JP7109905B2 - Routing device and routing method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a route setting device and a route setting method, and more particularly to a route setting device and a route setting method for setting a route for an automatically driving vehicle that moves to a boarding position by automatic driving and allows a target person to board at the boarding position. is preferred.

In recent years, technologies related to automatic driving have been rapidly developing, and various technologies have been proposed for automatic driving in which a vehicle travels without being driven by a driver. Regarding such automatic driving, Patent Literature 1 describes a technique of moving an automatically driving vehicle to a predetermined driveway (where the user gets on and off) and having the user board the vehicle at the driveway.

JP 2016-057946 A

In the technique of Patent Literature 1, when letting a user get on the self-driving car, the self-driving car moves to a predetermined fixed driveway such as in front of the user's house, and the user gets on at the driveway. In other words, in order to get into the self-driving car, the user basically needs to move from the place where he or she waits to the carriage porch on foot. For this reason, in the technique of Patent Document 1, when the carriage porch is far from the place where the user waits, the user needs to travel a long distance on foot, which may cause inconvenience to the user. There is

The present invention has been made to solve such a problem, and when an automatic driving car is moved to a predetermined place and the user gets on the automatic driving car at the predetermined place, the user To shorten the walking distance to a boarding position as much as possible so that a user does not feel inconvenient.

In order to solve the above-described problems, in the present invention, a route setting device that sets a route for an automatic driving vehicle includes a main route from a departure point to a destination via a first boarding position where a target person gets on. set. On the other hand, the route setting device detects the target person based on the photographed image generated by the camera when the automatic driving vehicle is waiting at the first boarding position, After the automatic driving car waits, the position of the target person when the target person is detected for the first time from the state where the target person is not detected is passed through the automatic driving car instead of the first boarding position from the next time onwards. 2 Set the boarding position. Then, the route setting device sets a sub-route from the branch point on the main route to the junction on the main route via the second boarding position.

According to the present invention configured as described above, the boarding position where the target person gets into the automatic driving vehicle is set to the side of the user when the user is photographed by the camera for the first time, that is, the user's position, relative to the first boarding position. can be positioned closer to the place where it is assumed that the vehicle is waiting, thereby shortening the distance that the user has to walk to the boarding position, thereby alleviating the inconvenience felt by the user.

1 is a block diagram showing a functional configuration example of a transportation service providing system according to one embodiment of the present invention; FIG. FIG. 4 is a diagram showing the contents of records in a user management database; FIG. It is a figure which shows typically an example of the periphery of a desired boarding place. 4 is a flow chart showing an operation example of the route setting device according to one embodiment of the present invention; 4 is a flow chart showing an operation example of the route setting device according to one embodiment of the present invention; It is a figure used for description of a modification.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration example of a transportation service providing system 1 according to this embodiment. As shown in FIG. 1, a transportation service providing system 1 includes a route setting device 2 according to the present embodiment, a camera system 3 connected to the route setting device 2, and an automatic operation control device connected to the route setting device 2. 4. A route setting device 2, a camera system 3, and an automatic driving control device 4 are installed in an automatic driving vehicle.

The transportation service providing system 1 is a system that provides transportation services to users. A transportation service is a service in which an autonomous vehicle picks up a user and delivers (transports) the user from one location to another location. In this embodiment, an autonomous vehicle means a vehicle that can travel completely automatically without being driven by a driver. It is assumed that the physical environment, the legal environment, and other developments necessary for automated driving vehicles to travel on roads (including public roads) have been properly implemented. Self-driving cars are parked in designated parking facilities when not being used to provide transportation services.

In this embodiment, regarding transportation services, a plurality of users are registered in advance, and for each user, information on a desired boarding place (hereinafter referred to as a "desired boarding place") and a desired alighting place ( hereinafter referred to as "desired place to get off") is registered in advance. Then, the user repeatedly uses the transportation service to move from the desired boarding place to the desired alighting place. It should be noted that, for each user, appropriate adjustment is made so that the time slots for using the transport service do not overlap. For example, when an elderly person living in an aging depopulated area regularly goes to a hospital, he uses a transportation service to move from his home, which is the place where he wants to get on the car, to the hospital, which is the place where he wants to get off. According to the transportation service according to the present embodiment, it is possible to reduce the burden on the user moving to a specific place while reducing the labor force (drivers) required to provide the service. Therefore, it is expected that the transportation service according to the present embodiment will spread in the future in areas where the population is aging and areas where population is declining.

The camera system 3 includes a left side camera 3L for photographing the left side of the vehicle, a right side camera 3R for photographing the right side, a front camera 3F for photographing the front, and a rear camera 3B for photographing the rear. (equivalent to "camera"). The left side camera 3L, right side camera 3R, front camera 3F, and rear camera 3B are stereo cameras. to generate and output captured image data (captured image). Hereinafter, for convenience of explanation, a pair of captured image data generated by a pair of two cameras at one timing is simply referred to as captured image data.

The automatic driving control device 4 is a device that controls each part of the automatic driving vehicle to perform automatic driving. The automatic driving control device 4 includes "various sensors that detect the environment of the vehicle (surrounding conditions of the vehicle, separation distance from obstacles including other vehicles, conditions of the road surface on which the vehicle runs, etc.)" and " Various sensors that detect vehicle status (current vehicle position, direction of travel, vehicle speed, acceleration, yaw rate, gear status, brake status, etc.), various mechanisms related to vehicle propulsion (engine, transmission, brake, It is connected to an ECU that controls steering, etc.) and a storage device that stores information related to the route on the map, etc., and executes automatic driving by controlling the ECU according to the vehicle environment and vehicle state. As shown in FIG. 1, the automatic driving control device 4 can access a network N including the Internet, a telephone network, and other communication networks, and can communicate with other devices via the network N. .

