JP7023767B2 - Support device and support processing method - Google Patents

Description

The present invention relates to a support device, a support processing method and a support processing program, and a recording medium in which the support processing program is recorded.

Conventionally, technological development for realizing autonomous driving of automobiles has been rapidly promoted. It is expected that taxi services (unmanned taxi services) using vehicles that travel autonomously will be implemented, and technologies related to unmanned taxis have been proposed.

As a proposed technology for such an unmanned taxi, there is a technology for a taxi service system according to a vehicle allocation plan and a management schedule (see Patent Document 1; hereinafter referred to as a conventional example). In this conventional technique, the terminal device for the taxi user to operate, the autonomous driving vehicle that can be remotely controlled, and the remote control device that remotely controls the autonomous driving vehicle communicate with the control center. Then, the control center prepares a vehicle allocation plan and a management schedule.

Japanese Unexamined Patent Publication No. 2017-174208

By the way, in an unmanned taxi, there is no driver. Therefore, when a taxi user is in an unmanned taxi, generally no one other than the taxi user is in the taxi.

By the way, some taxi users fall asleep while getting on a taxi. Then, even if the taxi service arrives at the destination and the taxi user is notified by normal voice, the taxi user may not be awakened.

When such a situation occurs, in the manned taxi on which the driver is on board, the driver can manually awaken the taxi user and disembark. However, such a method cannot be adopted in the case of an unmanned taxi.

Therefore, even if a vehicle capable of autonomous traveling arrives at a destination, if the user of the vehicle does not awaken, there is a demand for a technique for supporting the disembarkation of the user. Responding to such a request is one of the problems to be solved by the present invention.

The invention according to claim 1 is a support device arranged on a mobile body that can move autonomously, and has a first detection unit that detects that the mobile body has arrived at a destination; and a user of the mobile body. A second detection unit that detects that the moving body has descended from the moving body; the second detecting unit even after a predetermined time has elapsed after the first detecting unit detects that the moving body has arrived at the destination. It is a support device including a control unit that controls to activate the awakening unit that promotes the awakening of the user when the detection unit does not detect that the user has descended from the moving body .

The invention according to claim 2 is arranged in a mobile body that can move autonomously, and has a first detection unit, a second detection unit that detects that a user of the mobile body has disembarked from the mobile body, and a control unit. A support processing method used in a support device including the above, wherein the first detection unit detects that the moving body has arrived at a destination; and the movement in the first detection step . When the second detection unit does not detect that the user has disembarked from the moving body even after a predetermined time has elapsed after the body has arrived at the destination, the control unit determines. It is a support processing method including the control step of controlling to activate the awakening unit that promotes the awakening of the user.

The invention according to claim 3 is a support processing program characterized in that a computer included in the support device is made to execute the support processing method according to claim 2 .

The invention according to claim 4 is a recording medium, wherein the support processing program according to claim 3 is recorded so as to be readable by a computer included in the support device.

It is a block diagram which shows the structure of the support system including the support device which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the support system including the support device which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the support device of FIG. It is a block diagram which shows the structure of the management server of FIG. It is a flowchart for demonstrating the getting-off support process executed by the process control unit of FIG. It is a flowchart for demonstrating the getting-off promotion process of FIG.

Hereinafter, one embodiment will be described with reference to FIG. In the following description and drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

[Constitution]
FIG. 1 shows a block diagram of a configuration of a support system including a support device 700 according to an embodiment. As shown in FIG. 1, the support system includes a management server 900 in addition to the support device 700.

Here, the support device 700 is arranged and operates in the vehicle CR as a mobile body that provides an unmanned taxi service. Further, the management server 900 is a server device operated by the taxi company to which the vehicle CR belongs, and is arranged at a fixed position outside the vehicle CR. Then, the support device 700 and the management server 900 can communicate with each other via the network 500.

The management server 900 also communicates with an in-vehicle device or the like arranged in another taxi vehicle (whether manned or unmanned) belonging to the taxi company to which the vehicle CR belongs via the network 500. Although it is possible, in FIG. 1, the support device 700 arranged in the vehicle CR is typically shown.

The management server 900 manages the operation of all taxis belonging to the taxi company to which the vehicle CR belongs. For example, the management server 900 is designed to receive the current location information and whether or not the user is in the taxi from each of the taxis, so that the operation status of each taxi can be grasped. It has become.

In addition, common registration information such as the location of the sales office where the taxi company to which the vehicle CR belongs, the residence time zone of the expatriates at each sales office, and the police box position are registered in the management server 900. Has been done. In addition, user registration information regarding taxi service users is registered in the management server 900. Such pre-registration information includes a user name, a user identifier (hereinafter referred to as "user ID"), contact information (home telephone number, etc.), and the like. The operator of the management server 900 is always stationed.

