JP7266522B2 - Vehicle dispatch service server, vehicle system, vehicle dispatch service method, and program - Google Patents

Description

The present invention relates to a vehicle dispatch service server, a vehicle system, a vehicle, a vehicle dispatch service method, and a program.
This application claims priority based on Japanese Patent Application No. 2017-119024 filed in Japan on June 16, 2017, the content of which is incorporated herein.

Conventionally, there has been disclosed a technique of equipping an automatic driving vehicle with an odor sensor (see, for example, Patent Literature 1).

JP 2016-115356 A

In recent years, research has progressed on the joint use of autonomous vehicles. Vehicles used in common are prone to dirt. However, in the conventional technology, no consideration has been given to letting users use self-driving vehicles cleanly.

The present invention has been made in consideration of such circumstances, and provides a vehicle dispatch service server, vehicle system, vehicle, vehicle dispatch service method, and program capable of giving incentives to users to use self-driving vehicles neatly. One of the purposes is to provide

(1): an acquisition unit that acquires a detection result detected by a detection unit that is mounted in an automated driving vehicle and detects information for estimating the degree of dirt on the automated driving vehicle; and the detection acquired by the acquisition unit. and a usage requirement determination unit that determines requirements related to usage of the automatic driving vehicle based on the results.

(2): In (1), the detection result acquired by the acquisition unit includes a photographed image of the interior of the autonomous vehicle, and the vehicle dispatch service server analyzes the photographed image to determine the degree of dirt. presume.

(3): In (1) or (2), the usage requirement determination unit determines the usage fee for the current or subsequent usage of the automatic driving vehicle as the requirement.

(4): In any one of (1) to (3), the usage requirement determination unit determines, as the requirement, points to be given to the user of the automatic driving vehicle.

(5): In any one of (1) to (4), the method further includes a determination unit that determines whether cleaning of the automatically driven vehicle is necessary based on the detection result acquired by the acquisition unit.

(6): In (5), the determination unit determines whether cleaning is required for each of the plurality of compartments of the autonomous vehicle.

(7): In (5) or (6), when the determining unit determines that cleaning of the automatically driven vehicle is necessary, a requesting unit that requests the user of the automatically driven vehicle to perform cleaning. Prepare more.

(8): In any one of (5) to (7), when the determining unit determines that cleaning of the automatically operated vehicle is necessary, the automatically operated vehicle travels to a cleanable place. It further includes a travel instructing unit that instructs to do.

(9): In (8), the cleanable place is determined based on the location information of the automatic driving vehicle or the cleaning attributes of the cleanable place.

(10): an acquisition unit that acquires a detection result detected by a detection unit that is mounted in an automated driving vehicle and detects information for estimating the degree of contamination of the automated driving vehicle; and the detection acquired by the acquisition unit. and a travel instruction unit that automatically moves the automatically operated vehicle to a cleaning facility when a result is equal to or higher than a standard.

(11): In (10), the detection result acquired by the acquisition unit includes a photographed image of the interior of the autonomous vehicle, and the vehicle dispatch service server analyzes the photographed image to determine the degree of dirt. presume.

(12): In (10) or (11), if a passenger is in the automatically driven vehicle, the travel instruction unit moves the automatically driven vehicle to the cleaning facility after the passenger gets off the vehicle.

(13): In (12), when a plurality of occupants are on board the automated driving vehicle, the travel instruction unit starts moving the automated driving vehicle to the cleaning facility after all the occupants get off the vehicle. do.

(14): In any one of (10) to (13), the travel instruction unit causes the next occupant to ride in the autonomous vehicle after the cleaning facility completes cleaning of the autonomous vehicle. to initiate movement of said self-driving vehicle.

(15): A vehicle system comprising the vehicle dispatch service server according to any one of (1) to (14) and the automatically driven vehicle having the detection unit.

(16): In (15), the automatically driven vehicle includes a deodorizing device for deodorizing the interior of the vehicle, and a control section for controlling the deodorizing device, and the control section provides the deodorizing device with the interior of the automatically driving vehicle. deodorize.

(17): a detection unit for estimating the degree of contamination of a vehicle; a communication unit for transmitting detection results detected by the detection unit to a vehicle allocation service server; and an automatic operation control unit that moves the to the cleaning facility.

(18): In (17), the detection unit includes a camera that captures the side of the vehicle, and obtains an image including the vehicle body of the vehicle captured by the camera, thereby identifying traffic participants in the vicinity of the vehicle. Simultaneously with the detection, the state of the body exterior of the vehicle is detected.

