JP6600344B2 - VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND CONTROL PROGRAM FOR VEHICLE CONTROL DEVICE - Google Patents

Description

  The present invention relates to a vehicle that performs automatic driving, and more particularly to a vehicle control device, a vehicle control method, and a control program for a vehicle control device for a vehicle that travels with a plurality of passengers.

  In recent years, the development of technology related to automatic driving of vehicles has progressed, and recently, an attempt has been made to apply automatic driving that does not require driving by a driver to a vehicle traveling with a plurality of passengers, for example, a route bus. Yes. Route bus operation by automatic driving is expected to be one of the means to solve the problems of traffic operators such as lack of drivers and difficulty in maintaining routes, and to support the movement of vulnerable people.

  Here, the bus has a problem peculiar to the bus that is different from that of a normal passenger car, such as a passenger falling inside the vehicle. In response to this problem, Patent Document 1 discloses a passenger movement detection method for detecting a passenger moving in a vehicle in a situation where the frequency of occurrence of a passenger falling accident in the vehicle is high. A movement detection device and the like are disclosed.

JP 2017-199123 A

  However, the technique described in Patent Literature 1 is based on the premise that the driver is notified of a situation in which a fall accident may occur, and is not assumed to be applied to an autonomously driven vehicle.

  Therefore, an object of the present invention is to provide a vehicle control device, a vehicle control method, and a control program for the vehicle control device that can provide a vehicle that can safely carry passengers in an autonomous driving vehicle.

  According to an embodiment of the present invention, a vehicle control device connected to a vehicle management device via a network includes a travel control unit that controls the travel of the vehicle, and an in-vehicle image taken by an imaging unit installed in the vehicle. Based on an output unit that outputs display information to display a moving image on a predetermined display unit of the vehicle management device, an acquisition unit that acquires traveling information on the traveling state of the vehicle, a moving image in the vehicle, and traveling information, A determination unit that determines whether or not a predetermined condition is satisfied in the vehicle, and a transmission control unit that transmits the determination result to the vehicle management device when the determination unit determines that the predetermined condition is satisfied. .

  In the vehicle control device according to the embodiment of the present invention, the transmission control unit transmits the display information output by the output unit to the management device when the predetermined operation information in the vehicle management device is received from the management device. Also good.

  The vehicle control apparatus according to the embodiment of the present invention may further include a warning control unit that outputs predetermined warning information to a warning unit provided in the vehicle when the determination unit determines that the predetermined condition is satisfied. .

  In the vehicle control apparatus according to the embodiment of the present invention, the travel control unit may stop the travel of the vehicle when the determination unit determines that the predetermined condition is satisfied.

  In the vehicle control apparatus according to the embodiment of the present invention, the predetermined operation information may be information instructing transition to a screen for displaying information in the vehicle in the vehicle management apparatus.

  In the vehicle control device according to the embodiment of the present invention, the acquisition unit acquires vehicle position information as travel information, and the determination unit is in a position other than the vehicle stop and the moving image It may be determined that a predetermined condition is satisfied when there are unseatd passengers in the vehicle.

  In the vehicle control apparatus according to the embodiment of the present invention, the acquisition unit acquires payment information by a passenger of the vehicle, and the determination unit is valid for payment by the passenger based on a moving image and payment information in the vehicle. If the determination unit determines that the settlement by the passenger is not valid, the warning control unit may output the warning information.

  In the vehicle control device according to the embodiment of the present invention, the travel control unit further controls opening and closing of the entrance of the vehicle, and the travel control unit determines that the settlement by the passenger is not valid when the determination unit determines that the settlement by the passenger is not valid. It is not necessary to open the doorway.

  In one embodiment of the present invention, the predetermined condition varies depending on the traveling environment of the vehicle, the acquisition unit further acquires environmental information related to the traveling environment of the vehicle, and the determination unit acquires the environmental information acquired by the acquisition unit. Whether or not a predetermined condition based on the above condition is satisfied may be determined.