As shown in FIG. 1, the route setting device 2 includes a main route setting unit 10, a photographed image acquisition unit 11, an other boarding position setting unit 12, and a sub-route setting unit 13 as functional configurations. The route setting device 2 also includes a road data storage unit 20 and a user information storage unit 21 as storage media. Each of the functional blocks 10 to 13 can be configured by hardware, DSP (Digital Signal Processor), or software. For example, when configured by software, each of the functional blocks 10 to 13 is actually configured with a computer CPU, RAM, ROM, etc., and a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. is realized by the operation of

The road data storage unit 20 stores road data 20a. The road data 20a includes node information and link information necessary for searching a route defined by a combination of nodes and links in a road network defined by nodes and links. A node is a point defined for each intersection or other node in a road network, and a link is a line defined for each road section between nodes.

The user information storage unit 21 stores a user management database 21a. The user management database 21a is a database having a record for each user who uses transportation services. FIG. 2 shows the contents of one record in the user management database 21a. As shown in FIG. 2, one record in the user management database 21a includes a user ID, face image data, getting-off position information, first boarding position information, main route information, and first photography data. , second boarding position information, and sub route information. A user ID is identification information that identifies a user. Face image data is image data generated by photographing a user's face. As will be described later, the face image data is used for user face recognition, so it is desirable that the face image data be image data generated by photographing the user's face from the front.

The drop-off position information is information indicating the position (hereinafter referred to as “drop-off position”) at which the autonomous vehicle should stop when the user using the transportation service is to drop off at the desired drop-off location. For example, if the user uses a transportation service to travel to a hospital, then a suitable location within an area where stops are permitted near the hospital; is the appropriate position in the roundabout attached to the station.

The first boarding position information is information indicating a position (hereinafter referred to as "first boarding position") at which the automatic driving vehicle should stop when the user who uses the transportation service gets on board at the desired boarding position. As will become clear later, when the user uses the transportation service for the second time or later, the second boarding position may be set. , the second riding position instead of the first riding position. In the following description, the first boarding position and the second boarding position will be referred to as "boarding positions" when not distinguished from each other. The first boarding position will be described in more detail below.

FIG. 3 schematically shows an example of a view of the surroundings of the user's home from the air when the user's desired boarding place is the user's home. In the description of FIG. 3, directions (north, south, east and west) are as shown in the drawing. In FIG. 3, the code|symbol HU1 is a house in which a user lives. When the user uses the transportation service, the user basically waits inside the house HU1 until the self-driving car reaches the boarding position. The house HU1 is built at the northern end of a quadrangular site SK1 (area surrounded by wavy lines in FIG. 3) partitioned by a wall KB1. An entrance GK1 is provided on the south side of the house HU1. Site SK1 faces a sidewalk HD1 that is attached to road D1 at its southern end. A doorway M1 that is not partitioned by the wall KB1 is formed at a position where the site SK1 and the sidewalk HD1 meet, and humans and self-driving vehicles can enter and exit the site SK1 through the doorway M1.

The user's home illustrated in FIG. 3 has a larger site SK1 than the house HU1, and the distance between the entrance GK1 and the entrance M1 of the house HU1 is long. Therefore, when the user walks from the entrance GK1 of the house HU1 to the entrance M1, it takes a certain amount of effort and time. As shown in Fig. 3, there are more residences in rural areas where the population is aging and depopulation is progressing than in urban areas, where the lot is large and the distance from the entrance of the house to the outside of the lot is long. Tend. When an elderly person lives in such a dwelling, it is assumed that the distance from the entrance of the house to the outside of the site will be particularly burdensome for the elderly person.

In the site SK1, there are various obstacles indicated by oblique lines in the figure. In this embodiment, an obstacle means not only an object that obstructs the passage of a vehicle, but also an area such as a ditch, a flowerbed, etc., which should be excluded from entering by an automatic driving vehicle. The road D1 is a road that connects the intersections X1 and X2 in a straight line and travels eastward. In this embodiment, a lane group on one side consisting of one or a plurality of lanes traveling in the same direction is expressed as a "road". In a road network defined by links and nodes, a node ND1 is defined for intersection X1, a node ND2 is defined for intersection X2, and a link LK1 is defined for road D1.

In the situation illustrated in FIG. 3, for example, the position Q1 is set as the first boarding position. As shown in FIG. 3, the position Q1 is a position corresponding to the central portion of the entrance/exit M1 and a position as close to the edge of the road D1 as possible. If the self-driving car stops at the position Q1, the user can get into the self-driving car immediately after exiting the entrance M1. Appropriate as a parking position. That is, the first boarding position is close to the desired boarding place and is an appropriate position from the viewpoint of getting the user to board the vehicle.

The contents of other information (main route information, first photographed data, second boarding position information, and sub-route information) included in one record of the user management database 21a will be described later. The registration of a record of one user in the user management database 21a is appropriately performed by an authorized person using a predetermined means. At that time, the user ID, face image data, getting-off position information, and first boarding position information are appropriately registered as actual data, while the main route information, first photographed data, second boarding position information, and sub-route information are Assume a null value.