The management server 900 is adapted to receive taxi service request information. This request information includes the user's name (in the case of an unmanned taxi service, the user ID), the boarding position, the desired boarding time, and the destination. The operator of the management server 900 determines the vehicle allocation plan based on the request information and the above-mentioned operation status. Then, the management server 900 is adapted to transmit a vehicle allocation instruction including the user's boarding position and destination to the vehicle corresponding to the vehicle allocation plan according to the operator's instruction.

The details of the processing executed by the management server 900 corresponding to the vehicle providing the unmanned taxi service will be described later.

<Configuration of support device 700>
Next, the configuration of the support device 700 will be described.

As described above, the support device 700 is arranged in the vehicle CR. As shown in FIG. 1, in this vehicle CR, in addition to the support device 700, a position detection unit 810, a person sensor unit 820, an awakening unit 830, and an autonomous driving device 840 are arranged. The position detection unit 810, the person sensor unit 820, the awakening unit 830, and the autonomous driving device 840 are connected to the support device 700.

The position detection unit 810 detects the current position of the vehicle CR. The detection result by the position detection unit 810 is sent to the support device 700 as the current position information. In this embodiment, the position detection unit 810 performs GPS (Global Positioning System) positioning to detect the current position of the vehicle CR.

Although not shown in FIG. 1, the position detection unit 810 also sends the current position information to the autonomous driving device 840.

The person sensor unit 820 is provided with a sensor for determining whether or not a person is present in the user's seat of the vehicle CR. In the present embodiment, the person sensor unit 820 is arranged inside the user's seat, and has a seating sensor that detects the magnitude of the force acting vertically downward and a photographing unit that captures an image around the user's seat. I have. The data acquired by the person sensor unit 820 is sent to the support device 700.

The awakening unit 830, under the control of the support device 700, promotes the awakening of the user who has fallen asleep in the user's seat. In the present embodiment, the awakening unit 830 is arranged inside the user's seat and includes a vibrating unit that vibrates the user's seat under the control of the support device 700. Further, in the present embodiment, the awakening unit 830 includes a sound output unit that outputs voice to the user's seat under the control of the support device 700. The awakening unit 830 may be provided with an irradiation unit that irradiates the user with light and an fragrance unit that outputs an fragrance that stimulates the user's sense of smell.

The autonomous driving device 840 receives an autonomous driving command that specifies the position of the destination sent from the support device 700. Then, the autonomous driving device 840 controls to autonomously drive the vehicle CR to the position of the destination.

As shown in FIG. 1, the support device 700 includes a first detection unit 710 and a second detection unit 720. Further, the support device 700 includes a wireless communication unit 730 and a control unit 740.

The first detection unit 710 receives the current position information sent from the position detection unit 810. Further, the first detection unit 710 receives the position of the destination of the taxi service sent from the control unit 740. Then, the first detection unit 710 detects that the vehicle CR has arrived at the destination of the taxi service based on the current position information and the position of the destination of the taxi service. The detection result and the current position information by the first detection unit 710 are sent to the control unit 740.

In the first detection unit 710, when the current position indicated by the current position information and the position of the destination of the taxi service match and the current position does not change, the vehicle CR is the purpose of the taxi service. Judge that you have arrived at the ground.

The second detection unit 720 described above receives the detection result sent from the person sensor unit 820. Then, by detecting whether or not the user is present in the user's seat, it is detected that the user has disembarked (that is, has disembarked from the vehicle CR which is a moving body). In addition, the second detection unit 720 detects that the user has newly boarded. The detection result by the second detection unit 720 is sent to the control unit 740.

The second detection unit 720 changes from the state in which the user is present in the user seat to the state in which the user is not present in the user seat based on the detection result by the person sensor unit 820. It is determined that the user has disembarked. Further, the second detection unit 720 changes from a state in which the user does not exist in the user seat to a state in which the user exists in the user seat based on the detection result by the person sensor unit 820. It is determined that the user has boarded.

The wireless communication unit 730 communicates with the management server 900 via the network 500 under the control of the control unit 740. That is, when the wireless communication unit 730 receives the data transmitted from the control unit 740, the wireless communication unit 730 transmits the data as transmission data to the management server 900. When the wireless communication unit 730 receives the data sent from the management server 900, the wireless communication unit 730 sends the data as received data to the control unit 740.

Here, the received data includes a vehicle allocation instruction including a boarding position and a destination position, an autonomous traveling instruction including the destination, and the like. In addition, the transmitted data includes a report that the user does not get off even though he / she has arrived at the destination of the taxi service.

The control unit 740 receives the current position information sent from the first detection unit 710. Then, the control unit 740 uses the wireless communication unit 730 to send the current position information to the management server 900. Therefore, the management server 900 (and by extension, the operator of the management server 900) can grasp the current position of the vehicle CR.

Further, the control unit 740 receives the detection result sent from the second detection unit 720. Then, the control unit 740 uses the wireless communication unit 730 to send information on whether or not the user is on board to the management server 900. Therefore, the management server 900 (and by extension, the operator of the management server 900) can grasp whether or not the user is on the vehicle CR.