  According to an embodiment of the present invention, a method for controlling a vehicle control apparatus connected to a vehicle management apparatus via a network includes a travel step for controlling travel of the vehicle, and a vehicle photographed by a photographing unit installed in the vehicle. An output step for outputting display information for displaying a moving image in the vehicle on a predetermined display unit of the vehicle management device, an acquisition step for acquiring traveling information on the traveling state of the vehicle, and a moving image and traveling information in the vehicle. A determination step for determining whether or not a predetermined condition is satisfied in the vehicle, and a transmission control step for transmitting the determination result to the vehicle management device when the determination unit determines that the predetermined condition is satisfied. including.

According to an embodiment of the present invention, a control program for a vehicle control device connected to a vehicle management device via a network includes a travel control function for controlling the travel of the vehicle to the vehicle control device,
An output function for outputting display information for displaying a moving image in a vehicle photographed by a photographing unit installed in the vehicle on a predetermined display unit of the vehicle management device, and acquisition for obtaining traveling information related to a traveling state of the vehicle A determination function for determining whether or not a predetermined condition is satisfied for the vehicle based on the function, a moving image in the vehicle, and travel information; and if the determination function determines that the predetermined condition is satisfied, the determination result is And a transmission control function for transmitting to the vehicle management device.

  ADVANTAGE OF THE INVENTION According to this invention, in control of an autonomous driving vehicle, the vehicle control apparatus which can provide the vehicle which carries a passenger safely, a vehicle control method, and the control program of a vehicle control apparatus can be provided.

It is the schematic of the vehicle control system structure by one Embodiment of this invention. It is an example of the block diagram of the vehicle control apparatus by one Embodiment of this invention. It is an example of the block diagram of the management apparatus by one Embodiment of this invention. It is an example of the management screen displayed on the management apparatus by one Embodiment of this invention. It is an example of the management screen displayed on the management apparatus by one Embodiment of this invention. It is an example of the flowchart of the vehicle control method by one Embodiment of this invention. It is an example of the sequence diagram of the vehicle control method by one Embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a vehicle control system configuration according to an embodiment of the present invention. The vehicle control system 500 is a system related to an operation service of the autonomous driving vehicle 200 that does not require a driver. Hereinafter, a bus will be described as an example of an autonomous driving vehicle. As shown in FIG. 1, the vehicle control system 500 includes at least a vehicle control device 100, a vehicle 200, and a vehicle management device (server) 300. The management device 300 is a management device on the service service providing side, and transmits and receives information to and from the plurality of vehicles 200 via the network 400. The network 400 is, for example, a wireless LAN (WLAN), a wide area network (WAN), ISDNs (integrated service digital networks), wireless LANs, LTE (long term evolution), LTE-c4th generation, LTE-c, fourth generation. (4G), fifth generation (5G), code division multiple access (CDMA), and the like. The management apparatus 300 includes a predetermined display unit 350 and an input reception unit 340 (details will be described later). In addition, although the predetermined display part 350 and the input reception part 340 are shown by the tablet type, it is not restricted to this, For example, a desktop personal computer and a keyboard may be sufficient. Moreover, although the management apparatus 300 is shown by two servers in the figure, it may exist more than this, and may be implement | achieved by the cloud server. Furthermore, although only one bus is shown in the figure, it goes without saying that a plurality of buses may exist.

  FIG. 2 is a block diagram of the vehicle control device 100 and the vehicle 200 according to an embodiment of the present invention.