(19): The computer acquires the detection result detected by the detection unit that detects information for estimating the degree of contamination of the automated driving vehicle, and based on the acquired detection result, relates to the use of the automated driving vehicle. A vehicle dispatch service method that determines requirements.

(20): A computer acquires a detection result detected by a detection unit that detects information for estimating the degree of contamination of an automated driving vehicle, and if the acquired detection result is equal to or higher than a reference, the automated driving This is a dispatch service method for automatically moving a vehicle to a cleaning facility.

(21): Cause the computer to acquire the detection result detected by the detection unit that detects information for estimating the degree of contamination of the automated driving vehicle, and based on the acquired detection result, the use of the automated driving vehicle It is a program that lets you determine your requirements.

(22): Cause the computer to acquire the detection result detected by the detection unit that detects information for estimating the degree of contamination of the automated driving vehicle, and if the acquired detection result is equal to or higher than the reference, the automatic driving It is a program that moves the vehicle to the cleaning facility by automatic driving.

According to (1), (19) or (21), it is possible to give incentives to the user to use the self-driving vehicle cleanly.

According to (2), it is possible to give the user an incentive to cleanly use the interior of the autonomous vehicle.

According to (3), in addition to the incentive to use the self-driving vehicle cleanly, it is possible to give the user the incentive to use the dispatch service from the next time onward.

According to (4), in addition to the incentive to use the self-driving vehicle cleanly, the incentive to earn points can be given to the user.

According to (5), it is possible to set a constant standard for determining whether or not the automatic driving vehicle needs to be cleaned.

According to (6), it is possible to give incentives to users to use the self-driving vehicle neatly in units of compartments.

According to (7), it is possible to automatically request the user to perform the cleaning instead of a human being.

According to (8), the worker can save the trouble of moving the automatically driven vehicle to a place where cleaning is possible.

According to (9), the optimum cleanable place can be determined based on the cleaning attributes.

According to (10), (20) or (22), it is possible to save the labor of the operator to move the automatically driven vehicle to the cleaning facility.

According to (11), it is possible to give the user an incentive to cleanly use the interior of the autonomous vehicle.

According to (12), it is possible to suppress the possibility that the satisfaction level of the occupant using the automatically driven vehicle will decrease as the automatically driven vehicle is moved to the cleaning facility.

According to (13), it is possible to ensure the satisfaction of all passengers who use the automatic driving vehicle.

According to (14), it is possible to ensure the satisfaction of both the occupant who uses the automatically driven vehicle before cleaning and the occupant who uses the automatically driven vehicle after cleaning.

According to (15), it is possible to give the user an incentive to use the automatic driving vehicle cleanly, or save the labor of the worker moving the automatic driving vehicle to the cleaning facility.

According to (16), it is possible to save the labor of the operator to deodorize the interior of the automatically driven vehicle.

According to (17), the vehicle can be kept clean.

According to (18), the vehicle can be kept clean and the safety of traffic participants around the vehicle can be improved.

1 is a configuration diagram of a vehicle system; FIG. 1 is a configuration diagram of an automatic driving vehicle; FIG. It is a figure which shows an example of a detection part. It is a figure for demonstrating the processing process of automatic operation. 4 is a diagram showing an example of user information of a vehicle dispatch service stored in a storage unit; FIG. It is a figure which shows an example of list data of cleaning equipment. It is a figure which shows the scene where an automatic driving vehicle moves to a cleaning facility. FIG. 10 is a sequence diagram illustrating an example of processing in a dispatch service server, an automatic driving vehicle, and the like;

Hereinafter, embodiments of a vehicle dispatch service server, a vehicle system, a vehicle dispatch service method, and a program according to the present invention will be described with reference to the drawings. A vehicle system is a system that provides users with a service of dispatching vehicles. The target vehicles of the dispatch service provided to users are self-driving vehicles that do not require driving operations.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1. As shown in FIG. The vehicle system 1 includes, for example, a vehicle allocation service server 100 , an automatically driven vehicle 200 that is a target of the vehicle allocation service provided by the vehicle allocation service server 100 , and a cleaning facility 300 . These components can communicate with each other via a network NW. The network NW includes the Internet, WAN (Wide Area Network), LAN (Local Area Network), public lines, provider devices, leased lines, wireless base stations, and the like. The cleaning facility 300 is, for example, a facility located at a location different from the dispatch service server 100 .

[Self-driving vehicle]
Prior to explaining the dispatch service server 100, the automatically driven vehicle 200 will be explained.