When providing the transportation service, the transportation service providing system 1 executes different processes depending on whether the user uses the transportation service for the first time (first time) or the second time or later. Based on this, the processing of the transportation service providing system 1 will be described below by dividing into a stage in which the user uses the transportation service for the first time and a stage in which the user uses the transportation service for the second and subsequent times.

<Stage where the user uses the transportation service for the first time>
First, the processing of the transportation service providing system 1 at the stage where the user uses the transportation service for the first time will be described.

The main route setting unit 10 sets the main route for each user at a predetermined timing before the user uses the transport service for the first time. The main route is a route with the position where the automatic driving vehicle waits in the parking facility (hereinafter referred to as "vehicle waiting position") as the departure point, the first boarding position as the transit point, and the alighting position as the destination. In this embodiment, the vehicle standby position is a predetermined fixed position, and information indicating the vehicle standby position is registered in the route setting device 2 in advance. When setting the main route for one user, the main route setting unit 10 refers to the user management database 21a and acquires the getting-off position information and the first boarding position information for the one user. Next, based on the road data 20a stored in the road data storage unit 20, the main route setting unit 10 sets the main route from the vehicle standby position to the exit position via the first boarding position using existing technology. .

Note that the first boarding position is a predetermined point (or node) on a specific link. In the example of FIG. 3, the first boarding position is a predetermined point on link LK1. However, when the self-driving car stops at the first boarding position, it must be as close as possible to the first boarding position and as close to the edge of the road as possible due to the implemented self-driving function. Stop the vehicle at a location where it is permitted to do so, while considering the surrounding conditions and safety. As a result, the self-driving car stops very close to the first boarding position.

When the main route is set for one user, the main route setting unit 10 registers main route information indicating the set main route in the record corresponding to the one user in the user management database 21a. As a result of the above processing performed by the main route setting unit 10, the main route information indicating the main route for each user is registered in the user management database 21a before each user uses the transportation service for the first time.

When the user uses the transportation service, service provision instruction data is transmitted to the automatic operation control device 4 via the network N. Service provision instruction data is data that includes a user ID and instructs provision of a transportation service. For example, the user informs the person in charge of the desire to use the transportation service by a predetermined means, and the person in charge uses a predetermined terminal to transmit service provision instruction data to the automatic operation control device 4 . Further, for example, a dedicated application is provided by a transportation service provider company or the like, and the user installs the dedicated application on his/her own terminal. Then, the user uses the user interface provided by the dedicated application to transmit service provision instruction data to the automatic operation control device 4 from his/her own terminal. In the following description, users who use transportation services are called "target users".

When receiving the service provision instruction data, the automatic operation control device 4 acquires the user ID of the target user included in the data, and acquires the main route information of the target user from the user management database 21a. At the time when the target user uses the transportation service for the first time, the sub-route information, which will be described later, is a null value, so the automatic operation control device 4 does not acquire the sub-route information. The automatic driving control device 4 automatically moves the automatically driven vehicle from the vehicle standby position to the first boarding position based on the acquired main route information. Although the details are omitted, movement by automatic operation to the first boarding position is performed appropriately by the functions implemented in the automatic operation control device 4 . When stopping the automatic driving vehicle at the first boarding position, the automatic driving control device 4 considers the surrounding situation and safety of the automatic driving car as close as possible to the first boarding position defined on the main route. To stop an automatic driving vehicle at a position as close to the edge of a road as possible and permitted to stop by laws and regulations.

When the automatic driving vehicle stops at the first boarding position, the automatic driving control device 4 notifies the target user that the vehicle has arrived at the first boarding position. Any method may be used to notify the target user. For example, the e-mail address of the target user is registered in advance, and the automatic operation control device 4 notifies it by e-mail. Further, for example, the automatic operation control device 4 notifies the terminal of the person in charge who can communicate with the automatic operation control device 4 of predetermined information, and the person in charge notifies the target user by telephone or the like. In this embodiment, when the self-driving vehicle arrives at the first boarding position, the target user is notified of this fact. That is, the automatic driving control device 4 (which may be another device such as the route setting device 2) causes the automatic driving vehicle to enter the first boarding position at a predetermined timing before the automatic driving car arrives at the first boarding position. A configuration may be employed in which the estimated time of arrival at the position is calculated and the calculated time is directly or indirectly notified to the target user.

The target user who has received the notification that the autonomous vehicle has arrived at the first boarding position starts moving from the place where he or she waits toward the autonomous vehicle that stops at the first boarding position. The movement of the target user will be described using the example of FIG. 3. In FIG. 3, reference numeral KS1 indicates an example of the trajectory of the target user moving toward the automatic driving vehicle that stops at the first boarding position (position Q1). ing. As shown in FIG. 3, the trajectory KS1 is a trajectory that gently curves after leaving the entrance GK1 of the house HU1 and reaches the automatically driven vehicle that stops at the first boarding position. Normally, it is assumed that the target user moves along a trajectory that gradually approaches the self-driving car while avoiding obstacles for walking, avoiding detours as much as possible, like the trajectory KS1 in FIG. 3 .

