the user information stored in the storage device of server 1, server 1 settles usage fees by account transfer or credit card settlement. After paying the usage fee, the vehicle 4 transmits payment information including payment details to the communication terminal 301 .

Next, various measures taken by the server when it detects a vehicle that cannot stop at the scheduled arrival time will be described with reference to the flow chart of FIG.

In order to delay the arrival time, the server 1 may instruct the vehicle to slow down and travel to the destination.
Alternatively, the vehicle 4 may travel according to the travel route transmitted from the server 1 by transmitting other travel route information for detouring to the destination.
As a result, by intentionally delaying the arrival time, it is possible to prevent a situation in which the vehicle cannot stop at the destination.

Alternatively, the server 1 may transmit an alternative drop-off position candidate to the vehicle 4 that is predicted to be unable to drop off at the destination at the scheduled arrival time. Processing in that case will be described with reference to the flowchart of FIG.

In this case, the vehicle 4 informs the passenger of the notification that it is not possible to get off at the desired destination and the alternative getting-off position candidate received from the server 1 through the display device before boarding. The passenger again selects the desired drop-off position from the displayed alternative drop-off position candidates.

The vehicle 4 transmits the alighting position selected by the passenger 3 to the server 1 .

The server 1 creates a travel plan with the get-off position received from the vehicle 4 as the destination, and transmits the travel plan to the vehicle 4 .

According to the travel plan received from the server 1, the vehicle 4 is controlled to travel while changing the route so as to head to the alighting position selected again by the passenger 3.

In addition, the server 1 sends a plurality of drop-off position candidates at which the vehicle can stop along the route to the destination desired by the passenger, to the vehicle that is predicted to be unable to get off at the destination at the scheduled arrival time. You may

As a result, the passenger can temporarily get off at an intermediate getting-off position until the time when it is possible to get off, and wait until the time.

A process for temporarily getting off the vehicle on the way to the destination will be described with reference to the flowchart of FIG.
In FIG. 9, the server 1 extracts a drop-off position at which the vehicle can be dropped off on the way to the destination (step S911), and transmits the extracted drop-off position candidates to the vehicle. (Step S912)
The vehicle 4 receives the drop-off position candidate (step S941), and displays on the display that it cannot get off at the destination. (Step S942)
The vehicle 4 displays the drop-off position candidates on the display. (Step S943)
Vehicle 4 redirects to the location selected by the passenger. (Step S944)
Vehicle 4 redirects to the location selected by the passenger. (Step S945)

That is, the server 1 transmits to the vehicle 4 a position where the user can get off on the way to the destination.

When the vehicle 4 receives from the server 1 a drop-off position at which the vehicle 4 can stop on the route to the destination desired by the passenger, the vehicle 4 indicates that the passenger is at the destination desired before boarding. To notify passengers that they cannot get off and get-off position candidates at which the vehicle can stop on the way to the destination desired by the passenger.

The passenger selects a desired drop-off position candidate from the drop-off position candidates displayed via the display.

The vehicle is controlled so as to change the route and run so as to head to the alighting position selected again by the passenger.

This allows the passenger to get off at the desired drop-off position and wait until the passenger can get off at the desired drop-off position and wait until the passenger can get off at the desired drop-off position. I can.

If the passenger chooses to get off in the middle of the desired drop-off location before boarding, the server disembarks the passenger in response to another passenger's dispatch request for the vehicle that the passenger got off for the purpose of getting off on the way. You can ride the vehicle.

As a result, it is possible to effectively use a vehicle that has been dropped off on the way and has no passengers on it. A processing procedure in that case will be described with reference to the flowchart of FIG.
The vehicle 4 sends a message to the server 1 indicating that the passenger has stopped. (Step S1041)
The server 1 receives a message from the vehicle indicating that the passenger has got off on the way (step S1011), and adds the vehicle that sent the message to candidates for vehicle selection. (Step S1012)

That is, the vehicle sends a message to the server, including the vehicle ID, notifying the passenger that the passenger has stopped.

The server adds the vehicle corresponding to the ID included in the received message to the vehicle candidates for vehicle selection (see step S1 in FIG. 3) when receiving the request information sent by the passenger via the communication terminal.