FIG. 2 is a configuration diagram of an automatic driving vehicle 200. As shown in FIG. The automated driving vehicle 200 includes, for example, a communication unit 210, a detection unit 220, a storage unit 230, a control unit 240, a deodorizing device 245, an external monitoring unit 270, a navigation device 280, and a recommended lane determination device 290. , an automatic driving control unit 250 , a driving force output device 260 , a brake device 262 and a steering device 264 .

The communication unit 210 is, for example, a wireless communication module for connecting to the network NW and directly communicating with the mobile terminal device of the user of the dispatch service. The communication unit 210 performs wireless communication based on Wi-Fi, DSRC (Dedicated Short Range Communications), Bluetooth (registered trademark), and other communication standards. A plurality of units may be prepared as the communication unit 210 according to the application.

The detection unit 220 detects (estimates) the degree of contamination of the autonomous vehicle 200 . The detection unit 220 includes, for example, a part or all of an in-vehicle camera, an exterior camera, an odor sensor, a house dust sensor, and the like. The detection unit 220 detects, for example, the degree of contamination of the automatically driven vehicle 200 at predetermined intervals, and transmits the detection result of the degree of contamination to the vehicle allocation service server 100 via the communication unit 210 and the network NW. In the example described above, the communication unit 210 transmits the detection result detected by the detection unit 220 (the detection result of the degree of dirt, the estimation result of whether it is dirty) to the vehicle dispatch service server 100 outside the autonomous vehicle 200. However, in another example, the communication unit 210 transmits the sensor value of the detection unit 220 to the vehicle allocation service server 100, and the dirt level estimation unit 144 of the vehicle allocation service server 100 detects the sensor value of the detection unit 220 based on the sensor value of the detection unit 220. , the degree of dirtiness of the automatically driven vehicle 200 may be estimated (determined whether the automatically driven vehicle 200 is dirty).

FIG. 3 is a diagram showing an example of the detection unit 220. As shown in FIG. In this case, the detection unit 220 includes, for example, some or all of an in-vehicle camera 220A, an exterior camera 220B to 220G, an odor sensor 220H, and a house dust sensor 220I. The in-vehicle imaging camera 220A captures an image for estimating the degree of dirt in the interior of the automatically driven vehicle 200 . The in-vehicle imaging camera 220A captures an image of the interior of the vehicle, such as garbage in the vehicle or an act of the occupant of the autonomous vehicle 200 making the interior dirty, and transmits data of the captured image to the vehicle allocation service server 100. . In other words, the in-vehicle camera 220</b>A captures an image of the interior of the vehicle 200 . In addition, the data of the image of the vehicle interior of the automatically driven vehicle 200 captured by the in-vehicle imaging camera 220A is transmitted to the vehicle allocation service server 100 as the detection result by the detection unit 220 .

The in-vehicle camera for capturing images outside the vehicle captures an image for estimating the degree of dirt on the outer surface of the automatic driving vehicle 200 . The in-vehicle camera 220</b>B for capturing images outside the vehicle detects the degree of dirt on the front portion of the automatically driven vehicle 200 . The in-vehicle camera 220</b>C for capturing images outside the vehicle detects the degree of dirt on the rear portion of the automatically driven vehicle 200 . The in-vehicle camera 220</b>D for capturing images outside the vehicle detects the degree of dirt on the front left portion of the automatically driven vehicle 200 . The in-vehicle camera 220</b>E for capturing images outside the vehicle detects the degree of dirt on the left rear portion of the automatically driven vehicle 200 . The in-vehicle camera 220</b>F for capturing images outside the vehicle detects the degree of dirt on the front right portion of the automatically driven vehicle 200 . The in-vehicle camera 220</b>G for capturing images outside the vehicle detects the degree of dirt on the right rear portion of the automatically driven vehicle 200 . The in-vehicle cameras 220B to 220G for capturing images outside the vehicle transmit data of captured images to the vehicle dispatch service server 100. FIG. The in-vehicle cameras 220B to 220G for capturing images outside the vehicle may not only have a function of detecting the degree of dirtiness of the automatically driven vehicle 200, but also have a visual support function of supporting the front and rear side vision of the automatically driven vehicle 200. In this case, the on-vehicle cameras 220B to 220G for capturing images outside the vehicle can capture images of traffic participants around the automatically driving vehicle 200 and also show the state of the exterior of the vehicle body of the automatically driving vehicle 200.