Furthermore, when the automatic driving vehicle stops at the first boarding position, the automatic driving control device 4 notifies the photographed image acquisition unit 11 of this fact. The photographed image acquisition unit 11 controls the camera system 3 to start photographing by the left side camera 3L, the right side camera 3R, the front camera 3F, and the rear camera 3B. As described above, after the automatic driving car stops at the first boarding position, the target user basically gradually approaches the automatic driving car. will be photographed by

Furthermore, when the automatic driving vehicle stops at the first boarding position, the automatic driving control device 4 monitors whether or not the target user has boarded the automatic driving vehicle. In this embodiment, a membership card made up of a contactless IC card is given to the user in advance. Authentication information including a user ID is stored in the membership card. Also, an IC card reader is provided at an appropriate position on the self-driving car. When getting into the automatic driving car, the user holds his or her membership card over an IC card reader to allow the IC card reader to read the authentication information. The automatic operation control device 4 acquires the authentication information read by the IC card reader and performs authentication. Information necessary for performing authentication based on the authentication information is registered in advance. When the authentication is successful, the automatic operation control device 4 controls a lock mechanism (not shown) to unlock the door. The target user gets into the self-driving car through the unlocked door. Note that the method of monitoring whether or not the target user has boarded the self-driving vehicle illustrated in the present embodiment is merely an example, and other methods may be used.

When the authentication using the membership card is successful, the automatic operation control device 4 notifies the photographed image acquisition unit 11 of that fact. The photographed image acquisition unit 11 controls the camera system 3 to stop photographing by the left side camera 3L, right side camera 3R, front camera 3F, and rear camera 3B. The photographed image acquisition unit 11 acquires predetermined data for each camera based on the photographing results of each camera from when the automatic driving vehicle stops at the first boarding position until the target user gets on the automatic driving vehicle. format video data. The video data of one camera is data including captured image data generated at a predetermined cycle based on the results of imaging by the one camera, and a moving image based on the results of imaging is recorded. The identification information of the one camera is recorded in the metadata of the video data of one camera, and by referring to the metadata of the video data, it is possible to recognize which camera's shooting result the data is based on. It is possible. The captured image acquisition unit 11 refers to the user management database 21a and registers the first captured data including video data for each camera in the record corresponding to the target user. In other words, the first shooting data of one user is a video based on the shooting results of each camera during the period when the self-driving car is stopped at the first boarding position when the one user uses the transportation service for the first time. I have data.

The target user who gets into the automatic driving car makes necessary preparations for the automatic driving car to start, such as locking the door and wearing the seat belt. When the automatic driving control device 4 detects that all preparations necessary for the automatic driving vehicle to start have been made by various sensors (not shown), the automatic driving control device 4 moves the automatic driving vehicle to the first boarding position based on the main route information. to the drop-off position by automatic operation, and stop at the drop-off position. The target user gets off from the self-driving car that stops at the drop-off position by performing appropriate work. Although the details are omitted, after the target user gets off the vehicle, the automatically driven vehicle automatically moves to the parking facility.

As a result of the above processing being performed by the photographed image acquisition unit 11 according to the use of the transport service by the user, the first photographed data is registered in the user management database 21a when the user uses the transport service for the first time. state.

<Stage where the user uses the transportation service for the second time or later>
Next, the processing of the transportation service providing system 1 at the stage where the user uses the transportation service for the second time or later will be described.

For each user, the other boarding position setting unit 12 sets a predetermined timing (for example, when the first photographed data is registered) before the user uses the transportation service for the second time after the first photographed data is registered. Immediately after), the second boarding position is set. Processing when the other boarding position setting unit 12 sets the second boarding position for the target user will be described in detail below.

When setting the second boarding position of the target user, the other boarding position setting unit 12 acquires the face image data and the first photography data of the target user from the user management database 21a. Next, the other boarding position setting unit 12 performs face recognition using the face image data on the image data of each camera included in the first photographed data, and first selects the image data of the target user among the image data of each camera. Identify the video data in which the face has been recognized. In FIG. 3, symbol HL schematically indicates a simplified range in which the face of the target user is photographed by the left side camera 3L. In other words, the captured image data generated by the left side camera 3L when the target user is positioned within the range HL records the image of the target user's face in a recognizable state through face recognition.

In FIG. 3, when the target user moves along the trajectory KS1 toward the self-driving car that stops at the first boarding position, the video data from which the target user's face is first recognized is the video data from the left side camera 3L. be. That is, when the target user leaves the entrance GK1 and arrives at the position P1, the image of the target user's face is recorded in a recognizable state by face recognition in the photographed image data generated by the left side camera 3L. In this case, the other boarding position setting unit 12 identifies the image data of the left side camera 3L as the image data in which the face of the one target user to be processed is recognized first.

Next, the other boarding position setting unit 12 analyzes the photographed image data in which the target user's face is first recognized among the photographed image data constituting the specified video data, and analyzes the photographed image data when the photographed image data was generated. The position of the target user (hereinafter referred to as "candidate position") is detected. Specifically, as described above, the captured image data is composed of a pair of captured image data generated by each of the two stereo cameras. The other boarding position setting unit 12 measures the distance from the self-driving car to the target user by existing technology using parallax. A direction toward the target user is detected, and the position of the target user relative to the autonomous vehicle is detected based on the distance and direction.

Next, the other boarding position setting unit 12 refers to the user management database 21a and acquires the first boarding position information for the target user. The first boarding position indicated by the first boarding position information is represented by coordinates in a map coordinate system having longitude and latitude as axes. As described above, the self-driving car stops very close to the first boarding position indicated by the first boarding position information when allowing the target user to board the vehicle. Therefore, the first boarding position indicated by the first boarding position information is It can be regarded as the position where the self-driving car was actually stopped while each camera of the camera system 3 was taking pictures. The other boarding position setting unit 12 detects candidate positions as coordinates in the map coordinate system based on the first boarding position in the map coordinate system and the position of the one user relative to the detected automatic driving vehicle. . In the example of FIG. 3, the position P1 is the candidate position.