Further, the control unit 740 receives the vehicle allocation instruction transmitted from the management server 900. Then, the control unit 740 sends an autonomous driving command specifying the boarding position of the user specified in the vehicle allocation instruction to the autonomous driving device 840. Upon receiving such an autonomous driving command, the autonomous driving device 840 autonomously drives the vehicle CR to the boarding position of the user.

Then, when the detection result indicating that the user has boarded is received from the second detection unit 720, the control unit 740 issues an autonomous driving command that specifies the position of the destination of the taxi service specified in the vehicle allocation instruction. Send to 840. Upon receiving such an autonomous driving command, the autonomous driving device 840 autonomously drives the vehicle CR to the position of the destination.

Further, when the detection result indicating that the taxi service has arrived at the destination is received from the first detection unit 710, the control unit 740 executes a disembarkation support process for assisting the user to get off after arriving at the taxi service destination. do. The details of such disembarkation support processing will be described later.

[motion]
Next, the operation of the support device 700 configured as described above will be described mainly focusing on the disembarkation support process executed by the control unit 740.

It is assumed that the position detection unit 810 has already started operation and sequentially sends the detected current position information to the support device 700. Then, it is assumed that the control unit 740 of the support device 700 sequentially sends the current position information to the management server 900.

Further, it is assumed that the person sensor unit 820 has already started operation and sends the detection result to the support device 700. Further, it is assumed that only the user is on the vehicle CR. Further, it is assumed that the vehicle CR traveling toward the destination of the taxi service for the user specified by the autonomous driving command issued by the control unit 740 is performed by the autonomous driving process performed by the autonomous driving device 840. ..

<Getting off support processing>
In the disembarkation support process, first, the control unit 740 determines whether or not the detection result indicating that the taxi service has arrived at the destination has been received from the first detection unit 710. When the result of the arrival determination is affirmative, the control unit 740 uses the sound output unit in the awakening unit 830 to notify the user that the destination has arrived by voice at a normal volume.

After this notification, the control unit 740 starts the first disembarkation determination for determining whether or not the detection result indicating that the user has disembarked has been received from the second detection unit 820. When the first predetermined time elapses without the result of the first disembarkation determination being affirmative, the control unit 740 starts the first control process.

In addition, the "first predetermined time" is based on experiments, simulations, experiences, etc. in advance from the viewpoint of providing the user with sufficient time to complete the disembarkation if the user is awake. It is decided.

<< First control process >>
In the first control process, the control unit 740 controls the awakening unit 830 to execute the awakening promotion operation. In the control to execute such an awakening promotion operation, the control unit 740 sends a vibration signal to the vibrating unit of the awakening unit 830 to vibrate the user's seat. Further, the control unit 740 sends an awakening promotion sound signal having a volume higher than the normal volume to the sound output unit of the awakening unit 830, and outputs the awakening promotion sound to the user.

While causing the awakening unit 830 to execute such an awakening promotion operation, the control unit 740 makes a second disembarkation determination for determining whether or not the detection result indicating that the user has disembarked has been received from the second detection unit 820. When the elapsed time from the start of the first control process reaches the second predetermined time without the result of the second disembarkation determination being affirmative, the control unit 740 ends the first control process, and will be described below. The second control process is started. Here, the "second predetermined time" is predetermined based on experiments, experiences, etc. from the viewpoint of promoting the awakening of the user.

If the second detection unit 820 receives a detection result indicating that the user has disembarked before the elapsed time from the start of the first control process reaches the second predetermined time, the control unit 740 is the first. 1 After finishing the control process, the disembarkation support process is finished.

<< Second control process >>
In the second control process, the control unit 740 states that "the user's boarding state continues even though the first control process is executed to urge the user to awaken and get off." The boarding status continuation information including the ID is transmitted to the management server 900 registered internally as a communication destination. Then, the control unit 740 waits for the reception of the instruction information sent from the management server 900.

Upon receiving the boarding state continuation information transmitted from the support device 700, the management server 900 presents the boarding state continuation information to the operator by displaying it on the display device or the like. Then, the operator implements a measure for encouraging the user to awaken and get off while appropriately referring to the user registration information and the common registration information held inside the management server 900 based on the current position of the vehicle CR. do. Examples of such measures include the following (measure 1) to (measure 5).

(Measures 1)
The awakening promotion voice by the operator's real voice is output from the sound output unit of the awakening unit 830 to the user at a volume louder than the volume of the awakening promotion voice in the case of the first control process, and the vibration of the awakening unit 830 is performed. The unit vibrates the user's seat with an amplitude larger than the amplitude in the case of the first control process. This encourages the user to awaken and get off.

(Measures 2)
Call the contact phone number registered as user registration information, report that "the user will not get off" and the current position of the vehicle CR, "pick up at the vehicle CR", and "pick up the vehicle CR". Ask for a choice such as "Go to a designated point such as a contact point." Then, when "direct the vehicle CR to a designated point such as a contact point" is selected, the support device 700 is notified of an autonomous driving instruction designating the position of the designated point. In addition, you may use e-mail or another contact application to notify the communication terminal or the like of a person existing at the arrival destination (the point where the vehicle CR is heading) that the vehicle CR is heading.