The odor sensor 220</b>H detects the odor inside the vehicle of the automatically driven vehicle 200 at predetermined intervals, and transmits the detection result of the odor to the vehicle dispatch service server 100 . The odor sensor 220H is, for example, a semiconductor system that utilizes changes in the resistance value of a semiconductor due to adsorption of odor molecules on the surface of the semiconductor and surface reaction. The odor sensor 220H detects reducing odors such as hydrogen sulfide, acetaldehyde, and ammonia, for example, using oxidation-reduction reactions of odor molecules. The odor sensor 220H may be, for example, a crystal oscillator type. The crystal oscillator type odor sensor 220H has a structure in which an odor sensitive film made of a lipid film made of natural lipids or synthetic lipids that selectively adsorb molecules is attached to the surface of a crystal oscillator.

The house dust sensor 220</b>I detects the amount of dust contained in the air inside the vehicle of the self-driving vehicle 200 at predetermined intervals, and transmits the detection result of the amount of dust to the vehicle dispatch service server 100 . The house dust sensor 220I has, for example, a light emitting element and a light receiving element. The light receiving element detects the amount of light emitted from the light emitting element. As the amount of dust increases, the amount of light detected by the light receiving element decreases.

Further, the detection unit 220 may be, for example, the mobile terminal device 400 held by the passenger of the automatically driven vehicle 200 (the user of the dispatch service). The data of the image captured by the camera of the mobile terminal device 400 is transmitted to the self-driving vehicle 200 through an ad-hoc connection, and, like the image captured by the in-vehicle camera 220A, the vehicle dispatch service is provided via the communication unit 210 and the network NW. It may be transmitted to the server 100 or may be transmitted to the dispatch service server 100 via the network NW without the automated driving vehicle 200 . That is, when the camera of the mobile terminal device 400 captures, for example, an image showing the state of the interior of the autonomous vehicle 200, the image of the state of the interior of the autonomous vehicle 200 photographed by the camera of the portable terminal device 400 is transmitted to the vehicle dispatch service server 100 as the detection result by the detection unit 220 .

Returning to FIG. 2, the storage unit 230 is realized by a HDD (Hard Disk Drive), flash memory, RAM (Random Access Memory), ROM (Read Only Memory), or the like. The storage unit 230 stores information received from the vehicle dispatch service server 100, data of detection results by the detection unit 220, and the like.

The control unit 240 is implemented, for example, by a processor such as a CPU (Central Processing Unit) executing a program. The control unit 240 controls the self-driving vehicle 200 based on the contents of various instructions received from the vehicle allocation service server 100 .

The deodorizing device 245 deodorizes the interior of the automatically driven vehicle 200 . The deodorizing device 245 is, for example, a deodorant spraying device. The deodorizing device 245 , for example, sprays a deodorizing agent in the air-conditioning gas passage of the self-driving vehicle 200 . The deodorizing device 245 may spray a deodorizing agent on the floor surface of the automatic driving vehicle 200, the surface of the seat, and the like. The deodorizing device 245 is controlled by a control signal generated by the control unit 240 based on the data transmitted from the vehicle allocation service server 100, and deodorizes the interior of the vehicle. The deodorizing device 245 may deodorize the interior of the vehicle according to the operation of the passenger of the automatically driven vehicle 200 .

The external monitoring unit 270 includes, for example, a camera, radar, LIDAR (Light Detection and Ranging), and an object recognition device that performs sensor fusion processing based on these outputs. The external environment monitoring unit 270 estimates the types of objects (in particular, vehicles, pedestrians, and bicycles) existing around the autonomous vehicle 200, and outputs them to the autonomous driving control unit 250 together with information on their positions and speeds. Some components may be shared between the external world monitoring unit 270 and the detection section 220 . The external environment monitoring unit 270 includes, for example, a camera that captures the side of the autonomous vehicle 200 . A camera that captures the side of the automatic driving vehicle 200 is also used as the detection unit 220 . Specifically, the detection unit 220 acquires an image including the body of the automatically driven vehicle 200 captured by this camera. Further, based on the image, the detection unit 220 detects traffic participants around the automatically driven vehicle 200 and also detects the state of the vehicle body exterior (dirt state) of the automatically driven vehicle 200 . The camera of the external environment monitoring unit 270 may have both a function of detecting the degree of dirt on the automatically driven vehicle 200 and a visual assistance function of assisting the vision of the front and rear sides of the automatically driven vehicle 200 .

