JP7187404B2 - Vehicle rental system - Google Patents

Description

The present invention relates to a vehicle rental system.

A ride-sharing system that determines the type of vehicle that a user should board based on the user's purpose and situation is known (for example, Patent Literature 1). For example, the ride-sharing system determines a suitable vehicle for the user based on whether the area where the user uses the ride-sharing is urban or rural, the distance traveled, the weather at the time of use, and the like.

U.S. Patent Publication No. 2016/0187150

A user can move from a starting point to a destination without driving a vehicle by using the ride-sharing system. However, some users are reluctant to share a passenger compartment with others. In particular, when the travel distance is long, it is preferable to provide the user with a private space in which no other person rides. On the other hand, the user can avoid sharing the passenger compartment with others by using a car sharing system or a rental car, but there is a problem that the user must drive the vehicle from the departure point to the destination by himself/herself.

SUMMARY OF THE INVENTION In view of the above background, it is an object of the present invention to provide a vehicle rental system that can provide a user with a private space while reducing the user's driving burden.

In order to solve the above problems, one aspect of the present invention is a vehicle rental system (1), comprising: a plurality of vehicles (2); a vehicle control unit (3) for controlling the running of the vehicle so that the vehicle follows a leading vehicle selected from; and a management server (4) for communicating with each of the vehicle control units, wherein the The management server acquires reservation application information including at least a departure place, a destination, and a departure time from the user terminal (8), and based on the plurality of reservation application information, vehicles traveling on the same route in the same time zone When there are a plurality of vehicles, a group for platooning is formed based on those vehicles, a travel plan for the group is created, and a reservation result including information on the travel plan and the rental car is transmitted to the user terminal; , the vehicle control unit provided in each of the vehicles rented to the group, which transmits the travel plan to the vehicle control unit, communicates with each other, and platoons the vehicles according to the travel plan. to control the running.

According to this aspect, each of the users is rented a rental car in which no other person rides. Since the rental vehicles form a platooning group when they are scheduled to run on the same route in the same time period, the user set as the following vehicle for the platooning can move to the destination without driving. As a result, it is possible to provide a vehicle rental system capable of providing a user with a private space.

In the above aspect, the reservation application information may include vehicle type information, and the management server may determine the vehicle to be rented to the user based on the vehicle type information.

According to this aspect, the user can select a vehicle according to his or her purpose.

In the above aspect, the reservation application information may include desired condition information of the vehicle, and the management server may determine the vehicle to be rented to the user based on the desired condition information.

According to this aspect, the user can rent a vehicle according to the purpose without specifying the vehicle type.

In the above aspect, the reservation application information may include the number of vehicles used, and the management server may determine the number of vehicles to be rented to the user based on the number of vehicles used.

According to this aspect, the user can rent a plurality of vehicles. Since a plurality of rented vehicles can form a group that can run in platoons, even when the user is alone, a plurality of vehicles can be driven. For example, when one user wants to move a large amount of luggage or people, it is effective to rent a plurality of vehicles.

In the above aspect, the reservation application information includes follow-up desire information indicating whether or not the vehicle wishes to follow the lead vehicle, and the management server causes the vehicle to follow-up based on the follow-up desire information. It is preferable to select a user to follow from among the desired users.

According to this aspect, the user who does not wish to follow the vehicle can drive by himself/herself without being set as the following vehicle.

Further, in the above aspect, the reservation application information includes lead desire information indicating whether or not the user desires to become the lead vehicle, and the management server becomes the lead vehicle based on the lead desire information. It is preferable to select a user who drives the lead vehicle from among the users who desire to drive the lead vehicle.

According to this aspect, it is possible to reflect the user's will on the subject vehicle becoming the lead vehicle.

According to the above configuration, it is possible to provide a vehicle rental system that can provide the user with a private space while reducing the driving burden on the user.

Configuration diagram of a vehicle lending system according to an embodiment Flow diagram of vehicle allocation processing executed by the management server Flow diagram of grouping processing executed by the management server Explanatory diagram for explaining how the vehicle moves in the vertical/horizontal change process.

An embodiment of a vehicle rental system 1 according to the present invention will be described below with reference to the drawings. As shown in FIG. 1 , the vehicle rental system 1 includes multiple vehicles 2 , a vehicle control unit 3 provided in each of the multiple vehicles 2 , and a management server 4 . The management server 4 communicates with the vehicle control unit 3 through communication via the Internet 6, and also communicates with user terminals 8 owned by a plurality of users. The management server 4 also communicates with staff terminals 9 owned by a plurality of staff members through communication via the Internet 6 .

A plurality of vehicles 2 are dispersedly held at a plurality of stations, which are parking lots, and are rented out to users according to user reservations. The plurality of vehicles 2 includes a plurality of vehicle types so as to adapt to various purposes of use. For example, the plurality of vehicles 2 includes sedans, minivans, wagons, SUVs, sports cars, compact cars, mini cars, luxury cars, trucks, and the like. In addition, the plurality of vehicles 2 may include an aerial work vehicle, a bus, a construction machine such as an excavator, and the like.