(Measures 3)
If there is a manned taxi vehicle belonging to the own taxi company around the current position of the vehicle CR, contact the driver of the manned taxi vehicle and determine the meeting point between the manned taxi vehicle and the vehicle CR. Then, the support device 700 is notified of the autonomous driving instruction specifying the position of the meeting point. When the position of the meeting point is the current position of the vehicle CR, the autonomous driving instruction support device 700 is not notified.

(Measures 4)
If there is a sales office operated by your taxi company around the current position of the vehicle CR and there are expatriates, give an autonomous driving instruction that specifies the position of the sales office. Notify the support device 700.

(Measures 5)
The support device 700 is notified of an autonomous driving instruction that specifies the position of the police box closest to the current position of the vehicle CR.

In the present embodiment, the operator of the management server 900 first adopts (Measures 1). If the user does not get off despite the execution of (Measures 1), the operator tries (Measures 2).

If (Measures 2) is tried but the contact cannot be contacted, the operator tries (Measures 3). If (Measures 3) is tried but there is no manned taxi vehicle that meets the conditions, the operator will try (Measures 4). Then, when (Measures 4) is tried but there is no business office that meets the conditions, (Measures 5) is adopted as a last resort.

<< Third control process >>
When the autonomous driving instruction transmitted from the management server 900 is received without the user getting off, the support device 700 executes the third control process. In the third control process, the control unit 740 of the support device 700 sends an autonomous driving command designating a destination specified in the autonomous driving command to the autonomous driving device 840. As a result, the vehicle CR starts autonomous traveling toward the destination.

As described above, in the support device 700 of the present embodiment arranged in the vehicle CR capable of autonomous traveling, the first detection unit 710 is based on the current position of the vehicle CR and the position of the destination of the taxi service. , Detects that the vehicle CR has arrived at the destination. Then, control is performed when the second detection unit 720 does not detect that the user has disembarked even after a predetermined time has elapsed after the first detection unit 710 detects that the vehicle CR has arrived at the destination. The unit 740 controls the awakening unit 830 to execute the first control process for urging the user to awaken and eventually get off the user.

Therefore, according to the present embodiment, even if a vehicle capable of autonomous traveling arrives at a destination, if the user of the vehicle does not awaken, it is possible to support the disembarkation of the user.

Further, in the present embodiment, if the user's disembarkation is not detected by the second detection unit 720 even if the first control process is performed, the control unit 740 is the management server 900 which is a communication destination registered internally. The second control process for communicating with the user is performed, and "the user's boarding state continues even though the first control process is executed to urge the user to awaken and get off" is transmitted. .. Then, the subsequent treatment is left to the judgment of the operator. Therefore, it is possible to contribute to coping with the occurrence of a situation in which the user is still in the riding state even though the first control process is executed to encourage the user to awaken and get off.

Further, in the present embodiment, when an autonomous driving instruction in which the position of the point where the user can be manually urged to awaken or get off is designated as the destination is received from the management server 900, the control unit 740 sets the destination. The third control process of sending the designated autonomous driving command to the autonomous driving device 840 is performed. Therefore, the vehicle CR can be driven to a position where the user can be surely awakened and disembarked.

[Modification of Embodiment]
The present invention is not limited to the above embodiment, and various modifications are possible.

For example, in the above embodiment, it is assumed that only the user is on the vehicle capable of autonomous driving, and the support process is executed. On the other hand, if the vehicle has a passenger other than the user, the support for awakening / disembarking may be entrusted to the passenger, and the processing for the support may not be performed. In this case, the detection of the presence or absence of the passenger can be realized by, for example, further preparing a detection unit for detecting the presence or absence of the passenger. The presence or absence of the passenger may be detected after arriving at the destination of the taxi service, or if the passenger is boarding to the destination of the taxi service, the arrival at the destination of the taxi service. You may go ahead.

Further, in the above embodiment, if the user does not get off even by the first control process, the operator of the management server is entrusted with the subsequent measures. On the other hand, the support device may perform the processing corresponding to the second control processing and the third control processing in a predetermined procedure while cooperating with the management server. However, in this case, the operator's voice cannot be used.

Further, in the above embodiment, the user registration information is held by the management server. On the other hand, the mobile terminal device capable of short-range communication carried by the user may hold the user registration information. In this case, the support device may perform the process corresponding to the second control process and the third control process by a predetermined procedure while cooperating with the mobile terminal device and the management server.

Further, in the above embodiment, the present invention is applied to a support device arranged in an autonomously movable vehicle which is an autonomously movable mobile body, but the present invention is applied to an autonomously movable mobile body other than a vehicle such as a ship or an aircraft. The present invention may be applied to the assist device to be arranged.