The navigation device 280 includes, for example, an HMI (Human Machine Interface) 282 , a GNSS (Global Navigation Satellite System) receiver 284 , and a navigation control device 286 . The HMI 282 includes, for example, a touch panel display device, a speaker, a microphone, and the like. The GNSS receiver 284 measures its own position (the position of the self-driving vehicle 200) based on radio waves coming from GNSS satellites (for example, GPS satellites). The navigation control device 286 includes, for example, a CPU (Central Processing Unit) and various storage devices, and controls the navigation device 280 as a whole. The storage device stores map information (navigation map). A navigation map is a map that expresses roads with nodes and links. The navigation control device 286 determines a route from the position of the automatically driven vehicle 200 positioned by the GNSS receiver 284 to the destination specified using the HMI 282 with reference to the navigation map. Also, the navigation control device 286 may transmit the position and destination of the autonomous vehicle 200 to a navigation server (not shown) using the communication unit 210, and acquire a route returned from the navigation server.

The recommended lane determining device 290 includes, for example, an MPU (Map Positioning Unit) and various storage devices. The storage device stores high-precision map information that is more detailed than the navigation map. The high-precision map information includes, for example, information such as road width, slope, curvature, and signal position for each lane. The recommended lane determination device 290 determines a recommended lane that is preferable for traveling along the route input from the navigation device 280 and outputs it to the automatic driving control unit 250 .

The automatic operation control unit 250 includes one or more processors such as a CPU and MPU (Micro Processing Unit) and various storage devices. In principle, the automatic driving control unit 250 runs in the recommended lane determined by the recommended lane determination device 290, and avoids contact with objects whose position and speed are input from the external monitoring unit 270. The automatic driving vehicle 200 runs automatically. The automatic operation control unit 250 sequentially executes various events, for example. The events include a constant speed driving event that drives in the same driving lane at a constant speed, a following driving event that follows the preceding vehicle, a lane change event, a merging event, a branching event, an emergency stop event, and a toll gate handover event for terminating automatic operation and switching to manual operation. Also, during execution of these events, actions for avoidance may be planned based on the surrounding conditions of the automated driving vehicle 200 (existence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

The automatic driving control unit 250 generates a target trajectory along which the automatic driving vehicle 200 will travel in the future. The target trajectory includes, for example, velocity elements. For example, the target trajectory is represented by arranging points (trajectory points) that the host vehicle M should reach in order. A trajectory point is a point to be reached by the own vehicle M for each predetermined travel distance. generated as part of the Also, the trajectory point may be a position that the vehicle M should reach at each predetermined sampling time. In this case, the information on the target velocity and target acceleration is represented by the intervals between the trajectory points. As will be described later, the automatic driving control unit 250 moves the automatically driving vehicle 200 to the cleaning facility 300 by automatic driving based on the travel instruction from the vehicle allocation service server 100 .

FIG. 4 is a diagram for explaining the process of automatic driving. First, a route is determined by the navigation device 280 as shown in the above diagram. This route is, for example, a rough route without distinguishing lanes. Next, as shown in the middle diagram, the recommended lane determination device 290 determines a recommended lane that is easy to travel along the route. Then, as shown in the figure below, the automatic driving control unit 250 generates a trajectory point for traveling along the recommended lane as much as possible while avoiding obstacles, etc., and the trajectory point (and accompanying speed profile) Some or all of the driving force output device 260, the braking device 262, and the steering device 264 are controlled so as to travel along the road. Such division of roles is merely an example, and for example, the automatic operation control unit 250 may perform processing in a centralized manner.

Driving force output device 260 outputs driving force (torque) for driving the vehicle to the drive wheels. Driving force output device 260 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and a power ECU controlling these. The power ECU controls the above configuration according to information input from the automatic operation control unit 250 or information input from a driving operator (not shown).

The brake device 262 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motors according to information input from the automatic driving control unit 250 or information input from the driving operator so that brake torque corresponding to the braking operation is output to each wheel. The brake device 262 may include, as a backup, a mechanism that transmits hydraulic pressure generated by operating a brake pedal included in the operation operator to the cylinders via the master cylinder. The brake device 262 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the automatic operation control unit 250 and transmits the hydraulic pressure of the master cylinder to the cylinder. good too.

The steering device 264 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the orientation of the steered wheels. The steering ECU drives the electric motor and changes the direction of the steered wheels according to information input from the automatic driving control unit 250 or information input from the driving operator.

[Vehicle dispatch service server]
Returning to FIG. 1, the dispatch service server 100 includes, for example, a communication unit 110, a storage unit 120, an HMI 130, and a control unit 140.

The communication unit 110 includes, for example, a NIC (Network Interface Card) for connecting to the network NW. A plurality of units may be prepared as the communication unit 110 according to the application. Also, the communication unit 110 communicates with the automatic driving vehicle 200 and the cleaning equipment 300 via the network NW.