The vehicle control units 3 provided in each vehicle 2 communicate with each other, and drive the vehicle 2 so that the vehicle 2 provided with the vehicle control unit 3 follows a leading vehicle selected from among the plurality of vehicles 2. Control. The vehicle control unit 3 includes an HMI 3A (Human Machine Interface), a vehicle sensor 3B, a position acquisition device 3C, an external world recognition device 3D, a communication device 3E, a signal information receiver 3F, and a control device 3G. there is HMI 3A, vehicle sensor 3B, position acquisition device 3C, external recognition device 3D, signal information receiver 3F, and communication device 3E are connected to control device 3G by communication means such as CAN (Controller Area Network).

The HMI 3A is provided in the passenger compartment of the vehicle 2, notifies the passenger of various information through display and voice, and accepts input operations by the passenger. HMI is, for example, a touch panel display.

The position acquisition device 3C is a device that acquires the current position of the vehicle 2 (absolute coordinate values represented by latitude and longitude), and acquires the current position of the vehicle 2 based on GPS signals, for example. The external world recognition device 3D is a device for recognizing objects existing around the own vehicle 2, and includes, for example, a camera, radar, lidar, sonar, and the like. Other vehicles 2 are included in the objects existing around the own vehicle 2 . Also, the camera included in the external world recognition device 3D recognizes the identification code attached to the outer surface of the other vehicle 2 .

The vehicle sensor 3B is a sensor that detects the running state of the own vehicle 2 . The vehicle sensor 3B includes, for example, a vehicle speed sensor that detects the speed of the own vehicle 2, an acceleration sensor that detects the acceleration of the own vehicle 2, an angular velocity sensor that detects the angular velocities of the three axes of the own vehicle 2, an accelerator pedal sensor, a brake pedal sensor, Includes steering angle sensor.

The communication device 3E includes a vehicle-to-vehicle communication device 3EA and a mobile communication device 3EB. The inter-vehicle communication device 3EA connects the control devices 3G between different vehicles 2 by wireless communication. The mobile communication device 3 EB wirelessly communicates with a base station of the mobile communication system and connects the control device 3 G to the management server 4 via the Internet 6 . The mobile communication device 3EB may for example be based on a 4th or 5th generation mobile communication system.

The signal information receiver 3F receives the signal transmitted from the signal information transmitter provided on the road and acquires the signal information. The signal information receiver 3F may be, for example, an optical beacon receiver.

The control device 3G is an electronic control unit (ECU) configured by a computer including a CPU, ROM, RAM, and the like. The control device 3G executes arithmetic processing according to a program by the CPU, and controls the steering device of the own vehicle, the driving device such as the engine and the motor, and the braking device such as the disc brake, thereby executing the traveling control of the vehicle 2. do. Specifically, the control device 3G adjusts the steering angle of the vehicle 2 by controlling the steering device, and adjusts the acceleration, deceleration, and speed of the vehicle 2 by controlling the driving device and the braking device. The control device 3G communicates with the control devices 3G provided in the other vehicles 2 that make up the platooning group, and executes electronic connection control for platooning with each other and platooning control for platooning the own vehicle. do. The platooning control consists of the leading running control executed when the own vehicle is set as the leading vehicle, and following the other vehicle 2 set as the leading vehicle when the own vehicle is set as the following vehicle. Follow-up running control for running. Based on the travel plan received from the management server 4, the control device 3G sets the own vehicle as a leading vehicle or a following vehicle.

The vehicle 2 set as the following vehicle can follow the leading vehicle by the follow-up running control by the control device 3G. A state in which the following vehicle is following the leading vehicle is called platooning of the vehicles 2 . A group of vehicles traveling in a platoon is called a platooning group. A platooning group includes one lead vehicle and at least one follower vehicle. The maximum number of vehicles included in the platooning group is limited to 3-6, for example.

The management server 4 is a computer including a CPU, memory, storage device, and communication device. The user terminal 8 and staff terminal 9 are computers including a CPU, memory, storage device, communication device 3E, and HMI (Human Machine Interface), such as smart phones, tablet PCs, mobile phones, and PDAs. The HMI of the user terminal 8 is an input/output device, such as a touch panel display. The user terminal 8 has an application for communicating with the management server 4 and using the vehicle rental system 1 . The user terminal 8 creates reservation application data (reservation application information) based on the operation of the HMI by the user, transmits the reservation application data to the management server 4, and receives reservation result data (reservation result data) from the management server 4. is displayed on the HMI.

The reservation application data is a record containing at least a user identification number, departure place, destination, return place, departure time, and return time. In addition, the reservation application data includes following desired information (Yes or No) indicating whether or not the user wishes to follow the lead vehicle, and lead desired information (Yes or No) indicating whether or not the user wishes to become the lead vehicle. No). In addition, the reservation application data may include vehicle type information related to the vehicle type that the user desires to rent, or desired condition information related to desired conditions of the vehicle 2 by the user. The reservation application data may also include the number of vehicles that the user wants to rent. In this embodiment, the reservation application data includes a user identification number, a departure place, a destination, a return place, a departure time, a return time, desired follow information, desired lead information, one of vehicle type information and purpose of use information, vehicle Including the number of uses.