The support device in the above embodiment is configured as a computer system provided with a calculation means such as a central processing unit (CPU), and the support device described above is executed by executing a program prepared in advance on the computer. Some or all of the functions of the device may be realized. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium by the computer and executed. Further, this program may be acquired in the form of being recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in the form of distribution via a network such as the Internet. May be good.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 2 to 6. In the following description and drawings, the same or equivalent elements will be designated by the same reference numerals including the above-described embodiment, and duplicate description will be omitted.

[Constitution]
FIG. 2 shows the configuration of the support system 400 including the support device 100 according to the embodiment. The support system 400 is one aspect of the support system (see FIG. 1) of the above-described embodiment.

As shown in FIG. 2, the support system 400 includes a management server 300 in addition to the support device 100. Here, the support device 100 is arranged and operates in the vehicle CR that provides the unmanned taxi service. Further, the management server 300 is a server device operated by the taxi company to which the vehicle CR belongs, and is arranged outside the vehicle CR. Then, the support device 100 and the management server 300 can communicate with each other via the network 500.

The management server 300 also communicates with an in-vehicle device or the like arranged in another taxi vehicle (whether manned or unmanned) belonging to the taxi company to which the vehicle CR belongs via the network 500. Although it is possible, in FIG. 2, the support device 100 arranged in the vehicle CR is typically shown.

In addition to the support device 100, the vehicle CR includes a positioning unit 210, a sound output unit 230, a vibration unit 240, a seating sensor unit 260, a photographing unit 270, and an autonomous driving device 290. These positioning unit 210, sound output unit 230, vibration unit 240, seating sensor unit 260, photographing unit 270, and autonomous driving device 290 are connected to the support device 100.

In this embodiment, the positioning unit 210 performs GPS positioning and detects the current position of the vehicle CR. The detection result by the positioning unit 210 is sent to the support device 100 as the current position information. That is, the positioning unit 210 functions as the position detection unit 810 in the above-described embodiment.

Although not shown in FIG. 2, the positioning unit 210 also sends the current position information to the autonomous driving device 290.

The sound output unit 230 is configured to include a speaker. The sound output unit 230 receives output sound data sent from the support device 100. Then, the sound output unit 230 outputs the voice corresponding to the output sound data to the user. That is, the sound output unit 230 fulfills a part of the function of the awakening unit 830 in the above-described embodiment by fulfilling the function of the sound output unit in the above-described embodiment.

The vibration unit 240 is configured to include a vibration element arranged inside the user's seat. The vibration unit 240 receives a vibration signal sent from the support device 100. Then, the vibration unit 240 generates vibration corresponding to the vibration signal to the user's seat. That is, the vibration unit 240 fulfills a part of the function of the awakening unit 830 in the above-described embodiment by fulfilling the function of the vibration unit in the above-described embodiment.

The seating sensor unit 260 is arranged inside the user's seat and includes a pressure sensor that detects the magnitude of the force acting vertically downward. The detection result by the seating sensor unit 260 is sent to the support device 100. That is, the seating sensor unit 260 functions as a part of the person sensor unit 820 in the above-described embodiment.

The shooting unit 270 is configured to include a camera device for capturing an image around the user's seat. The shooting result (shooting image) by the shooting unit 270 is sent to the support device 100. That is, the photographing unit 270 functions as a part of the person sensor unit 820 in the above-described embodiment. The person sensor unit 820 may be configured by a depth camera, a thermo camera, or the like.

The autonomous driving device 290 receives an autonomous driving command that specifies the position of the destination sent from the support device 100. Then, the autonomous driving device 290 controls to autonomously drive the vehicle CR to the position of the destination. That is, the autonomous driving device 290 fulfills the function of the autonomous driving device 290 in the above-described embodiment.

<Configuration of support device 100>
Next, the configuration of the support device 100 described above will be described.

As shown in FIG. 3, the support device 100 includes a processing control unit 110 and a storage unit 120. Further, the support device 100 includes a wireless communication unit 140.

The processing control unit 110 collectively controls the operation of the support device 100. The processing control unit 110 will be described later.

The storage unit 120 is configured to include a non-volatile storage device such as a hard disk device, and stores various information data used in the support device 100. Such information data includes the communication address of the management server 300 registered as the communication destination. The processing control unit 110 can access the storage unit 120.

The wireless communication unit 140 communicates with the management server 300 via the network 500 under the control of the processing control unit 110. That is, the processing control unit 110 can communicate with the management server 300 by using the wireless communication unit 140.

Next, the above-mentioned processing control unit 110 will be described. The processing control unit 310 includes a central processing unit (CPU) and peripheral circuits thereof. By executing various programs by the processing control unit 110, the function as the support device 100 is realized. These functions include the functions of the first detection unit 710, the second detection unit 720, and the control unit 740 in the above-described embodiment.

The processing control unit 110 receives the current position information sent from the positioning unit 210. Then, the processing control unit 110 sends the current position information to the management server 300. Therefore, the management server 300 (and by extension, the operator of the management server 300) can grasp the current position of the vehicle CR.