Storage unit 120 is implemented by an HDD, flash memory, RAM, ROM, or the like. The storage unit 120 stores information received from the automatic driving vehicle 200, information received from the cleaning equipment 300, and the like.

The HMI 130 includes, for example, a touch panel display device, keyboard, mouse, speaker, microphone, and the like. The HMI 130 receives, for example, a vehicle allocation service start operation by the operator of the vehicle allocation service server 100 .

The control unit 140 is implemented, for example, by a processor such as a CPU executing a program. The control unit 140 uses the communication unit 110 to transmit an instruction signal for causing the detection unit 220 to detect information for estimating the degree of contamination of the automatic driving vehicle 200 to the automatic driving vehicle 200 at a desired timing. The desired timing is, for example, the timing at which the automatic driving vehicle 200 is notified that it has finished using it and returned to the waiting place. The desired timing is not limited to this, and may be the timing at which the operator inputs an operation to start the dispatch service for the automatically driven vehicle 200 to the HMI 130 . In response to this, the control unit 140 of the automatically driven vehicle 200 outputs a control signal for causing the detection unit 220 to detect information for estimating the degree of contamination of the automatically driven vehicle 200 .

Further, the control unit 140 includes, for example, an acquisition unit 142, a dirt degree estimation unit 144, a usage requirement determination unit 146, a cleaning necessity determination unit 148, a cleaning request output instruction unit 150, and a travel instruction unit 152. Prepare.

The acquisition unit 142 acquires the detection result of the detection unit 220 received by the communication unit 110 via the network NW, and stores it in the storage unit 120 . The acquisition unit 142 acquires, as the detection result of the detection unit 200 of the automatic driving vehicle 200, an image showing the state of the interior of the automatic driving vehicle 200 captured by the in-vehicle imaging camera 220A or the mobile terminal device 400, for example. .

The degree of contamination estimation unit 144 estimates the degree of contamination of the autonomous vehicle 200 based on the detection result of the detection unit 220 . That is, the degree of contamination of the automatically driven vehicle 200 is estimated by the degree of contamination estimation unit 144 provided outside the automatically driven vehicle 200 (it is determined whether or not the vehicle is dirty). The degree of dirt estimation unit 144 determines the presence or absence or the number and amount of foreign substances (those to be removed by cleaning) in the interior of the autonomous vehicle 200 based on the detection result of the in-vehicle camera 220A or the camera of the mobile terminal device 400. estimated as an indicator of the degree of That is, the degree of dirt estimation unit 144 analyzes an image showing the state of the interior of the autonomous vehicle 200 captured by the in-vehicle imaging camera 220A or the mobile terminal device 400, thereby determining the interior of the interior of the autonomous vehicle 200. Estimate the degree of contamination. In addition, the degree of dirt estimation unit 144 determines the presence or absence or the number and amount of foreign substances (those to be removed by cleaning) on the outer surface of the autonomous vehicle 200 based on the detection results of the vehicle-mounted cameras 220B to 220G for capturing images outside the vehicle. You may estimate as an index showing a degree. Further, the degree of contamination estimating unit 144 may estimate the odor inside the automatically driven vehicle 200 as an index indicating the degree of contamination based on the detection result of the odor sensor 220H. When the detection unit 220 is the house dust sensor 220I, the contamination degree estimation unit 144 estimates the amount of dust, the amount of allergens, and the like in the interior of the autonomous vehicle 200 based on the detection result of the house dust sensor 220I. You may estimate as an index showing a degree. Note that the function of the dirt level estimation unit 144 may be installed in the automatically driven vehicle 200 . That is, the degree of contamination estimation unit of the automatically driven vehicle 200 may estimate the degree of contamination of the automatically driven vehicle 200 based on the detection result of the detection unit 220 and transmit the estimation result to the dispatch service server 100. .

The usage requirement determination unit 146 determines usage requirements for the user of the dispatch service (occupant of the self-driving vehicle 200) based on the estimation result of the contamination level estimation unit 144. FIG. Usage requirements include, for example, usage fees for the current or subsequent use of the vehicle allocation service, points given to users of the vehicle allocation service, and the like. The usage requirement determination unit 146 may include, for example, one or both of a usage fee determination unit 146A and a given point determination unit 146B.

Based on the detection result of the detection unit 220, the usage charge determination unit 146A determines the usage fee for the vehicle allocation service to be charged to the user who has used the vehicle allocation service. For example, the lower the dirtiness of the automatically-operated vehicle 200 detected by the detector 220 (that is, the less dirty the automatically-operated vehicle 200 is), the lower the charge to be charged to the user. do.