The reservation application data is created by the user's inputting into cells corresponding to each piece of information on the reservation application screen displayed on the HMI of the user terminal 8 . The cell corresponding to each piece of information should display selectable information in a pull-down or the like to allow the user to make a selection.

In this embodiment, the departure point, destination, and return point in the reservation application data are selected from among a plurality of stations. For example, different stations may be selected as the departure point, the destination point, and the return point. Alternatively, the same station may be selected as the departure point and the return point, and a different station from the departure point and the return point may be selected as the destination. Alternatively, different stations may be selected as the departure point and the destination, and the same station as the destination may be selected as the return point. In other embodiments, points other than stations may be input as the departure point, destination point, and return point.

The departure time in the reservation application data is the time at which the user wishes to start using the vehicle 2, and the range can be set using the start point and the end point. The range is preferably arbitrarily set by the user. The departure time may be limited to one point with the same start point and end point. The return time is the time when the user wishes to return the vehicle 2 . The reservation application screen preferably displays a plurality of times separated by, for example, 15-minute intervals in cells corresponding to departure times, and allows the user to select one of them.

The follow desired information and the desired lead information are either desired (Yes) or undesired (No) data. At least one of the follow desired information and the lead desired information is set to No.

The number of vehicles is the number of vehicles that the user desires to use. The maximum number of vehicles that can be selected is set to be less than the number of vehicles that can be platooned, for example, 3-6.

The vehicle type information may be, for example, the vehicle name. It is preferable that the reservation application screen displays a plurality of selectable car names and allows the user to select the desired car name. Desired conditions information, for example, purpose of use such as a vehicle suitable for commuting, vehicle suitable for transporting luggage, vehicle suitable for leisure, vehicle grade such as luxury vehicle or overseas brand, vehicle shape such as sedan or wagon , number of passengers, interior space, smoking allowed, availability of studless tires, etc. The reservation application screen preferably displays a plurality of selectable desired conditions and allows the user to select some of the desired conditions. Each condition included in the desired condition information is assigned a number, and the number corresponding to the desired condition information selected by the user is stored as reservation application data. In this embodiment, the reservation application screen does not accept input of desired condition information when vehicle type information is input, and does not accept input of vehicle type information when desired condition information is input. Thereby, the reservation application data has only one of the vehicle type information and the desired condition information. If there are a plurality of vehicles desired to be used, the vehicle type information and desired condition information may be selected for each vehicle.

The destination in the reservation application data may be omitted when the follow desired information and the lead desired information are No. If at least one of the follow request information and the lead request information in the reservation application data is Yes, the destination becomes essential information, and the reservation application screen prompts the user to input.

The user terminal 8 creates reservation application data based on the user's input operation on the reservation application screen, and transmits the reservation application data to the management server 4 via the Internet 6 .

The management server 4 has a reservation reception unit 21 , a vehicle allocation unit 22 , a travel planning unit 23 , a result transmission unit 24 , a vehicle control unit 25 , a vehicle allocation planning unit 26 and a data storage unit 27 .

The reservation accepting unit 21 creates processing data for each of the received reservation application data, and writes the created processing data in the processing data table stored in the data storage unit 27 as a record. The processing data includes a processing number, a user identification number, a departure point, a destination, a return point, a departure time, a return time, the number of vehicles, desired follow information, desired lead information, vehicle type information, and desired condition information. In addition, the processing data stores reservation result data, allocated vehicle information, and a travel plan through processing of the management server 4, which will be described later.

In addition to the processing data table, the data storage unit 27 also stores a basic vehicle information table, a vehicle schedule table, and a travel plan table. The vehicle basic information table includes vehicle basic data set for all vehicles 2 owned by the vehicle rental system 1, and the vehicle basic data includes at least a vehicle identification number, a vehicle name, and characteristic information. The characteristic information is information corresponding to the desired condition information of the reservation application data. Such as vehicle grade, vehicle shape such as sedan or wagon, number of passengers, interior space, smoking allowed, availability of studless tires, etc. The feature data is assigned a number corresponding to each condition of the desired condition information, and the numbers corresponding to the features of the vehicle 2 are stored. The vehicle schedule table stores the name of the station where the vehicle 2 is present at each time of each vehicle 2 and data regarding whether or not the vehicle 2 is scheduled to be rented.

The vehicle allocation unit 22 executes the vehicle allocation process shown in FIG. 2 for each processed data, and determines whether the reservation is established or not and the rental vehicle to be lent to the user. If there is no vehicle 2 that can be rented to the user, it is determined that the reservation is not established and that there is no rental vehicle.