  First, the vehicle 200 will be described. As shown in FIG. 2, the vehicle 200 includes the vehicle control device 100 and includes at least a photographing unit 210, a speaker 220, a display 230, a settlement unit 240, and a get-off button 250. The imaging unit 210 is a camera, for example, and is provided in a plurality of locations in the vehicle doorway, left and right front and rear, near the settlement unit 240, and the like, and images the inside of the vehicle 200. The data photographed by the photographing unit 210 may be a moving image or an image. The speaker 220 outputs information on a stop, a fare, etc., a warning sound at the time of abnormality, etc. in the vehicle 200. The display 230 displays information such as the stop and fare, a warning message at the time of abnormality, and the like. The settlement unit 240 is used for payment of a usage fee (fare) of the vehicle 200, and is, for example, electronic money, a credit card reading device, or a depositing device capable of determining a deposit amount. The get-off button 250 is a button for indicating that the passenger desires to get off at the next stop. Various types of information acquired by these external devices are output to the vehicle control device 100 via the external device I / F 130 of the vehicle control device 100.

  Next, the description of the vehicle control device 100 will be given. The vehicle control device 100 is provided in the vehicle 200 and includes a control unit 110, a communication unit 120, and a storage unit 130. The control unit 110 is a processor having a function of controlling each unit of the vehicle control device 100. The control unit 110 includes a learning unit 111, an acquisition unit 112, a determination unit 113, an output unit 114, a travel control unit 115, a transmission / reception unit 116, an external device control unit 117, and a settlement processing unit 118. The learning unit 111 is realized by artificial intelligence (AI), and includes an acquisition unit 112, a determination unit 113, and an output unit 114. In the figure, the AI function is collectively described as the vehicle control device 100, but the function of the control unit 110 may be distributed and realized by the information processing device mounted on the vehicle 200 and the AI system. .

  The acquisition unit 112 acquires travel information related to the travel state of the vehicle from an external device provided in the vehicle 200. The travel information related to the travel state of the vehicle is information regarding the state in which the vehicle 200 is placed. For example, the vehicle speed, the travel position, the stop position, the moving images inside and outside the vehicle, the number of passengers, the fare, the temperature inside the vehicle, Contains information on the opening / closing status of the doorway. These pieces of information are obtained from a speed sensor (not shown) provided in the vehicle 200, a GPS receiving antenna, the above-described photographing unit 210, settlement unit 240, and the like.

  The determination unit 113 determines whether or not a predetermined condition is satisfied for the vehicle based on the moving image in the vehicle and the travel information. Here, the predetermined condition is a condition related to a situation when a danger occurs in the vehicle or a condition related to a situation where an abnormal situation is considered to have occurred in the vehicle. Predetermined conditions include, for example, “Rise of passengers while driving at a speed of over 0.3 km / h”, “Falling passengers”, “Incorrect fare”, “Rise of passengers at a place other than the stop”, etc. Is a condition that can be determined. In addition, the predetermined conditions which can discriminate | determine these may be memorize | stored beforehand (it is set) in the memory | storage part 130, and AI repeats the learning of the conditions which may produce an abnormal condition based on a daily operation condition. Thus, it may be set / updated.

  The output unit 114 outputs display information that causes the management device 300 of the vehicle 200 to display the moving image in the vehicle 200 captured by the imaging unit 210 in the vehicle 200 (a display example will be described later).

  The travel control unit 115 controls the travel of the vehicle 200. That is, the traveling control unit 115 controls the wheels and speed of the vehicle 200 that is an autonomous driving vehicle in which the driver is not on the vehicle based on information on the operation route set in the vehicle 200. Furthermore, the traveling control unit 115 stops traveling of the vehicle 200 when the determining unit 113 determines that the predetermined condition described above is satisfied. In addition, the travel control unit 115 controls opening / closing of the entrance / exit of the vehicle 200. The traveling control unit 115 can perform control so that the entrance / exit is not opened when the determination unit 113 determines that the settlement by the passenger is not valid. For example, the payment information obtained from the payment processing unit 118 that processes the payment (settlement) of the passenger fare is determined from the data of the moving image obtained by photographing the vicinity of the payment unit 240. / It is performed according to the judgment result of whether it is correct from another adult.