Further, the processing control unit 110 determines whether or not the user is present in the user's seat based on the detection result by the seating sensor unit 260 and the image taken by the photographing unit 270. Then, the processing control unit 110 determines that the user has disembarked when the state changes from the state in which the user is present in the user seat to the state in which the user is not present in the user seat. Further, the processing control unit 110 determines that the user has boarded when the state changes from the state in which the user does not exist in the user seat to the state in which the user exists in the user seat.

Further, the processing control unit 110 receives the vehicle allocation instruction transmitted from the management server 300. Then, the processing control unit 110 sends an autonomous driving command specifying the boarding position of the user specified in the vehicle allocation instruction to the autonomous driving device 290. Upon receiving such an autonomous driving command, the autonomous driving device 290 autonomously drives the vehicle CR to the boarding position of the user.

Then, when it is detected that the user has boarded based on the detection result sent from the seating sensor unit 260 and the captured image sent from the photographing unit 270, the processing control unit 110 is designated in the vehicle allocation instruction. An autonomous driving command specifying the position of the destination of the taxi service is sent to the autonomous driving device 290. Upon receiving such an autonomous driving command, the autonomous driving device 290 autonomously drives the vehicle CR to the position of the destination.

When the current position indicated by the current position information sent from the positioning unit 210 matches the position of the destination of the taxi service and the current position does not change, the processing control unit 110 sets the vehicle CR. Is now determined to have arrived at the destination of the taxi service. Then, when it is determined that the vehicle CR has arrived at the destination of the taxi service, the processing control unit 110 executes a disembarkation support process for assisting the user to disembark after arriving at the destination of the taxi service. The details of such disembarkation support processing will be described later.

<Configuration of management server 300>
Next, the configuration of the management server 300 described above will be described. The operator of the management server 300 is always stationed.

FIG. 4 shows a schematic configuration of the management server 300. As shown in FIG. 4, the management server 300 includes a processing control unit 310, a storage unit 320, and an external communication unit 330. Further, the management server 300 includes a sound input / output unit 340, a display unit 350, and an input unit 360.

The processing control unit 310 includes a central processing unit (CPU) and peripheral circuits thereof, and controls the entire management server 300 in an integrated manner. The processing control unit 310 will be described later.

The storage unit 320 records various information data used in the management server 300. Such information data includes common registration information such as the location of the sales office where the taxi company to which the vehicle CR belongs, the residence time zone of the expatriates at each sales office, and the location of the police box, as well as the taxi service. It contains user registration information such as user identifiers and contact information (home phone numbers, etc.) related to users. The processing control unit 310 is accessible to the storage unit 320.

The external communication unit 330 communicates with the support device 100 via the network 500 under the control of the processing control unit 310. That is, the processing control unit 310 can communicate with the support device 100 by using the wireless communication unit 320.

The sound input / output unit 340 is configured to include a microphone and a speaker. When the operator's voice is input, the sound input / output unit 340 sends input sound data corresponding to the voice to the processing control unit 310. Further, when the sound input / output unit 340 receives the output sound data sent from the processing control unit 310, the sound input / output unit 340 outputs the sound corresponding to the output sound data.

The display unit 350 is configured to include a display device such as a liquid crystal display. The display unit 350 receives the display image data sent from the processing control unit 310. Then, the display unit 350 displays an image corresponding to the display image data.

The input unit 360 is configured to include a key unit as a stroke device, a mouse as a pointing device, and the like. Here, as the key unit, a touch panel provided on the display device of the display unit 350 can be used. It should be noted that it is also possible to adopt a configuration in which voice input is performed by using voice recognition technology instead of or in combination with a configuration having a key unit. The input result to the input unit 360 is sent to the processing control unit 310 as input data.

The operator is provided with various information from the processing control unit 310 via the sound input / output unit 340, the display unit 350, and the input unit 360, and is requested to give various designations and commands to the processing control unit 310. It has become.

Next, the above-mentioned processing control unit 310 will be described. The processing control unit 310 includes a central processing unit (CPU) and peripheral circuits thereof. By executing various programs by the processing control unit 310, various functions as the management server 300 are realized.

The processing control unit 310 manages the operation of all taxis belonging to the taxi company to which the vehicle CR belongs in accordance with the instructions and commands of the operator. For example, the processing control unit 310 receives the current position information and the presence or absence of a taxi user from each of the taxis, so that the operation status of each taxi can be grasped. It has become.

Further, the processing control unit 310 is adapted to receive the request information for the taxi service. This request information includes the passenger's name, boarding position, desired boarding time, and destination. Based on the request information and the above-mentioned operation status, the processing control unit 310 creates a vehicle allocation plan according to the instructions and commands of the operator. Then, the processing control unit 310 transmits a vehicle allocation instruction including the user's boarding position and destination to the vehicle corresponding to the vehicle allocation plan according to the operator's instruction. Here, in the case of a vehicle allocation instruction to a vehicle that provides an unmanned taxi service, the vehicle corresponding to the vehicle allocation plan further includes the above-mentioned user ID.