In the vehicle allocation process, the vehicle allocation unit 22 first selects the station selected as the departure point at the time set as the starting point of the departure time based on the departure point and departure time of the processed data and the vehicle schedule table. And the vehicles 2 existing in the surrounding stations are extracted as the first vehicle group (S1). Here, surrounding stations are preset for each station. For example, stations existing within a predetermined distance from the target station are set as surrounding stations. For example, if stations Nos. 6, 7, and 8 exist within a predetermined distance from station No. 5, stations Nos. 6, 7, and 8 may be set as stations around station No. 5.

Next, based on the extracted first vehicle group, the departure time and return time of the processed data, and the vehicle schedule information, the vehicle allocation unit 22 determines the rental schedule of the first vehicle group during the usage period of the user. Vehicles 2 without are extracted as the second vehicle group (S2). Here, the usage period of the user means the period from the starting point of the departure time to the return time. The vehicle allocation unit 22 refers to the vehicle schedule table and extracts vehicles 2 that are not scheduled to be rented during the user's usage period from among the vehicles 2 included in the first vehicle group as the second vehicle group.

Next, the vehicle allocation unit 22 determines whether or not the processed data has vehicle type information (S3). If the processed data includes vehicle type information (Yes in S3), the vehicle allocation unit 22 matches the vehicle type information of the processed data within the second vehicle group based on the vehicle basic information table and the vehicle type of the processed data. Vehicles that do so are extracted as the third vehicle group (S4). Then, the vehicle allocation unit 22 determines whether or not the number of vehicles in the third vehicle group is greater than or equal to the number of vehicles used in the processing data (S5). If the number of vehicles in the third vehicle group is greater than or equal to the number of vehicles used in the processing data (Yes in S5), rental vehicles are set from the third vehicle group (S6). Rental vehicles are set according to the number of vehicles used in the processing data. Then, the vehicle allocation unit 22 writes data (for example, 1) corresponding to the establishment of the reservation in the reservation result item of the processing data, and writes the vehicle identification number of the determined rental vehicle in the rental vehicle item of the processing data. In the process of step S6, if the number of vehicles in the third vehicle group is greater than the number of vehicles used in the processing data, the vehicle allocation unit 22 sets the vehicle to the station set as the departure point, or sets the vehicle to the departure point. It is preferable to set the rental vehicle in order from the vehicle located at the station with the shortest distance from the station where the rental vehicle is located.

If the number of vehicles in the third vehicle group is less than the number of vehicles used in the processing data (No in S5), no rental vehicle is set (S7). Then, the vehicle allocation unit 22 writes data (for example, 0) corresponding to the unsuccessful reservation in the reservation result item of the processing data, and data indicating that there is no rental vehicle in the rental vehicle item of the processing data (for example, vehicle 0) is written as the identification number.

If the reservation application data does not include the vehicle type information in the determination of step S3 (determination of S3 is No), based on the vehicle basic information and the desired condition information of the processing data, all the desired condition information is retrieved from the second vehicle group. Vehicles satisfying the requirements are extracted as the fourth vehicle group (S8). Then, the vehicle allocation unit 22 determines whether or not the number of vehicles in the fourth vehicle group is greater than or equal to the number of vehicles used in the processing data (S9). If the number of vehicles in the fourth vehicle group is greater than or equal to the number of vehicles used in the processing data (Yes in S9), rental vehicles are set from the fourth vehicle group (S10). Rental vehicles are set according to the number of vehicles used in the processing data. Then, the vehicle allocation unit 22 writes data (for example, 1) corresponding to the establishment of the reservation in the reservation result item of the processing data, and writes the vehicle identification number of the determined rental vehicle in the rental vehicle item of the processing data. In the processing of step S10, if the number of vehicles in the fourth vehicle group is greater than the number of vehicles used in the processing data, the vehicle allocation unit 22 sets the vehicle to the station set as the departure point or It is preferable to set the rental vehicle in order from the vehicle located at the station with the shortest distance from the station where the rental vehicle is located.

If the number of vehicles in the fourth vehicle group is less than the number of vehicles used in the processing data (No in S9), no rental vehicle is set (S11). Then, the vehicle allocation unit 22 writes data (for example, 0) corresponding to the unsuccessful reservation in the reservation result item of the processing data, and data indicating that there is no rental vehicle in the rental vehicle item of the processing data (for example, vehicle 0) is written as the identification number.

The travel planning unit 23 has a route setting unit 31 , a grouping unit 32 and a travel plan setting unit 33 . The route setting unit 31 sets an estimated travel route for the processing data in which the reservation result is established and the desired follow information is Yes or the desired lead information is Yes. The route setting unit 31 may set the estimated travel route based on the departure and destination of the processed data, for example, using a known Dijkstra method or the like. The route setting unit 31 stores the created estimated travel route in the corresponding processing data.

The grouping unit 32 performs a grouping process on each of the processed data for which the estimated travel route is set and whose follow-up desired information is Yes, and creates a platooning travel group. The grouping unit 32 extracts a plurality of pieces of processing data whose estimated travel routes overlap in the same time period, and groups them as a platooning travel group. FIG. 3 shows an example of grouping processing.