  The transmission / reception unit 116 controls data transmission / reception between the vehicle control device 100 and an external device such as the management device 300 via the network 400. For example, if the determination unit 113 determines that the predetermined condition described above is satisfied, the transmission / reception unit 116 transmits the determination result to the management device 300 of the vehicle 200. In addition, when the predetermined operation information in the management device 300 of the vehicle 200 is received from the management device 300, the transmission / reception unit 116 transmits display information output by the output unit 114 to the management device 300.

  The external device control unit 117 controls the external device in the vehicle 200 described above. For example, when the determination unit 113 determines that the above-described predetermined condition is satisfied, the external device control unit 117 causes the warning means (display 230, speaker 220) in the vehicle 200 to output predetermined warning information. It functions as a part. This is performed by, for example, displaying a warning message “Please do not stand” on the display 230 or outputting the sound from the speaker 220.

  The storage unit 140 is typically realized by various recording media such as an HDD (Hard Disc Drive), an SSD (Solid State Drive), and a flash memory, and various programs necessary for the operation of the vehicle control device 100 and It has a function of storing (storing) data. In addition, the storage unit 140 stores a moving image shot by the shooting unit 210.

  Next, the management apparatus 300 will be described. The management device 300 includes a control unit 310, a communication I / F 320, a storage unit 330, an input reception unit 340, a display unit 350, a voice I / F 360, and a speaker 370.

  The communication I / F unit 320 is an interface such as an antenna (not shown). That is, the communication I / F unit 320 has a function of communicating data with an external device such as the vehicle control device 100 via the network 400.

  The storage unit 330 has a function of storing various programs and various data necessary for the management apparatus 300 to operate. Storage unit 330 temporarily stores vehicle information received from vehicle 200. The storage unit 330 also has a function of storing moving image data in the vehicle 200. The storage unit 330 is typically realized by various recording media such as an HDD, an SSD, and a flash memory.

  The input receiving unit 340 receives an input from the user and transmits information related to the input to the control unit 310. In the management apparatus 300, the input reception unit 340 is realized by a touch panel or the like, detects contact by a pointing tool such as a user's finger or stylus and the contact position, and transmits the coordinates of the contact position to the information processing unit 311.

  The control unit 310 is a processor having a function of controlling each unit of the management device 300. The control unit 310 includes an information processing unit 311, a display processing unit 312, a transmission / reception unit 313, and a determination unit 314. The information processing unit 311 processes various information. For example, the information processing unit 311 transmits information received from the vehicle control device 100 by the transmission / reception unit 313 via the communication I / F 320 to the display processing unit 312. The display processing unit 312 has a function of converting display data transmitted from the information processing unit 311 into pixel information and writing it into a frame buffer of the display unit 350. The transmission / reception unit 313 has a function of controlling information to be transmitted from the communication I / F 320 to the vehicle control device 100 according to the information input from the input reception unit 340.

  The display unit 350 is a monitor having a function of displaying an image in accordance with display data written in the frame buffer by the display processing unit 312 and is typically realized by a liquid crystal display. The display unit 350 displays various display screens based on display information received from the vehicle control apparatus 100 via the network 400. The audio I / F 360 is an interface of a speaker 370 or an earphone (not shown). Note that various types of information may be output through the audio I / F 360, or a predetermined notification sound may be output. The display unit 350 and the input reception unit 340 may exist separately from the management apparatus 300 main body as shown in FIG.

  Here, the display screen (management screen) of the management apparatus 300 will be described with reference to FIGS. 4 and 5. FIG. 4 is an example of a display screen of the management apparatus 300. FIG. 4A shows a normal management screen where no abnormality has occurred, and FIG. 4B shows a management screen when there is an abnormality. As shown in FIG. 4, the management screen 10 includes at least a list 12 and a map 11 for a plurality of vehicles 200 to be managed by an administrator associated with the management apparatus 300. The list 12 includes information about the vehicle 200 (system, number of passengers, presence / absence of delay, passenger type). When the vehicle 200 is abnormal, an alert 13 is displayed.