After detecting the candidate position, the other boarding position setting unit 12 detects the environment of the area between the candidate position and the first boarding position (hereinafter referred to as "candidate area"). The candidate area is an area interposed between the candidate position and the first boarding position, and is sufficiently large to include an area in which the autonomous vehicle can travel if the autonomous vehicle travels toward the candidate position. is a large area. In the example of FIG. 3, the area AR1 is the candidate area. The candidate area need not be an area included in the imaging area of one camera, and may be an area spanning the imaging areas of a plurality of cameras. Further, the candidate area is not an area whose size and shape are strictly defined, but may be an area having a considerable size including a line connecting the candidate position and the first boarding position.

Detecting the environment of the candidate area means identifying areas in which the autonomous vehicle can and cannot travel within the candidate area. The detection of the environment of the candidate area is performed in consideration of the conditions of obstacles in the candidate area, road conditions, topography, and other various factors that affect the driving of the autonomous vehicle. The other boarding position setting unit 12 performs image processing such as image recognition for detecting the area of the obstacle, analyzes the video data of each camera, and determines the condition of the obstacle in the candidate area, the road surface condition, and the terrain. , and other various factors that affect the driving of the autonomous vehicle, and appropriately detect the environment of the candidate area in consideration of the detected various factors. As a result, the other boarding position setting unit 12 identifies areas in which the vehicle can travel and areas in which the vehicle cannot travel, among the candidate areas.

Next, based on the environment of the candidate area, the other boarding position setting unit 12 sets a position as close as possible to the candidate position and at which a sub-route can be set by the sub-route setting unit 13, which will be described later, as the second boarding position. More specifically, the sub-route starts from one point (branch point) on the main route near the first boarding position, passes through the second boarding position, and passes through another point on the main route near the first boarding position. A route to a point (junction) where the autonomous vehicle can travel in a normal manner without entering an area where vehicles cannot travel.

Based on this, the other boarding position setting unit 12 can set a sub-route via the candidate position, in other words, from one point on the main route, the candidate position can be set without entering an area where the vehicle cannot travel. If it is possible to set a route to and from the candidate position to another point on the main route without entering an area where the vehicle cannot travel, the candidate position is set to the first 2 Set as a boarding position. On the other hand, if the candidate position cannot be set as the second boarding position, the sub-route setting unit 13 gradually moves the position of the candidate for the second boarding position from the candidate position toward the first boarding position. , determine whether or not the second boarding position can be set at each position of the candidate for the second boarding position, and based on the determination result, a position that is as close as possible to the candidate position and at which a sub route can be set is set as the second boarding position. set. Based on the first video data, the trajectory of the user (trajectory KS1 in the example of FIG. 3) is detected, and along the trajectory of the user, the position of the candidate for the second boarding position is changed to the first boarding position. It may also be configured to gradually approach toward them.

In the example of FIG. 3, a sub-route can be set at the candidate position (position P1). Therefore, in the example of FIG. 3, the other boarding position setting unit 12 sets the candidate position (position P1) as the second boarding position. When setting the second boarding position for one user, the other boarding position setting unit 12 stores the second boarding position information indicating the set second boarding position in the record corresponding to the one user in the user management database 21a. to register. As a result of the above processing performed by the other boarding position setting unit 12, each user is stored in the user management database 21a at a predetermined timing after using the transportation service for the first time and before using the transportation service for the second time. The second boarding position information indicating the second boarding position is registered.

In some cases, the second boarding position cannot be set at a position different from the first boarding position. In this case, the other boarding position setting section 12 does not set the second boarding position, and the sub-route setting section 13 described later does not set the sub-route. In this case, even if the user uses the transportation service for the second time or later, the self-driving car will travel along the main route when the transportation service is provided, and will stop at the first boarding position when the user gets on. . For convenience of explanation, the embodiment will be described below assuming that the second boarding position is set at a position different from the first boarding position.

After the second boarding position is set by the other boarding position setting unit 12, the sub-route setting unit 13 selects the second boarding position from the branch point on the main route at a predetermined timing before the user uses the transportation service for the second time. 2. A sub-route is set to reach a confluence point on the main route via the boarding position. The processing of the sub-route setting unit 13 when setting a sub-route for the target user will be described in detail below.

When the second boarding position information is registered for the target user, the sub-route setting unit 13 performs the following processing at a predetermined timing after the registration and before the target user uses the transport service for the second time. Run. That is, the sub-route setting unit 13 acquires the second boarding position information for the target user and acquires the main route information for the target user. Next, the sub-route setting unit 13 identifies the link for which the first boarding position is set, among the main routes indicated by the main route information (routes represented by combinations of links and nodes, as described above). . In the example of FIG. 3, the sub-route setting unit 13 identifies the link LK1. As described above, the first boarding position may be defined on a node. In this case, the sub-route setting unit 13 identifies an appropriate link connecting the node where the first boarding position is defined.