In the grouping process, the grouping unit 32 first extracts, as a first extraction group, the processing data for which the desired guidance information is Yes among the other processing data in which the estimated travel route is stored (S21).

Next, the grouping unit 32 extracts, as a second extraction group, the processing data within a predetermined distance from the departure point of the processing data whose starting point is the target within the first extraction group (S22). In an embodiment, the grouping unit 32 may extract, as the second extraction group, the processing data whose departure station is the same as the departure station of the target processing data within the first extraction group.

Next, the grouping unit 32 extracts, as a third extraction group, the processing data whose departure time overlaps with the departure time of the target processing data in the second extraction group (S23). As described above, the departure time has a range defined by the start and end points.

Next, the grouping unit 32 extracts, from among the third extraction group, the processing data having an estimated travel route that overlaps the estimated travel route of the target processing data by a predetermined distance or more as a fourth extraction group. (S24).

Next, the grouping unit 32 extracts, as a fifth extraction group, the processing data in which the number of following vehicles stored in the processing data is less than or equal to a predetermined value from among the third extraction group (S25). The number of following vehicles in the processed data increases each time the vehicle 2 corresponding to the processed data becomes the leading vehicle and the following vehicles are set. In the processing of step S25, for example, it is preferable to extract processing data in which the number of following vehicles is 3 or less as the fifth extraction group.

Next, the grouping unit 32 determines whether there is processing data included in the fifth extraction group (S26). If there is processing data included in the fifth extraction group (Yes in S26), the grouping unit 32 selects one processing data from the fifth extraction group and makes it the selected processing data. The processing data are grouped (S27). Then, data indicating that grouping has been established for the selected processing data and the target processing data, and a common group number are written. Various methods can be selected for selecting one piece of processing data from the fifth extraction group. For example, processing data with the smallest number of following vehicles may be selected. Also, the processed data having the closest starting point to the starting point of the target processed data may be selected. In addition, the grouping unit 32 writes data indicating that the vehicle has been set as the lead vehicle in the platooning group to the selected processing data. If data indicating that the vehicle has been set as the lead vehicle in the platooning group has already been written in the selected processing data, this process is omitted. Also, the grouping unit 32 increments the number of following vehicles of the selected processing data by +1. In addition, the grouping unit 32 writes data indicating that the following vehicle has been set in the target processing data.

If there is no processing data included in the fifth extraction group (determination in step S26 is No), it is written that grouping is not established in the target processing data (S28).

In addition, the grouping unit 32 creates a subgroup in which one of the allocated vehicles is the leading vehicle and the remaining allocated vehicles are the following vehicles for the processing data in which a plurality of allocated vehicles are set. All vehicles included in the subgroup can become follower vehicles in the platooning group including other vehicles other than the subgroup. Also, the leading vehicle included in the subgroup can become the leading vehicle of the platooning group including other vehicles other than the subgroup.

The travel plan setting unit 33 executes travel plan creation processing based on the processed data having the common group number, and sets the travel route, the merging point between the leading vehicle and the following vehicle, the merging time, Create travel plan information including separation point and separation time. The travel plan setting unit 33 stores the created travel plan data in the travel plan table. The travel plan data includes the vehicle identification number and user identification number set for the leading vehicle, and the vehicle identification number and user identification number set for the following vehicle.

The result transmission unit 24 creates reservation result data based on the processed data and the travel plan data, and transmits the reservation result data to the terminal of the user who applied for the reservation. Reservation result data includes user identification number, departure place, destination, return place, departure time, return time, reservation result (established or not established), assigned vehicle (rental vehicle) information (vehicle name, color, model, etc.), It includes at least information on whether or not to participate in a platooning group, merging point, separation point, merging time, separation time, and leading car information (car name, color, model, etc.). If the reservation result is unsuccessful, the information on the assigned vehicle, whether or not the vehicle is platooning, the merging point, the separation point, the merging time, the separation time, and the information on the leading vehicle are omitted. Also, if there is no participation in the platooning group, information on the merging point, separation point, merging time, separation time, and leading car is omitted. Information on the assigned vehicle and the lead vehicle may be set by referring to the vehicle basic information table.

When the processing data is rewritten after the transmission of the reservation result data, the result transmission unit 24 recreates the reservation result data based on the rewritten processing data and transmits it to the user terminal again. For example, the processing data is rewritten when the vehicle of the user who did not participate in the platooning group is set as the leading vehicle, or when the number of following vehicles increases.

Based on the processed data, the vehicle allocation planning unit 26 creates a vehicle allocation plan for delivering the allocated vehicle allocated to the user to the departure point of the user by the starting point of the departure time. The vehicle allocation plan includes the vehicle identification number of the vehicle 2 to be moved, the source station, the destination station, the movement start time, the movement completion time, and the identification number of the staff who will execute the movement of the vehicle 2. It consists of vehicle dispatch plan data including The vehicle allocation plan unit 26 transmits vehicle allocation plan data to the staff terminal 9 possessed by the staff member who executes the movement of the vehicle 2 . The staff confirms the vehicle allocation plan data by the staff terminal 9, and moves the target vehicle 2 from the source station to the destination station at the movement start time. This allows the user to use the vehicle 2 from the departure point at the departure time.