  FIG. 5 is an example of a detail screen on the management screen. The detailed screen 20 includes at least a moving image 21, a speed information display area 22, and a vehicle information display area 23. Here, when the operation information for displaying the detailed screen 20 is received by the input receiving unit 340 of the management device 300, the vehicle control device 100 transmits the moving image data to the management device 300. Thus, according to an embodiment of the present invention, moving image data is displayed only when the detail screen 20 is displayed. Therefore, the network capacity is not limited.

  FIG. 5B is an example of a detailed screen at the time of abnormality. As shown in the figure, the display mode may be changed for the location 30 that is abnormal. In the example of the figure, the person and the car included in the image are displayed so as to be surrounded by a frame, but the color of the frame around the passenger who stands up may be different from the other frames. Note that the determination unit 113 can determine whether the moving image data is a rising or falling passenger or a dwarf / adult using the existing image analysis technique.

  Next, the vehicle control method by the vehicle control apparatus 100 described above will be described with reference to the drawings. FIG. 6 is a flowchart of a vehicle control method performed by the vehicle control device 100. First, the travel control unit controls the travel of the vehicle (step S11). Control of traveling includes stopping at a signal, a stop (stop), and opening / closing of an entrance door. Next, the output unit 114 outputs display information for causing the display unit 350 of the vehicle management apparatus 300 to display the moving image in the vehicle photographed by the photographing unit 210 in the vehicle 200 (step S12). The acquisition unit 112 acquires travel information related to the travel state of the vehicle (step S13). Such travel information is acquired from various devices provided in the vehicle 200. The determination unit 113 determines whether or not a predetermined condition is satisfied in the vehicle (step S14). The determination by the determination unit 113 may be started at a different timing depending on the situation of the vehicle 200. For example, when the vehicle 200 is stopped at a stop, the determination process by the determination unit 113 (learning by the learning unit 111) is started using the closing of the entrance door as a trigger. While the vehicle 200 is traveling, the determination process is continued by the learning unit 111.

  When it is determined that the predetermined condition is not satisfied (that is, the vehicle 200 is operating normally without any abnormality) (No in step S14), the process proceeds to step S13. Note that the captured moving image is stored in the storage unit 140. When it is determined that a predetermined condition is satisfied (that is, an abnormality has occurred in the vehicle 200) (Yes in step S14), the determination result is transmitted to the management device 300 (step S15). Thereafter, the determination unit 113 determines whether or not predetermined operation information has been received from the management device 300 (step S16). If No in step S16, the process returns to step S12. If Yes in step S16, the display information is transmitted to the management apparatus 300 (step S17). If the operation information is not received despite the determination result being transmitted in step S14, information indicating that a predetermined operation is requested may be transmitted to the management apparatus 300, and the display Information may be forcibly transmitted.

  Next, vehicle management processing by the vehicle control device 100, each device in the vehicle 200, and the management device 300 will be described. FIG. 7 is a sequence diagram illustrating a flow of a vehicle management process performed by the vehicle control device 100, each device in the vehicle 200, and the management device 300 according to an embodiment.

  The imaging unit 210 captures a moving image in the vehicle 200, and the moving image is transmitted to the vehicle control device 100 (steps S21 and S22). In addition, information regarding the traveling speed and position information (traveling situation) of the vehicle 200 is transmitted to the vehicle control device 100 (steps S23 and S24). The determination unit 113 determines whether or not a predetermined condition is satisfied in the vehicle based on the moving image and the traveling state (step S25). When it is determined that it is established, the determination result is transmitted to the management apparatus 300 (step S26). Thereafter, a transition operation to the detailed screen is detected from the management device 300 and transmitted to the vehicle control device 100 (step S27). The vehicle control device 100 transmits a moving image to the management device 300 (step S28).

  Thus, according to one embodiment of the present invention, it is possible to provide a vehicle that safely carries passengers in an autonomous driving vehicle. Further, since the moving image data is displayed only when the detailed screen 20 is displayed, the network capacity is not limited. Furthermore, since the management apparatus 300 is instructed to transmit moving image data by a simple operation of instructing transition to a detailed screen, the convenience is high.

  Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various variations and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, the functions included in each means, each step, etc. can be rearranged so that there is no logical contradiction, and a plurality of means, steps, etc. can be combined or divided into one. . The structures described in the above embodiments may be combined as appropriate. For example, the functions described separately as the vehicle control device 100, the vehicle 200, or the management device 300 may be performed only by the vehicle control device 100. Moreover, each component described as being included in the vehicle control device 100 may be realized by being distributed by a plurality of information processing devices.

  For example, the predetermined condition determined by the determination unit 113 may be different depending on the traveling environment of the vehicle 200. For example, different judgment conditions are set according to the location where the vehicle 200 is traveling (in different residential areas and building districts), road conditions (congestion, road width, road surface conditions, etc.), and weather (typhoons, strong winds, rainfall, etc.) May be. This may be performed by setting or updating a predetermined condition stored in the storage unit 140 from the service providing side via the management apparatus 300, or may be learned by AI. As a result, it is possible to provide safe driving in accordance with the traveling environment. Further, the location where the getting-off button 250 is pressed may be associated with the passengers located around the location, and the location determined by the determination unit 113 may be concentrated in the detection of the passenger's rising or movement. Moreover, the determination part 113 may determine and memorize | store a passenger's seating location beforehand, and may concentrate determination on a passenger's movement. This leads to a reduction in determination load.

  Moreover, although one Embodiment of the invention which concerns on this invention was described, it cannot be overemphasized that this invention is not restricted to this. For example, in the above description, various types of information described as being stored in the storage unit 130 of the vehicle control device 100 may be stored in an external memory different from the vehicle control device 100 or on the cloud, or either storage It may be aggregated into parts. Further, the display screen is an example, and more information may be displayed, or less information may be displayed.

  Each functional unit of the vehicle control device 100 may be realized by a logic circuit (hardware) or a dedicated circuit formed in an integrated circuit (IC (Integrated Circuit) chip, LSI (Large Scale Integration)) or the like, or a CPU It may be realized by software using (Central Processing Unit). Each functional unit may be realized by one or a plurality of integrated circuits, and the functions of the plurality of functional units may be realized by a single integrated circuit. Furthermore, the vehicle control apparatus 100 described above may be realized by a plurality of server computers, or depending on the function, may be realized by calling an external platform or the like with an API or the like.

  When each functional unit of the vehicle control device 100 is realized by software, the vehicle control device 100 or the management device 300 is configured such that the CPU that executes instructions of a program that is software that realizes each function, the program and various data are stored in a computer (or A ROM (Read Only Memory) or a storage device (these are referred to as “recording media”) recorded so as to be readable by a CPU), a RAM (Random Access Memory) for expanding the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. That is, the vehicle control apparatus 100 according to the present invention functions as each component described above when the CPU executes a program loaded on the RAM. As the recording medium, a “non-temporary tangible medium” such as a semiconductor memory or a programmable logic circuit can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

  Note that the above programs include script languages such as ActionScript, JavaScript (registered trademark), Python, and Ruby, object-oriented programming languages such as C language, C ++, C #, Objective-C, Swift, and Java (registered trademark), It can be implemented using a markup language such as HTML5. Furthermore, the description of “section (module, unit)” in the claims may be read as “means” or “circuit”. For example, the receiving unit can be read as receiving means or a receiving circuit.

DESCRIPTION OF SYMBOLS 100 Vehicle control apparatus 200 Vehicle 300 Management apparatus (server)
400 network 500 vehicle control system 110 control unit 111 learning unit 112 acquisition unit 113 determination unit 114 output unit 115 travel control unit 116 transmission / reception unit 117 external device control unit 118 settlement processing unit 120 communication unit 130 storage unit 140 storage unit 210 photographing unit 220 Speaker 230 Display 240 Settlement unit 250 Exit button 310 Control unit 311 Information processing unit 312 Display processing unit 313 Transmission / reception unit 314 Determination unit 330 Storage unit 340 Input reception unit 350 Display unit 370 Speaker 10 Management screen 11 Map 12 List 13 Alert 20 Detailed screen 21 moving image 22 speed information display area 23 vehicle information display area 24 operation route information display area