Next, the sub-route setting unit 13 sets a branch point near the first boarding position among the specified links as a starting point, passes through the second boarding position indicated by the second boarding position information, and then routes the route near the first boarding position. Set the route that ends at the confluence of the two as a sub-route. Branching points, merging points, and sub-routes are determined by taking into account the driving characteristics of the autonomous vehicle, the shape of the vehicle body, etc., on the condition that the autonomous vehicle does not enter areas where the autonomous vehicle cannot travel in the candidate area. , is appropriately set from the viewpoint of smooth running with as little sharp turns and turns as possible. In this embodiment, a sub-route is a route represented as a set of points in a map coordinate system. Reference numeral BB1 in FIG. 3 indicates an example of a sub-route. The sub route BB1 branches off from the main route at the branch point BK1 on the link LK1, enters the site SK1, avoids obstacles, and reaches the set second boarding position (position P1). This is the route from the position (position P1) to the junction GR1 on the link LK1 while avoiding obstacles.

Next, the sub-route setting unit 13 refers to the user management database 21a and registers sub-route information indicating the set sub-route in the record corresponding to the target user. As a result of the above processing performed by the sub-route setting unit 13, each user is sub-ported to the user management database 21a at a predetermined timing after using the transportation service for the first time and before using the transportation service for the second time. Sub route information indicating the route is registered.

Service provision instruction data is transmitted to the automatic operation control device 4 via the network N also when the target user uses the transportation service for the second time or later. The automatic driving control device 4 acquires the target user's main route information, sub-route information and second boarding position information from the user management database 21a in response to the reception of the service provision instruction data.

Based on the acquired main route information, sub route information, and second boarding position information, the automatic driving control device 4 causes the automatic driving vehicle to travel the following route and stop the vehicle. That is, the automatic driving control device 4 causes the automatic driving vehicle to travel along the main route from the vehicle standby position to the branch point (starting point of the sub-route), and from the branch point to the second boarding position along the sub-route. As a result, in the example of FIG. 3, when the target user uses the transportation service for the second time or later, the self-driving vehicle stops at position P1 (second boarding position).

The target user gets on the automatic driving car that stops at the second boarding position according to the procedure described above. When the target user gets into the automatic driving car and the automatic driving car is ready to start, the automatic driving control device 4 causes the automatic driving car to travel along the following route and stop. That is, the automatic driving control device 4 causes the automatic driving vehicle to travel along a route from the second boarding position to the junction (end point of the sub-route) along the sub-route, and from the junction to the exit position along the main route.

As described above, in the present embodiment, when the target user uses the transportation service for the second time or later, the position at which the automatic driving vehicle stops to pick up the target user is as close as possible to the candidate position. The candidate position is the position of the target user when the target user is detected for the first time after the autonomous vehicle waits at the first boarding position (when the target user is photographed by the camera). Considering that the target user travels along a trajectory that gradually approaches the autonomous vehicle that stops at the first boarding position, it can be regarded as a position close to the place where the user waits (the house HU1 in the example of FIG. 3). can. Therefore, by stopping the automatic driving car at a position as close as possible to the candidate position, the user is able to reach the stopping automatic driving car from the waiting place compared to the case where the automatic driving car stops at the first boarding position. The walking distance can be shortened, and the inconvenience of the user can be improved. In particular, when the user who uses the transportation service is an elderly person, if the position where the automated driving vehicle stops and the place where the user waits are far away, it is difficult for the user to walk to the stopped automated driving vehicle. Although it may be a heavy burden, according to this embodiment, such a burden can be effectively reduced.

Next, an operation example of the route setting device 2 will be described using a flowchart. FIG. 4 is a flow chart showing the operation until the route setting device 2 sets a sub-route for the target user. As shown in FIG. 4, the main route setting unit 10 sets the main route before the target user uses the transport service for the first time (step SA1). Details of the processing of step SA1 will be described later. Next, after the target user uses the transport service for the first time and before using the transport service for the second time, the other boarding position setting unit 12 sets the second boarding position (step SA2). Details of the processing of step SA2 will be described later. Next, after the second boarding position is set by the other boarding position setting unit 12, a sub-route is set by the sub-route setting unit 13 before the target user uses the transportation service for the second time (step SA3). Details of the processing of step SA3 will be described later.

FIG. 5A is a flow chart showing the details of the process of step SA1. As shown in FIG. 5A, the main route setting unit 10 refers to the user management database 21a and acquires the getting-off position information and the first getting-on position information for the target user (step SB1). Next, the main route setting unit 10 sets the main route based on the road data 20a stored in the road data storage unit 20, and the drop-off position information and the first boarding position information acquired in step SB1 (step SB2). . Next, the main route setting unit 10 registers main route information indicating the set main route in the record corresponding to the target user in the user management database 21a (step SB3).

FIG. 5B is a flow chart showing details of the processing of step SA2. As shown in FIG. 5(B), the other boarding position setting unit 12 acquires face image data and first photographing data for the target user from the user management database 21a (step SC1). Next, the other boarding position setting unit 12 performs face recognition using the face image data on the video data of each camera included in the first photographing data, and first selects the one of the video data of each camera. The video data in which the user's face is recognized is specified (step SC2).

Next, the other boarding position setting unit 12 analyzes the photographed image data in which the target user's face is first recognized among the photographed image data constituting the specified video data, and detects candidate positions (step SC3). Next, the other boarding position setting unit 12 detects the environment of the candidate area (step SC4). Next, the other boarding position setting unit 12 sets, as a second boarding position, a position that is as close as possible to the candidate position and at which a sub-route can be set by the sub-route setting unit 13, based on the environment of the candidate area (step SC5). . Next, the other boarding position setting unit 12 registers the second boarding position information indicating the set second boarding position in the record corresponding to the target user in the user management database 21a (step SC6).