The vehicle control unit 25 generates a vehicle control command for controlling the vehicles 2 included in the platooning group based on the travel plan data. A vehicle control command is created for each vehicle 2 included in the platooning group. The vehicle control command includes the vehicle identification number of the target vehicle 2, data indicating whether the target vehicle 2 is set as a leading vehicle or a following vehicle, and the number of other vehicles 2 included in the same platooning group. It includes at least a vehicle identification number, a platooning group travel route, and a platooning group merging point and merging time. The vehicle control command includes the vehicle identification number of the following vehicle when the target vehicle 2 is set as the leading vehicle, and the vehicle identification number of the leading vehicle when the target vehicle 2 is set as the following vehicle. including. The vehicle control section 25 transmits the vehicle control command to the control device 3G of the vehicle control unit 3 of the corresponding vehicle 2 .

The control device 3G of each vehicle control unit 3 executes electronic coupling control and platooning control based on the received vehicle control command. Here, the electronic connection means that when the distance between the leading vehicle and the following vehicle is within a predetermined range, the vehicle control unit 3 of the leading vehicle and the vehicle control unit 3 of the following vehicle can identify each other and communicate wirelessly. By doing so, platooning becomes possible. The vehicle control unit 3 of the leading vehicle and the following vehicle may identify the vehicle 2 (vehicle control unit 3) to form the platooning group by the vehicle identification number acquired by wireless communication, and the image information acquired by the camera. may be distinguished from each other based on For example, the vehicle control unit 3 of the following vehicle may acquire the image code attached to the outer surface of the leading vehicle using a camera to recognize the leading vehicle. In electronic coupling, the vehicle control units 3 of the leading and following vehicles communicate each vehicle's 2 speed, acceleration, steering angle, accelerator position, brake position, own vehicle 2 position, and formation information to each other. The formation information is information that defines the target relative position of the following vehicle with respect to the leading vehicle. Formation information includes, for example, a vertical formation in which platooning groups are aligned in the vertical direction (lane direction) (see FIG. 4A), and a horizontal formation in which the platooning groups are spread out in a horizontal direction perpendicular to the vertical direction (FIG. 4D). ) and information about where the follower vehicle will be placed in the formation. The formation information is generated by the vehicle control unit 3 of the leading vehicle and transmitted to the vehicle control unit 3 of the following vehicle.

The control device 3G for the following vehicle executes follow-up running control (platooning control) for following the leading vehicle in a state of being electronically connected to the leading vehicle. The vehicle control unit 3 of the following vehicle calculates the traveling trajectory of the leading vehicle, and calculates the traveling trajectory of the following vehicle so that it travels while maintaining a predetermined relative position with respect to the leading vehicle. The driving device, braking device, and steering device of the own vehicle 2 are controlled so as to follow the running track.

Next, the operation of the vehicle lending system 1 will be described. A user who wants to use the vehicle 2 first starts an application installed in the user terminal 8 and causes the user terminal 8 to display a reservation application screen. The application creates reservation application data and transmits it to the management server 4 when the user inputs information in each item on the reservation application screen. The management server 4 creates processing data based on each of the reservation application data transmitted from each user terminal 8, executes vehicle allocation processing for each processing data, and rents a vehicle 2 (allocated vehicle) to the user. , and determine whether the reservation is established or not. At this time, if there is no vehicle 2 that matches the processing data, the management server 4 determines that there is no allocated vehicle, and makes the reservation unsuccessful.

Next, the management server 4 performs a grouping process on each of the processed data for which the assigned vehicle is set and the following desired information is Yes, and creates a platooning group. Then, the management server 4 executes travel plan creation processing for the created platooning groups, and creates a travel plan for each platooning group. After executing the vehicle allocation process, the grouping process, and the travel plan creation process, the management server 4 creates reservation result data based on the processed data, and transmits the reservation result data to the corresponding user terminals 8 . Thereby, the user can confirm the result of the reservation application. The management server 4 also transmits a vehicle control command to the vehicle control unit 3 of each vehicle 2 included in the platooning group. Upon receiving the vehicle control command, the vehicle control unit 3 controls each vehicle 2 to enable electronic connection with other vehicles 2 included in the platooning group during the merging time.

Also, the management server 4 transmits the delivery plan to the staff terminal 9 . The staff confirms the delivery plan data using the staff terminal 9 and moves the vehicle 2 according to the delivery plan data. This allows the user to use the vehicle 2 at the departure point at the departure time.

The key for using the vehicle 2 may be handed to the user by the staff at the departure point, or may be distributed to the user in advance. The key is preferably an electronic key, and is preferably usable only from the start of the user's departure time to the return time under the control of the management server 4 .