Further, based on the detection result of the detection unit 220, the award point determination unit 146B may determine the points to be imparted to the user of the vehicle dispatch service. "Points" are various benefits that can be used when using the dispatch service. The user of the vehicle allocation service can use the acquired points instead of paying the usage fee when using the vehicle allocation service next time. For example, the smaller the level of dirt on the automatically driven vehicle 200 detected by the detection unit 220, the more points are given to the user. The points given to the user may be the right to make a priority reservation for the dispatch service.

FIG. 5 is a diagram showing an example of the user information 120A1, 120A2, and 120A3 of the dispatch service stored in the storage unit 120. As shown in FIG. User information 120A1, 120A2, 120A3 includes, for example, user IDs (ID-U1, ID-U2, ID-U3), user name, user address, user telephone number, user email address, The status of the dispatch service (for example, in use, before use, etc.), user class, current usage fee, next usage fee, current points owned, points acquired this time, etc. are associated information.

Returning to FIG. 1 , when the detection result of the detection unit 220 is acquired by the acquisition unit 142, the cleaning necessity determination unit 148 determines whether cleaning of the autonomous vehicle 200 is necessary based on the acquired detection result. judge. Specifically, the cleaning necessity determination unit 148 determines that each of the plurality of compartments of the autonomous vehicle 200 (for example, the front right seat, the front left seat, and the rear seat of the autonomous vehicle 200 shown in FIG. 3) needs to be cleaned. Determine whether or not For example, the cleaning necessity determining unit 148 determines that the front seats of the autonomous vehicle 200 need to be cleaned and the rear seats do not need to be cleaned. In other words, in order to enable the cleaning necessity determination unit 148 to determine the necessity of cleaning for each compartment, the above-described dirt level estimation unit 144 estimates the degree of dirt (whether it is dirty or not) for each compartment of the autonomous vehicle 200. judgment).

When the cleaning necessity determining unit 148 determines that the cleaning of the automatically driven vehicle 200 is necessary, the cleaning request output instructing unit 150 requests the user of the dispatch service to clean the automatically driven vehicle 200. is output to the HMI 282 of the automatic driving vehicle 200 by communication via the communication unit 110 and the network NW, for example. When the user of the dispatch service responds to the request for the cleaning action, the usage charge determining unit 146A may reduce the current or next usage fee for this user. When the user of the dispatch service refuses the request for the cleaning action, the usage charge determining unit 146A may increase the current or next usage charge for this user.

When the cleaning necessity determination unit 148 determines that the automatic driving vehicle 200 needs to be cleaned (that is, when the detection result of the degree of dirt is equal to or higher than the reference), and the vehicle dispatch service When the user refuses the request for cleaning action, a travel instruction is output to move the automatically operated vehicle 200 to the cleaning facility 300 (that is, a place where cleaning is possible) by automatic operation. The travel instruction unit 152 selects the cleaning facility 300 to which the autonomous vehicle 200 moves from the list data of the cleaning facilities 300 stored in the storage unit 120 . A travel instruction from the travel instruction unit 152 is transmitted to the automatic operation control unit 250 of the automatic operation vehicle 200 via the communication unit 110 and the network NW. The automatic operation control unit 250 moves the automatically operated vehicle 200 to the cleaning facility 300 by automatic operation based on the travel instruction from the travel instruction unit 152 . The travel instruction unit 152 moves the automatically driven vehicle 200 to the cleaning facility 300 by automatic operation even when the detection result of the degree of dirt is still equal to or higher than the standard after the user of the dispatch service has cleaned the automatically driven vehicle 200. You may output a run instruction to

FIG. 6 is a diagram showing an example of list data of the cleaning equipment 300. As shown in FIG. The storage unit 120 stores data 120B1 to 120B3 of a plurality of cleaning facilities (for example, cleaning facilities 300-1 to 300-3) that are candidates for the destination of the autonomous vehicle 200. FIG. The data 120B1 to 120B3 of the cleaning facility 300 include the distance from the current position of the automated driving vehicle 200 to each cleaning facility, the congestion status of each cleaning facility, and the congestion status of the road from the current position of the automated driving vehicle 200 to each cleaning facility. and so on. Travel instruction unit 152 selects an optimum cleaning facility (for example, cleaning facility 300-3) from a plurality of cleaning facilities 300-1 to 300-3 in the list data. These data 120B1 to 120B3 are stored in the storage section 120 as the contents of the map information.