The processing after arrival at the destination of the taxi service, which is executed by the processing control unit 310 corresponding to the vehicle providing the unmanned taxi service, will be described later.

[motion]
Next, the operation of the support system 400 configured as described above will be described mainly focusing on the disembarkation support process executed by the process control unit 110 of the support device 100.

It is assumed that the positioning unit 210 has already started operation and sequentially sends the detected current position information to the support device 100. Then, it is assumed that the processing control unit 110 of the support device 100 sequentially sends the current position information to the management server 300.

Further, it is assumed that the seating sensor unit 260 has already started operation and sends the detection result to the support device 100. Further, it is assumed that the photographing unit 270 has already started operation and sends the photographed image to the support device 100. Further, only the user is on the vehicle CR, and the autonomous driving device 290 travels toward the destination of the taxi service for the user specified by the autonomous driving command issued by the processing control unit 110. It is assumed that it is performed by the autonomous driving process to be performed.

<Getting off support processing>
In the disembarkation support process, as shown in FIG. 5, first, in step S11, the process control unit 110 determines whether or not the vehicle CR has arrived at the destination of the taxi service. In this determination, in the present embodiment, as described above, the processing control unit 110 matches the current position indicated by the current position information sent from the positioning unit 210 with the position of the destination of the taxi service. Moreover, when the current position does not change, it is determined that the vehicle CR has arrived at the destination of the taxi service.

If the result of the determination in step S11 is negative (step S11: N), the process of step S11 is repeated. On the other hand, if the result of the determination in step S11 is positive (step S11: Y), the process proceeds to step S12. In this step S12, the processing control unit 110 uses the sound output unit 230 to notify the user that the destination has arrived by voice at a normal volume.

Next, in step S13, the processing control unit 110 determines whether or not the user has disembarked. In this determination, in the present embodiment, as described above, when the processing control unit 110 changes from the state in which the user is present in the user seat to the state in which the user is not present in the user seat. In addition, it is determined that the user has disembarked.

If the result of the determination in step S13 is negative (step S13: N), the process proceeds to step S14. In this step S14, the processing control unit 110 determines whether or not the first predetermined time has elapsed from the notification in step S12.

In addition, the "first predetermined time" is based on experiments, simulations, experiences, etc. in advance from the viewpoint of providing the user with sufficient time to complete the disembarkation if the user is awake. It is decided.

If the result of the determination in step S14 is negative (step S14: N), the process returns to step S13. After that, the processes of steps S13 and S14 are repeated until either the result of the determination in step S13 or the result of the determination in step S14 becomes affirmative.

When the result of the determination in step S13 becomes affirmative (step S13; Y), the disembarkation support process this time ends. On the other hand, when the result of the determination in step S14 is affirmative (step S14; Y), the process proceeds to step S15.

In step S15, the process control unit 110 executes the disembarkation promotion process described below. Then, when the process of step S15 is completed, the disembarkation support process this time is completed.

<Getting off promotion processing>
In the disembarkation promotion process in step S15, first, in step S21, the process control unit 110 executes the first control process, as shown in FIG. In the first control process, the processing control unit 110 sends a vibration signal to the vibration unit 240 to vibrate the user's seat, and also sends an awakening promotion sound signal to the sound output unit 230 to direct the awakening promotion sound to the user. By outputting the sound, the user is awakened, and eventually the awakening support operation for urging the user to get off is performed.

Next, in step S22, the processing control unit 110 determines whether or not the user has disembarked. In making such a determination, in the present embodiment, the processing control unit 110 performs the above-mentioned awakening promotion operation, does not detect getting off, and before the second predetermined time elapses from the start of the first control processing, the user. Is designed to determine whether or not the vehicle has disembarked.

The "second predetermined time" is predetermined based on experiments, experiences, etc. from the viewpoint of promoting the awakening of the user.

If the result of the determination in step S22 is affirmative (step S22: Y), the process of step S15 ends. Then, the disembarkation support process this time is completed.

If the result of the determination in step S22 is negative (step S22: N), the process proceeds to step S23. In this step S23, the processing control unit 110 performs the second control processing. In the second control process, in the present embodiment, the process control unit 110 "executes the first control process to urge the user to awaken and get off, but the user's boarding state continues. ", And the boarding status continuation information including the user ID is transmitted to the management server 300. After that, the processing control unit 110 waits for the reception of the instruction information sent from the management server 300.

Upon receiving the boarding state continuation information transmitted from the support device 100, the management server 300 presents the boarding state continuation information to the operator. Then, the operator awakens and disembarks the user while appropriately referring to the user registration information stored in the storage unit 120 of the management server 300 based on the presented riding state continuation information and the current position of the vehicle CR. Implement measures to encourage. In this embodiment, the operator sequentially implements (Measures 1) (to (Measures 5)) as in the case of the above-described embodiment.