A user using a vehicle 2 set in the platooning group moves the vehicle 2 so as to reach the merging point by the merging time. Note that the user does not need to move the vehicle 2 when the meeting point is the starting point. When the vehicles 2 set as the leading vehicle and the following vehicle gather at a confluence point and form a predetermined relative positional relationship, the vehicles 2 set as the leading vehicle and the following vehicle identify each other and perform wireless communication with each other. In other words, the vehicle control units 3 of the vehicles 2 are electronically connected to enable platooning. Here, the relative positional relationship in which the leading vehicle and the following vehicle can be electronically coupled includes a positional relationship in which the following vehicle is positioned immediately after the leading vehicle, a positional relationship in which the leading vehicle and the following vehicle are parallel to each other, a positional relationship in which the leading vehicle and the following vehicle are parallel to each other, and a positional relationship in which the leading vehicle and the following vehicle are parallel to each other. It includes a positional relationship in which the distance between the leading vehicle and the following vehicle is within a predetermined value regardless of the orientation of the following vehicle. When electronic connection becomes possible, the vehicle control units 3 of the leading vehicle and the following vehicle may operate the HMI 3A of the vehicle 2 to inquire of the user whether or not to electronically connect. Then, the vehicle control unit 3 may perform electronic connection according to the user's input operation to the HMI 3A.

When the leading vehicle and the following vehicle are electronically connected, the vehicle control units 3 of the leading vehicle and the following vehicle execute platooning control (leading running control, following running control). The vehicle control unit 3 of the lead vehicle controls the position, vehicle speed, acceleration, angular velocity, accelerator position, brake position, steering angle, etc. of the own vehicle 2 based on the signals from the position acquisition device 3C and the vehicle sensor 3B as lead travel control. , and transmits it to the vehicle control unit 3 of the following vehicle via the vehicle-to-vehicle communication device 3EA.

The vehicle control unit 3 of the following vehicle acquires the running state information of the leading vehicle via the inter-vehicle communication device 3EA as follow-up running control, and acquires the position, vehicle speed, and acceleration of the leading vehicle by the external world recognition device 3D, A driving device calculates the traveling trajectory of the leading vehicle, creates a target trajectory for the own vehicle 2 so as to maintain a predetermined relative position with respect to the leading vehicle, and drives the own vehicle 2 along the target trajectory. , braking and steering.

Each of the following vehicles is electronically connected to the leading vehicle and follows the leading vehicle, so that the leading vehicle and the following vehicles travel in platoon. For example, when the following vehicle follows the leading vehicle in a line, the vehicle control unit 3 of the following vehicle controls the own vehicle 2 so that it passes through the point where the leading vehicle passed after the time between vehicles set for each vehicle. should be controlled. The vehicle control unit 3 of the following vehicle transmits the position of the own vehicle 2 obtained by the position obtaining device 3C to the vehicle control unit 3 of the leading vehicle while the following vehicle is running.

Formation modes formed by a following vehicle following a leading vehicle include two or more modes having different overall lengths. Formation includes longitudinal and transverse formations as described above. A formation change button for changing formation is displayed on the HMI of the vehicle 2 set as the lead vehicle. When the formation change button is operated by the user, the vehicle control units 3 of the leading vehicle and the following vehicle execute formation change processing. The vehicle control unit 3 of the leading vehicle may display the platoon change button based on the number of lanes on the road acquired based on the external world recognition device 3D of the leading vehicle and map information, and the signal information received from the signal information transmitting device. .

In this embodiment, formation change processing includes vertical and horizontal change processing for changing from vertical formation to horizontal formation. FIG. 4 shows the manner of movement of the follower vehicle when the platoon is changed from vertical formation to horizontal formation in the vertical/horizontal change process. In the following description, it is assumed that a vertical formation is changed to a horizontal formation with the number of formations N in the vertical/horizontal change processing.

As shown in FIG. 4(A), in the vertical/horizontal change process, first, the second to N-th following vehicles from the front are moved to lanes different from the driving lane of the leading vehicle and different from each other. move. After that, as shown in FIG. 4B, the vehicle 2 located at the N+1th vehicle from the front is moved to the traveling lane of the vehicle 2 located at the first vehicle from the front (leading vehicle). At the same time, the vehicle 2 located at the N+2th vehicle from the front is moved to the traveling lane of the following vehicle located at the second vehicle from the front. By repeating such movements, all the vehicles 2 forming the platoon are allocated to each row as evenly as possible, as shown in FIG. 4(C). Thereafter, as shown in FIG. 4(D), the vehicle control unit 3 of the following vehicle increases the speed of the own vehicle 2 in order to reduce the inter-vehicle distance to the preceding vehicle.

The formation change processing includes horizontal and vertical change processing for changing the form of formation from horizontal formation to vertical formation. In this embodiment, in the horizontal/vertical change process, the procedure of the vertical/horizontal change process is performed in reverse order. As a result, it is possible to prevent the order of the vehicles 2 in the longitudinal formation from being changed due to the formation change.