If the passenger drops off at a drop-off location mid-destination, the server may direct another vehicle to the drop-off location for re-boarding of the passenger.
Processing for directing another vehicle will be described with reference to the flowchart of FIG. 11 .
In FIG. 11, vehicle #1, vehicle 4, sends a message to the server indicating that a passenger has been deboarded. (Step S1141)
The server 1 receives a message from the vehicle #1 vehicle 4 indicating that the passenger has stopped off on the way (step S1111), and selects the vehicle #2 vehicle 4 to be directed to the location where the passenger got off on the way. (Step S1112)
The server 1 transmits a travel instruction to the vehicle 4 of the selected vehicle #2 (step S1113), and transmits the estimated arrival time to the communication terminals of the passengers who got off the train. (Step S1114)
Vehicle 4 of vehicle #2 receives the travel instruction from server 1 (step S11421) and starts traveling to the position where it got off on the way. (Step S11422)

In other words, the vehicle 4 of the vehicle #1 is the vehicle that the passenger got off on the way. Vehicle 4 of vehicle #1 sends a message to server 1 notifying that passenger 3 has stopped on the way.

When the server receives the message about getting off the train from vehicle #1, it selects another known vehicle (vehicle 4 of vehicle #2) to head to the location where the server got off.

The server 1 transmits a travel instruction to the vehicle 4 of the vehicle #2, and directs the vehicle 4 of the vehicle #2 to the drop-off position where the passenger got off on the way.

The server 1 transmits the estimated arrival time of the vehicle 4 of the vehicle #2 to the communication terminal 301 held by the passenger 3 who got off the train.

When the vehicle 4 of the vehicle #2 receives the travel instruction from the server 1, it travels toward the drop-off position where it got off on the way.

As a result, even if the vehicle in which the passenger got off on the way is allocated to another passenger, another vehicle can be allocated to the passenger who got off on the way.

Embodiment 2.
Nearby or adjacent drop-off positions where the vehicle 4 can stop are regarded as the same destination group, and the server 1 manages to which destination group each drop-off position belongs.
In this case, when the passenger 3 uses the communication terminal 301 to specify the destination, the passenger 3 can specify the destination group unit instead of directly specifying the alighting position.

For example, it is possible to specify a destination within a certain range of a station, which has multiple possible alighting positions. The processing of step S6 in FIG. 3 when configured in this way will be described with reference to FIG.

The server 1 receives position information, speed, and direction of travel from the running vehicle 4 at regular intervals (for example, every 0.1 seconds). (Step S31)

The server 1 extracts the vehicle 4 for each destination group when there are a plurality of vehicles 4 traveling to the same destination among the traveling vehicles 4 . (Step S32)

Refer to the map information held by the server 1, calculate the estimated time of arrival at the destination from the travel information received from the vehicle 4, and calculate the drop-off position held by the destination group within a certain time interval (for example, 5 minutes). Check if there is a time slot containing more vehicles 4 than the number of . (Step S33)

When a time period is detected in which the number of vehicles 4 with estimated arrival times within a certain time interval exceeds the number of drop-off positions held by the destination group, when the vehicles 4 are counted in descending order of arrival time, the number of drop-off positions is determined. 7, 8, and 9 of Embodiment 1 for vehicles scheduled to arrive in order exceeding the number (for example, when the number of possible alighting positions in the destination group is 3, the vehicle arrives fourth). , the same measures as described with reference to FIG. 10 are taken. (Step S34, Step S35)

The procedures of steps S33, S34, and S35 are repeated until no time slot is found in step S33 that exceeds the number of exitable positions held by the target group.

As a result, it is possible to prevent a situation in which there is no available drop-off position in the destination group and the vehicle cannot stop.

Embodiment 3.
In the configuration described in the above-described second embodiment, the boarding and alighting points dedicated to vehicles managed by the passenger transportation system and the alighting positions included in the stations are defined as one destination group.
In that case, each accessible position is located adjacently. Furthermore, an area where the vehicle 4 can temporarily wait is provided between the road where the vehicle 4 departing from the destination group joins and the destination group.

According to such a configuration, for the vehicle 4 for which the server 1 detects that the passenger cannot get off at the destination desired by the scheduled arrival time, until the get-off position included in the destination group becomes available. It is possible to make the vehicle 4 temporarily wait in the installed waiting area.