Therefore, first, "the awakening promotion voice by the operator's real voice is output from the sound output unit 230 to the user at a volume higher than the volume of the awakening promotion voice in the case of the first control process, and the vibration unit. The 240 causes the user's seat to vibrate with an amplitude larger than the amplitude in the case of the first control process. ”Instruction information is transmitted from the management server 300 to the support device.

Upon receiving such instruction information, the processing control unit 110 causes the sound output unit 230 and the vibration unit 240 to perform an operation according to the instruction information. Then, in step S24, the processing control unit 110 determines whether or not the user has disembarked by implementing (Measures 1).

If the result of the determination in step S24 is positive (step S24: Y), the process of step S15 ends. Then, the disembarkation support process this time is completed.

If the result of the determination in step S24 is negative (step S24: N), the process proceeds to step S25. In this step S25, the processing control unit 110 transmits the boarding state continuation information to the management server 300.

Next, in step S26, it is determined whether or not the processing control unit 110 has received the autonomous travel instruction transmitted from the management server 300. If the result of the determination in step S26 is negative, the process of step S26 is repeated.

By the way, the management server 300 that has received the boarding state continuation information despite the implementation of (Measures 1) presents the boarding state continuation information to the operator. Then, the operator determines the destination of the autonomous traveling of the vehicle CR while sequentially implementing (measure 2) to (measure 5) based on the user registration information, the common registration information, and the current position of the vehicle CR. .. Then, the operator causes the management server 300 to transmit the autonomous driving instruction designating the determined destination to the support device 100.

When the autonomous travel instruction transmitted from the management server 300 is received and the determination result in step S26 becomes affirmative (step S26: Y), the process proceeds to step S27. In this step S27, the processing control unit 110 sends an autonomous driving command specifying the position of the destination specified in the received autonomous driving instruction to the autonomous driving device 290. As a result, the vehicle CR starts autonomous traveling toward the destination.

As described above, in the support device 100 of the present embodiment arranged in the vehicle CR capable of autonomous traveling, the processing control unit 110 is based on the current position of the vehicle CR and the position of the destination of the taxi service. Detects that the vehicle CR has arrived at the destination. Then, when it is not detected that the user has disembarked even after a predetermined time has elapsed after it is detected that the vehicle CR has arrived at the destination, the processing control unit 110 determines the sound output unit 230 and the vibration unit. The 240 is controlled to execute the first control process for urging the user to awaken and eventually get off the user.

Therefore, according to this embodiment, even if a vehicle capable of autonomous traveling arrives at a destination, if the user of the vehicle does not awaken, it is possible to support the disembarkation of the user.

Further, in the present embodiment, when the user's disembarkation is not detected even after performing the first control process, the process control unit 110 with the management server 300 which is a communication destination registered in the storage unit 120. The second control process for communicating is performed, and "the user's boarding state continues even though the first control process is executed to urge the user to awaken and get off" is transmitted. Then, the subsequent treatment is left to the judgment of the operator. Therefore, it is possible to contribute to coping with the occurrence of a situation in which the user is still in the riding state even though the first control process is executed to encourage the user to awaken and get off.

Further, in this embodiment, when an autonomous driving instruction in which the position of a point where the user can be manually urged to awaken or get off is designated as the destination is received from the management server 300, the processing control unit 110 receives the destination. Is sent to the specified autonomous driving device 290. Therefore, the vehicle CR can be driven to a position where the user can be surely awakened and disembarked.

[Modification of Example]
The present invention is not limited to the above embodiment, and various modifications are possible.

For example, in the above-mentioned embodiment, the same modification as in the case of the above-mentioned embodiment may be performed.

100 ... Support device 110 ... Processing control unit (first detection unit, second detection unit, control unit)
700 ... Support device 710 ... First detection unit 720 ... Second detection unit 740 ... Control unit

Claims (4)

It is a support device placed on a mobile body that can move autonomously.
With the first detection unit that detects that the moving object has arrived at the destination;
With a second detection unit that detects that the user of the moving body has disembarked from the moving body;
Even after a predetermined time has elapsed after the first detection unit detects that the moving body has arrived at the destination, the second detection unit does not detect that the user has descended from the moving body. In some cases, with a control unit that controls to activate the awakening unit that promotes the awakening of the user ;
A support device equipped with. It is used in a support device which is arranged in a mobile body capable of autonomous movement and includes a first detection unit, a second detection unit for detecting that a user of the mobile body has descended from the mobile body, and a control unit. It ’s a support processing method,
With the first detection step in which the first detection unit detects that the moving object has arrived at the destination;
Even after a predetermined time has elapsed after the mobile body was detected to have arrived at the destination in the first detection step, the second detection unit does not detect that the user has descended from the mobile body. In some cases, the control step controls the control unit to activate the awakening unit that promotes the awakening of the user;
A support processing method that provides. A support processing program characterized in that a computer included in the support device is made to execute the support processing method according to claim 2. A recording medium characterized in that the support processing program according to claim 3 is recorded so as to be readable by a computer included in the support device.

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