In each formation including longitudinal formation and horizontal formation, the relative position of the following vehicle with respect to the leading vehicle is set in advance. The vehicle control unit 3 of the following vehicle creates a traveling track so as to maintain a preset relative position to the leading vehicle in each formation, and controls the driving device and braking so that the own vehicle 2 travels along the traveling track. control system and steering system.

An example in which the vehicle control unit 3 displays the row change button is shown below. When the lead vehicle reaches just before the intersection, the vehicle control unit 3 of the lead vehicle determines whether all vehicles forming the platoon can pass through the intersection. At this time, the vehicle control unit 3 of the leading vehicle is based on the signal from the signal information receiver 3F, the position of the following vehicle acquired through inter-vehicle communication, and the vehicle speed of the own vehicle 2 acquired by the vehicle sensor 3B. determines if the trailing vehicle in the current formation can cross the intersection before the light turns red. If the determination result is No, it is determined whether or not the trailing vehicle can pass through the intersection before the traffic light turns red if the formation is changed to another changeable formation. As a result, if the vehicle control unit 3 determines that changing to another platoon will allow the trailing vehicle to pass through the intersection before the traffic light turns red, the vehicle control unit 3 will change the platoon to the leading vehicle's HMI. Show change button.

According to the above configuration, the vehicle lending system 1 can lend the vehicle 2 to the user and set the leading vehicle that the rented vehicle 2 should follow. This allows the user to move to the destination without driving. In addition, since each user is rented a rental vehicle that no one else rides with, it is possible to meet various needs of users who do not like ride sharing, users who want to carry luggage, and the like.

The user can select the type of car they want to use according to their purpose. In addition, the user can use the vehicle 2 according to the purpose by inputting the purpose of use without specifying the vehicle type.

Since the vehicle 2 rented to the user can follow the leading vehicle without being driven by a passenger, one user can drive a plurality of vehicles 2 . As a result, one user can load and transport luggage on a plurality of vehicles 2, or allow a plurality of non-driving occupants to board and move a plurality of vehicles 2. FIG.

Since the user can indicate whether the vehicle 2 driven by him/herself will be the following vehicle or the leading vehicle, the vehicle rental system 1 can respond to the request of the user who does not desire platooning.

Although the specific embodiments have been described above, the present invention is not limited to the above embodiments and can be widely modified. For example, grouping processing can employ various techniques. In the above-described embodiment, the grouping process is performed by matching a user who wishes to be the lead vehicle with a user who wishes to be the lead vehicle. You may change to the method of matching the user who desires.

1: Vehicle rental system 2: Vehicle 3: Vehicle control unit 3B: Vehicle sensor 3C: Position acquisition device 3D: External recognition device 3E: Communication device 3EA: Inter-vehicle communication device 3EB: Mobile communication device 3F: Signal information receiver 3G: Control device 4 : Management server 6 : Internet 8 : User terminal 9 : Staff terminal 21 : Reservation reception unit 22 : Vehicle allocation unit 23 : Travel planning unit 24 : Result transmission unit 25 : Vehicle control unit 26 : Vehicle allocation planning unit 27 : Data Storage unit 31: Route setting unit 32: Grouping unit 33: Travel plan setting unit

Claims (6)

A vehicle rental system,
multiple vehicles and
a vehicle control unit provided in each of the plurality of vehicles, communicating with each other, and controlling the running of the vehicles so that the vehicles follow a leading vehicle selected from the vehicles;
a management server in communication with each of the vehicle control units;
The management server is
Acquiring reservation application information including at least the departure place, destination, and departure time from the user terminal;
If there are a plurality of vehicles traveling on the same route in the same time zone based on the plurality of reservation application information, a group for platooning is formed based on the vehicles, and a travel plan for the group is created. ,
sending a reservation result including information about the travel plan and a rental car to the user terminal, and sending the travel plan to the vehicle control unit;
The vehicle control unit provided in each of the vehicles rented to the group communicates with each other, and controls the vehicles so that they run in platoons based on the running plan. The reservation application information includes vehicle type information,
2. The vehicle rental system according to claim 1, wherein the management server determines the vehicle to be rented to the user based on the vehicle type information. The reservation application information includes desired condition information of the vehicle,
2. The vehicle rental system according to claim 1, wherein the management server determines a vehicle to be rented to the user based on the desired condition information. The reservation application information includes the number of vehicles used,
The vehicle rental system according to any one of claims 1 to 3, wherein the management server determines the number of vehicles to be rented to the user based on the number of vehicles used. The reservation application information includes follow-up desired information indicating whether or not the vehicle wishes to follow the lead vehicle,
The vehicle rental system according to any one of claims 1 to 4, wherein the management server selects a user to follow from users who wish to follow based on the desired follow information. The reservation application information includes lead desire information indicating whether or not the passenger wishes to become the lead vehicle,
6. The management server according to any one of claims 1 to 5, wherein the management server selects a user who drives the lead vehicle from users who wish to become the lead vehicle based on the lead request information. vehicle rental system.

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