Claims (11)

A vehicle control device connected to a vehicle management device via a network,
A travel control unit for controlling travel of the vehicle;
An output unit for outputting display information for displaying a moving image in the vehicle imaged by an imaging unit installed in the vehicle on a predetermined display unit of the vehicle management device;
An acquisition unit for acquiring travel information relating to the travel state of the vehicle;
A determination unit configured to determine whether or not a predetermined condition set in accordance with the traveling state is satisfied in the vehicle based on the moving image in the vehicle and the traveling information;
A transmission control unit for transmitting a determination result to the vehicle management device when the determination unit determines that a predetermined condition is satisfied;
A vehicle control device comprising: The transmission control unit transmits display information output by the output unit to the management device when predetermined operation information in the management device of the vehicle is received from the management device.
The vehicle control device according to claim 1, wherein: The travel control unit stops the travel of the vehicle when the determination unit determines that the predetermined condition is satisfied,
The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device. The predetermined operation information is information instructing a transition to a screen for displaying information in the vehicle in the vehicle management device.
The vehicle control device according to any one of claim 1 to 3, characterized in that. The acquisition unit acquires position information of the vehicle as the travel information,
The determination unit determines that the predetermined condition is satisfied when the vehicle is at a position other than the stop of the vehicle and there is an unseatd passenger in the vehicle in the moving image,
The vehicle control device according to any one of claims 1 to 4 , wherein A warning control unit that outputs predetermined warning information to a warning unit provided in the vehicle when the determination unit determines that the predetermined condition is satisfied;
The vehicle control device according to any one of claims 1 to 5, wherein The acquisition unit acquires payment information by passengers of the vehicle,
The determination unit determines whether payment by the passenger is valid based on the moving image in the vehicle and the payment information,
The warning control unit outputs the warning information when the determination unit determines that the settlement by the passenger is not valid.
The vehicle control device according to claim 6 . The travel control unit further controls opening and closing of the doorway of the vehicle,
The travel control unit does not open the entrance of the vehicle when the determination unit determines that the settlement by the passenger is not valid.
The vehicle control device according to claim 7. The predetermined condition varies depending on the traveling environment of the vehicle,
The acquisition unit further acquires environmental information related to a traveling environment of the vehicle,
The determination unit determines whether or not the predetermined condition based on the environmental information acquired by the acquisition unit is satisfied;
The vehicle control device according to any one of claims 1 to 8, wherein A control method for a vehicle control device connected to a vehicle management device via a network,
A traveling step for controlling the traveling of the vehicle;
An output step of outputting display information for displaying a moving image in the vehicle imaged by an imaging unit installed in the vehicle on a predetermined display unit of the vehicle management device;
An acquisition step of acquiring travel information relating to the travel state of the vehicle;
A determination step of determining whether or not a predetermined condition set in accordance with the driving condition is satisfied in the vehicle based on the moving image in the vehicle and the driving information;
A control method for a vehicle control device, comprising: a transmission control step for transmitting a determination result to the vehicle management device when a predetermined condition is determined to be satisfied by the determination step. A control program for a vehicle control device connected to a vehicle management device via a network,
In the vehicle control device,
A travel control function for controlling travel of the vehicle;
An output function for outputting display information for displaying a moving image in the vehicle imaged by an imaging unit installed in the vehicle on a predetermined display unit of the vehicle management device;
An acquisition function for acquiring travel information related to the travel status of the vehicle;
A determination function for determining whether or not a predetermined condition set in accordance with the traveling condition is satisfied in the vehicle based on the moving image in the vehicle and the traveling information;
A transmission control function for transmitting a determination result to the vehicle management device when the determination function determines that a predetermined condition is satisfied;
A control program for a vehicle control device that realizes

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