As a result, even if a passenger cannot get off at a desired destination group, if there is a vacant area in which the passenger can wait, the passenger can wait until the passenger can get off at the destination group without taking alternative means.

Processing of the configuration of the third embodiment will be described with reference to FIG.

The server 1 receives position information, speed, and direction of travel from a running vehicle at regular intervals (for example, every 0.1 seconds). (Step S41)

The server 1 extracts the vehicle 4 for each destination group when there are a plurality of vehicles 4 traveling to the same destination among the traveling vehicles 4 . (Step S42)

Refer to the map information held by the server 1, calculate the estimated time of arrival at the destination from the travel information received from the vehicle 4, and calculate the drop-off position held by the destination group within a certain time interval (for example, 5 minutes). Check if there is a time slot containing more vehicles 4 than the number of . (Step S43)

When the number of vehicles 4 with estimated arrival times within a certain time interval exceeds the number of drop-off positions held by the destination group, the number of drop-off positions held by the destination group when counted in order of earliest estimated arrival time. If the number of vehicles 4 exceeding the number of positions is less than the number of positions that can be stopped in the waiting area, the vehicles 4 will wait in the waiting area until they can stop at the drop-off position when they arrive at their destination. Server 1 instructs vehicle 4 to do so. (Step S44, Step S45, Step S46)

If the number of waiting areas is also exceeded, the estimated arrival time is counted in ascending order, and among the vehicles that exceed the sum of the number of drop-off positions in the destination group and the number of vehicles that can wait in the waiting area, the estimated arrival time is the highest. For fast vehicles, the same measures as described with reference to FIGS. 7, 8, 9 and 10 of the first embodiment are taken.

For example, if the number of vehicle positions in the destination group is 3, and the number of vehicles waiting in the waiting area is 2, the vehicle scheduled to arrive 6th will be substituted. (Step S47, Step S48)

In each figure, the same reference numerals denote the same or corresponding parts.
It should be noted that while this application describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more of the embodiments may lie in particular embodiments. The embodiments can be applied singly or in various combinations.
Therefore, countless modifications not illustrated are envisioned within the scope of the technology disclosed in the present application. For example, modification, addition or omission of at least one component, extraction of at least one component, and combination with components of other embodiments shall be included.
Note that each embodiment can be appropriately combined, modified, or omitted.

1 server, 101 processor, 102 memory, 103 radio interface, 104 transmission line interface, 105 storage device, 106 reception unit, 107 transmission unit, 108 exit decision unit, 2 network, 3 passenger, 301 communication terminal, 4 vehicle, 401 Receiver 402 Transmitter 403 Vehicle controller 404 Image display 405 Get-off position detector 41 ECU 411 Communication interface 412 Memory 413 Processor 42 Peripheral information detector 43 Vehicle state detector 44 Passenger Detector, 45 GPS receiver, 46 map database, 47 actuator, 48 HMI, 49 communication device, 491 antenna, 5 vehicle waiting area, 6 possible boarding/alighting positions, 7 boarding/alighting facility, 8 vehicle waiting area.

The passenger transportation system disclosed herein comprises:
A passenger transport system for controlling a plurality of vehicles that transport passengers to a destination by autonomous driving, wherein information on a desired drop-off position specified by each passenger of the plurality of vehicles is provided to the vehicle. having a server that receives from each ;
The server receives from each of the plurality of vehicles periodically information about the position and speed of each vehicle during travel, and determines whether the vehicle may not stop at at least one of the expected arrival time and the possible alighting position. is detected, and means for handling the possibility that the detected vehicle cannot stop at least one of the estimated arrival time and the position where the vehicle can get off is notified to the HMI of the vehicle that may not be able to stop;
The HMI displays the corresponding means .

The passenger transport system disclosed herein comprises:
A passenger transport system for controlling a plurality of vehicles that transport passengers to a destination by autonomous driving, wherein information on a desired drop-off position specified by each passenger of the plurality of vehicles is provided to the vehicle. having a server that receives from each;
The server receives from each of the plurality of vehicles periodically information about the position and speed of each vehicle during travel, and determines whether the vehicle may not stop at at least one of the expected arrival time and the possible alighting position. and notifies the detected vehicle to the HMI of the vehicle that may not be able to stop at least one of the estimated arrival time and the exitable position, and
The HMI of the vehicle that may not be able to stop displays the countermeasure means ,
The server receives the desired drop-off position by communicating with a plurality of the vehicles, detects the plurality of vehicles having the same desired drop-off position, and calculates the predicted arrival time of the detected vehicle at the desired drop-off position. Extracting the number of vehicles whose interval is shorter than a preset time, and performing the notification to the vehicle with the earliest estimated arrival time among the plurality of vehicles to be extracted. is.