FIG. 5C is a flow chart showing the details of the processing of step SA3. As shown in FIG. 5(C), the sub-route setting unit 13 acquires second boarding position information and main route information for the target user (step SD1). Next, the sub-route setting unit 13 identifies a link defining the first boarding position on the main route indicated by the main route information (step SD2). Next, the sub-route setting unit 13 sets a branch point near the first boarding position among the specified links as a starting point, passes through the second boarding position indicated by the second boarding position information, and then routes the route near the first boarding position. A path ending at the confluence of the two is set as a sub-path (step SD3). Next, the sub-route setting unit 13 registers sub-route information indicating the set sub-route in the record corresponding to the target user in the user management database 21a (step SD4).

As described above in detail, the route setting device 2 according to the present embodiment sets a main route from the vehicle standby position (departure point) to the destination via the first boarding position where the user gets on. On the other hand, the route setting device 2 detects the user based on the captured image data (captured image) generated by the camera when the automatic driving vehicle is waiting at the first boarding position, and detects the user from the first boarding position. A second boarding position is set on the side of the position of the user when the user is detected for the first time after the automatic driving vehicle waits at the first boarding position. Then, the route setting device 2 sets a sub-route from the branch point on the main route to the junction on the main route via the second boarding position.

According to this embodiment, the boarding position where the user gets on the automatic driving car is closer to the user's position than the first boarding position when the user was photographed by the camera for the first time, that is, the position where the user is waiting. Therefore, the distance that the user walks to the boarding position can be shortened, and the inconvenience felt by the user can be alleviated.

<Modified Example of First Embodiment>
Next, a modified example of the first embodiment will be described. In the above-described first embodiment, the second boarding position and sub-route are set based on the photographed result when the user uses the transport service for the first time, and the set sub-route is used from the second time onwards. It was a configuration in which transportation services were provided. Regarding this point, when the user uses the transport service for the second time or later, the route setting device 2 may be configured to execute the following process.

That is, when the user uses the transportation service for the “second time”, the captured image acquisition unit 11 causes each camera to capture images while the self-driving vehicle is waiting at the second boarding position. Generate video data. The captured image acquisition unit 11 registers the generated video data of each camera in the corresponding record of the user management database 21a as the second captured data.

The other boarding position setting unit 12 sets the second photographed data (generated by the camera when the self-driving car is waiting at the second boarding position) at a predetermined timing before the user uses the transportation service for the third time. The target user is detected based on the photographed image). Next, the other boarding position setting unit 12 determines the position of the target user when the target user is detected for the first time after the automatic driving vehicle waits at the second boarding position (hereinafter referred to as "second candidate position”). Next, the other boarding position setting unit 12 detects the environment in the area between the second boarding position and the second candidate position based on the second photographed data, and further moves the self-driving vehicle to the second candidate position side. Determine whether or not it is possible to move. If possible, the other boarding position setting unit 12 can set a sub-route by the sub-route setting unit 13, and resets the second boarding position to a position as close as possible to the second candidate position. The other boarding position setting unit 12 updates the second boarding position information of the corresponding record to information indicating the reset second boarding position.

The sub-route setting unit 13 resets the sub-route based on the updated second boarding position information. For example, the sub-route moves from a branch point on the main route to the position indicated by the pre-updated second boarding position information (the pre-reset second boarding position), and then moves to the pre-updated second boarding position. Move from the position indicated by the position information to the position indicated by the updated second boarding position information (reset second boarding position), and then move from the position indicated by the updated second boarding position information to the position indicated by the updated second boarding position information. , and then from the position indicated by the pre-update second boarding position information to the junction on the main route. The sub-route setting unit 13 changes the sub-route information of the corresponding record to information indicating the reset sub-route. When the user uses the transport service for the third time, the automatic driving control device 4 executes automatic driving based on the updated second boarding position information and sub-route information.

In this modification, as described above, the second boarding position information and sub Route information is reset. Then, when the “i+1”-th transportation service is provided, automatic operation is executed by the automatic operation control device 4 based on the updated second boarding position information and sub-route information. The resetting of the second boarding position information and the sub-route information ends when the second boarding position cannot be reset to a position closer to the second candidate position than the second boarding position.

This modification is effective in the following cases. FIG. 6 is a side view, partly in section, of the topography around the house HU6 where the user waits, in order to explain the case where this modification is effective. In FIG. 6, reference P6a indicates the first boarding position. In the example of FIG. 6, the slope SK6 and the flat surface HM6 form a continuous topography from the first boarding position P6a toward the house HU6. Due to the existence of the slope SK6, the camera of the self-driving vehicle that stops at the first boarding position P6a first captures the target user when the target user reaches the position P6b. In this case, after the transportation service is provided for the first time, the second boarding position is set to the position P6b, and when the transportation service is provided for the second time, the self-driving car is stopped at the position P6b.

Here, as shown in FIG. 6, there is an area in which the self-driving vehicle can travel between the position P6b and the house HU6. Therefore, if the second boarding position can be reset to a position closer to the house HU6, the walking distance of the target user can be shortened. In such a case, according to this modified example, the second boarding position is reset to position P6c based on the photographed result of the camera of the self-driving car that stops at position P6b when the transportation service is provided for the second time. be. As a result, the second boarding position can be reset to a position closer to the house HU6, and the walking distance of the target user can be further shortened. Note that FIG. 6 illustrates the case where the target user is not captured by the camera immediately after the user leaves the house HU6 due to the slope SK6. The target user may not be photographed due to other reasons such as the presence of obstructing obstacles. That is, the configuration according to this modified example is effective in various cases in which the target user cannot be photographed from the camera of the stopped automatic vehicle immediately after the target user leaves the waiting area.