Claims (25)

A passenger transport system for controlling a vehicle that transports passengers to a destination by autonomous travel, comprising a server that receives information from the vehicle about a desired drop-off position specified by a passenger of the vehicle,
The server detects a vehicle that may not be able to stop at at least one of the estimated arrival time and the alightable position, and the detected vehicle does not stop at at least one of the estimated arrival time and the alightable position. A passenger transportation system characterized by notifying alternatives that can avoid possibilities. The server receives the desired drop-off position by communicating with a plurality of the vehicles, detects the plurality of vehicles having the same desired drop-off position, and calculates the predicted arrival time of the detected vehicle at the desired drop-off position. Extracting the number of vehicles whose interval is shorter than a preset time, and performing the notification to the vehicle with the earliest predicted arrival time among the plurality of vehicles to be extracted. A passenger transportation system according to claim 1, characterized by: 2. The passenger transportation system according to claim 1, wherein said server instructs, as said alternative, deceleration or detour to delay arrival time. 3. The passenger transport system according to claim 2, wherein said server provides said notification including a plurality of possible boarding and alighting positions. The vehicle is provided with an image display unit and an alighting position detection unit,
When the notification is received from the server, the image display unit presents to the passengers of the vehicle that the vehicle cannot be stopped at the desired alighting position input by the passenger in advance at the expected arrival time and a plurality of possible alighting positions. death,
5. The passenger transportation system according to claim 1, wherein the alighting position detector detects a boarding/alighting position designated by the passenger where the passenger can get off. The vehicle is provided with an image display unit and an alighting position detection unit,
When the notification is received from the server, the image display unit indicates that the vehicle cannot stop at the expected arrival time at the desired alighting position input by the passenger in advance, and temporarily changes to the boarding/alighting position on the way to the desired alighting position. presenting a passenger of the vehicle with a plurality of boarding and alighting positions at which passengers can get off;
The alighting position detection unit detects a desired alighting position for temporary alighting input by the passenger,
2. The passenger transportation system according to claim 1, wherein the desired alighting position for temporary alighting detected by the alighting position detector is output to the outside. The server receives a desired alighting position for temporary alighting from the vehicle, and permits a second passenger different from the passenger to board the vehicle that has transmitted the desired alighting position for temporary alighting. 7. A passenger transportation system according to claim 1 or claim 6, wherein instructions are sent to the vehicle. The server receives a desired alighting position for temporary alighting, and the passenger who has temporarily alighted rides a second vehicle different from the vehicle for the desired alighting position for temporary alighting. 7. A passenger transportation system according to claim 1 or 6, characterized in that the passenger transport system is directed by A passenger transport system for controlling a vehicle that transports passengers to a destination by autonomous travel, comprising a server that receives information from the vehicle about a desired drop-off position specified by a passenger of the vehicle,
The server receives the desired drop-off position by communicating with the plurality of vehicles, detects a plurality of vehicles heading for the same desired drop-off position group, and predicts arrival of the detected vehicles at the desired drop-off position group. The number of vehicles whose time is equal to or less than a threshold is extracted, and the number of available boarding/alighting positions in the desired boarding/alighting position group at the earliest arrival time among the detected vehicles is equal to or less than the extracted threshold. a passenger transport system, wherein the presence of the vehicle is notified to any one of the plurality of vehicles to be extracted when the number of vehicles exceeds the number of vehicles. 10. The passenger transportation system according to claim 9, wherein the server notifies a vehicle having the earliest predicted arrival time among the plurality of vehicles to be extracted. 10. The passenger transportation system according to claim 9, wherein the server instructs one of the plurality of vehicles to be extracted to decelerate or detour so as to delay the arrival time. 10. The passenger transport system of claim 9, wherein said server provides said notification including a plurality of possible drop-off location groups. The vehicle is provided with an image display unit and an alighting position detection unit,
When the image display unit receives the notification from the server, the image display unit presents to the passenger that the desired alighting position group input by the passenger in advance cannot be stopped at the arrival time and a plurality of possible alighting positions,