It should be noted that each of the above-described embodiments merely shows an example of implementation of the present invention, and the technical scope of the present invention should not be construed to be limited. Thus, the invention may be embodied in various forms without departing from its spirit or essential characteristics.

For example, in the above embodiment, the embodiment has been described by taking as an example the case where the route setting device 2 is a device mounted on an automatic driving vehicle. However, the route setting device 2 does not have to be a device mounted on an autonomous vehicle. For example, the route setting device 2 may be a server device on the network. In this case, regarding the setting of the second boarding position and the sub-route, for example, the route setting device 2 acquires and stores the first photographed data from a predetermined in-vehicle device of the self-driving vehicle through communication, and stores the stored first image data. A second boarding position and a sub-route are set based on the once photographed data.

Further, in the above embodiment, the provision of the transportation service using the self-driving vehicle is started when there is a request from the target user. In addition, it may be configured to be controlled to pick up the target user. Also, in the above embodiment, the branch point and the merging point on the main route are different points, but they may be the same point. Further, in the above-described embodiment, when the user gets on the vehicle at the desired boarding position, the set sub-route is used. In this regard, even when the user is transported from a place other than the desired boarding position to the desired boarding position, it is possible to shorten the walking distance of the user by using sub-routes.

Also, in the above embodiment, each camera of the camera system 3 is a stereo camera, but each camera need not be a stereo camera. Further, a configuration using a sensor other than a camera, such as a radar device, may be used when measuring the user's distance.

In the above-described embodiment, the other boarding position setting unit 12 and the sub-route setting unit 13 set the second boarding position and the sub-route based on the first photographed data stored in the user information storage unit 21. did In this regard, the other boarding position setting unit 12 and the sub-route setting unit 13 analyze the shooting results of each camera of the camera system 3 in real time, or each camera of the camera system 3 temporarily stored in the buffer may be configured to set the second boarding position and set the sub-route by analyzing the imaged result. Further, in the above-described embodiment, after the registration of the second boarding position information and the registration of the sub-station road information for one user are completed, the first photographed data for the one user is stored in the user management database 21a. may be deleted from

Also, in the above embodiment, the sub-route is a route expressed as a set of points in the map coordinate system. In this regard, the subpath does not have to be a path defined by the method exemplified in the above embodiment. may be a set of

2 route setting device 3L left side camera (camera)
3R right side camera (camera)
3F front camera (camera)
3B rear camera (camera)
10 main route setting unit 11 captured image acquisition unit 12 other boarding position setting unit 13 sub route setting unit

Claims (5)

A route setting device for setting a route for an automatic driving vehicle,
a main route setting unit that sets a main route from the starting point to the destination via the first boarding position where the target person gets on;
When the automatic driving vehicle is waiting at the first boarding position, the target person is detected based on a captured image generated by a camera that captures the outside of the automatic driving car, and the target person is detected from the first boarding position. , the position of the target person when the target person is detected for the first time from the state where the target person is not detected after the automatic driving vehicle waits at the first boarding position, and from the next time onward, the first boarding position A second boarding position setting unit that sets a second boarding position through which the automatic driving vehicle is routed instead of
a sub-route setting unit that sets a sub-route from a branch point on the main route to a junction on the main route via the second boarding position;
A routing device comprising: The other boarding position setting unit includes:
2. The route setting device according to claim 1, wherein the target person is detected by performing face recognition using the face image of the target person based on the photographed image. The other boarding position setting unit includes:
Based on the photographed image, a candidate position that is the position of the target person when the target person is detected for the first time after the automatic driving vehicle waits at the first boarding position is detected, and the candidate position and the first position are detected. The environment in the area between the first boarding position is detected, and based on the detected environment, a position that is as close as possible to the candidate position and at which the sub-route can be set by the sub-route setting unit is set as the second boarding position. 3. The route setting device according to claim 1, wherein: The other boarding position setting unit includes:
After setting the second boarding position, the target person is detected based on the photographed image generated by the camera while the automatic driving vehicle is waiting at the second boarding position, and the second boarding position is detected. After the automatic driving vehicle stands by, it is determined whether or not it is possible to further move the automatic driving vehicle to the position of the target person when the target person is detected for the first time, and if it is possible, the second 4. The second boarding position is reset to the position of the target person when the target person is detected for the first time after the automatic driving vehicle waits at the second boarding position. A routing device according to claim 1. A route setting method using a route setting device for setting a route for an automatic driving vehicle,
a step in which the main route setting unit of the route setting device sets a main route from the starting point to the destination via the first boarding position where the target person gets on;
In addition to the boarding position setting unit of the route setting device, when the automatic driving car is waiting at the first boarding position, the target based on the captured image generated by the camera that captures the outside of the automatic driving car The target person when the target person is detected for the first time from a state where the target person is not detected after the automatic driving vehicle waits at the first boarding position rather than the first boarding position. a step of setting a second boarding position on the position side to allow the automatic vehicle to pass through instead of the first boarding position from the next time onward;
a sub-route setting unit of the route setting device setting a sub-route from a branch point on the main route to a junction on the main route via the second boarding position;
A route setting method, comprising:

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