13. The passenger transportation system according to claim 9, wherein the alighting position detector detects a boarding/alighting position designated by the passenger where the passenger can get off. The vehicle is provided with an image display unit and an alighting position detection unit,
When the notification is received from the server, the image display unit indicates that the desired alighting position group input by the passenger in advance cannot be stopped at the arrival time and that the boarding position group on the way to the desired alighting position group is temporary. Presenting to the passengers of the vehicle whether or not to get off the vehicle,
The alighting position detection unit detects a temporary alighting instruction input by the passenger,
10. The passenger transportation system according to claim 9, wherein the notification of temporary alighting detected by the alighting position detector is output to the outside. The server receives a desired drop-off position group for temporary alighting from the vehicle, and allows a second passenger different from the passenger to board the vehicle that has transmitted the desired drop-off position group for temporary alighting. 15. A passenger transportation system according to claim 9 or claim 14, wherein an authorizing instruction is sent to the vehicle. The server receives a desired drop-off position group for temporary alighting, and the passenger who has temporarily alighted rides a second vehicle different from the vehicle for the desired drop-off position group for temporary alighting. 15. A passenger transport system according to claim 9 or claim 14, characterized in that it is directed for the purpose of A passenger transport system for controlling a vehicle configured to transport passengers to a destination by autonomous travel, the system comprising a server for receiving from the vehicle information of a desired drop-off position specified by a passenger of the vehicle;
The server receives the desired alighting positions by communicating with a plurality of the vehicles, detects a plurality of the vehicles headed for the same boarding and alighting facility, and determines an interval between predicted arrival times of the detected vehicles at the boarding and alighting facilities. extracts the number of vehicles whose time is shorter than the time set in advance, and when the extracted number of vehicles exceeds the number of boarding/alighting positions held by the boarding/alighting facility, the extraction target is characterized by A passenger transport system, characterized in that it notifies any one of the plurality of vehicles that are connected to each other of the presence of the vehicle. 18. The passenger transport system of claim 17, wherein the notification sent to the vehicle by the server is an instruction to the vehicle to wait in a vehicle waiting area. 18. The passenger transport system according to claim 17, wherein the server notifies a vehicle having the earliest predicted arrival time among the plurality of vehicles to be extracted. 18. The passenger transportation system according to claim 17, wherein the server instructs one of the plurality of vehicles to be extracted to decelerate or detour so as to delay the arrival time. 18. The passenger transportation system according to claim 17, wherein said server provides said notification including a plurality of said boarding/alighting facilities available for alighting. The vehicle is provided with an image display unit and an alighting position detection unit,
When the notification is received from the server, the image display unit presents to the passenger that the vehicle cannot be stopped at the desired boarding/alighting facility input by the passenger in advance at the scheduled arrival time and a plurality of the boarding/alighting facilities at which the vehicle can be alighted. ,
22. The passenger transportation system according to claim 17 or 21, wherein the alighting position detection unit detects the boarding/alighting facility designated by the passenger to which the passenger can alight. The vehicle is provided with an image display unit and an alighting position detection unit,
When the notification is received from the server, the image display unit indicates that the vehicle cannot stop at the desired boarding/alighting facility input by the passenger in advance at the arrival time and that the boarding/alighting facility on the way to the desired boarding/alighting facility is temporarily Presenting to the passenger of the vehicle whether or not to get off at
The alighting position detection unit detects a temporary alighting instruction input by the passenger,
18. The passenger transportation system according to claim 17, wherein the notification of temporary alighting detected by the alighting position detector is output to the outside. The server receives a desired alighting facility for temporary alighting by the vehicle, and allows a second passenger different from the passenger to board the vehicle that has transmitted the desired alighting facility for temporary alighting. 24. A passenger transportation system according to claim 17 or claim 23, wherein an authorizing instruction is sent to the vehicle. The server receives a desired getting-off boarding/alighting facility for temporarily getting off, and the passenger who got off temporarily boardes a second vehicle different from the vehicle for the desired getting-off boarding/alighting facility for temporarily getting off. 24. A passenger transport system according to claim 17 or claim 23, characterized in that it is directed for the purpose of

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