In another example, the cleaning facility listing data may include cleaning attributes for each cleaning facility. The cleaning attribute of each cleaning facility includes, for example, the function (performance) of the cleaner provided in each cleaning facility, the function (performance) of the sterilization device, and the like. In this example, the travel instruction unit 152 not only provides position information of the autonomous vehicle 200 (including information such as the distance from the current position of the autonomous vehicle 200 to each cleaning facility), but also the cleaning attribute of each cleaning facility. Based on this, the cleaning facility to which the automatic driving vehicle 200 moves is selected from the cleaning facility list data. In other words, in this example, the travel instruction unit 152 has a function of selecting cleaning equipment that includes optimal cleaning attributes.

[Cleaning equipment]
Returning to FIG. 1, each cleaning equipment 300 includes, for example, a communication unit 310, a storage unit 320, an HMI 330, and a control unit 340.

The communication unit 310 is, for example, a communication module for connecting to the network NW. The communication unit 310 performs communication based on Wi-Fi, DSRC, Bluetooth, and other communication standards. A plurality of units may be prepared as the communication unit 310 according to the application. Also, the communication unit 310 communicates with the vehicle allocation service server 100 and the automatically driving vehicle 200 via the network NW.

Storage unit 320 is implemented by an HDD, flash memory, RAM, ROM, or the like. The storage unit 320 stores information received from the vehicle dispatch service server 100 and the like.

The HMI 330 includes, for example, a touch panel display device, keyboard, mouse, speaker, microphone, and the like. The HMI 330 receives, for example, an input by an operator of the cleaning equipment 300 (for example, an input of congestion status of the cleaning equipment 300).

The control unit 340 is implemented, for example, by a processor such as a CPU executing a program. When the operator performs an input operation on the HMI 330 , the control section 340 outputs a control signal or the like for causing the communication section 310 to transmit the input information to the vehicle dispatch service server 100 .

FIG. 7 is a diagram showing a scene in which the self-driving vehicle 200 moves to the cleaning facility 300-3. For example, the following situations are assumed. At the service end time of the dispatch service, the automatically driven vehicle 200 arrives at the waiting place PS. The detection unit 220 of the automatically driven vehicle 200 detects information for estimating the degree of dirtiness of the automatically driven vehicle 200 upon arrival. Based on the cleaning necessity determination result by the vehicle allocation service server 100 , the automatically driven vehicle 200 requests the user of the vehicle allocation service (occupant of the automatically driven vehicle 200 ) to clean the automatically driven vehicle 200 . After the user of the dispatch service cleans the automatically driven vehicle 200 , the user of the dispatch service gets off the automatically driven vehicle 200 . Next, the detection unit 220 of the automatically driven vehicle 200 detects information for estimating the degree of contamination of the automatically driven vehicle 200 .

When the detection result of the degree of dirt after the cleaning action of the user of the vehicle dispatch service is equal to or higher than the standard, the vehicle dispatch service server 100 determines that the cleaning of the self-driving vehicle 200 in the cleaning facilities 300-1 to 300-3 is necessary. do.

The dispatch service server 100 selects an appropriate one from the cleaning facilities 300-1 to 300-3. As for the distance from the waiting place PS, the cleaning facility 300-1 is the closest, the cleaning facility 300-2 is the second closest, and the cleaning facility 300-3 is the farthest. Information that the cleaning facility 300-1 is congested and the cleaning facilities 300-2 and 300-3 are free is acquired by the dispatch service server 100 from the cleaning facilities 300-1 to 300-3 via the network NW, for example. be done. Traffic information (congestion information) indicates that the road PT1 from the waiting place PS to the cleaning facility 300-1 is empty, and section PT2A of the road PT2 from the waiting place PS to the cleaning facility 300-2 is congested (congested). and that the road PT3 from the waiting place PS to the cleaning facility 300-3 is unoccupied are acquired by the dispatch service server 100 via the network NW. Also, cleaning attribute information of the cleaning facility 300-1 (for example, information indicating that the cleaner and sterilization device of the cleaning facility 300-1 are outdated and the cleaning function is low), and cleaning attribute information of the cleaning facility 300-2. (For example, information indicating that the cleaner and sterilizer of the cleaning facility 300-2 are outdated and have a low cleaning function), and cleaning attribute information of the cleaning facility 300-3 (for example, the cleaner of the cleaning facility 300-3 and information indicating that the sterilization device is the latest type and has a high cleaning function) is acquired by the vehicle dispatch service server 100 from the cleaning equipment 300-1 to 300-3 via the network NW. The dispatch service server 100 comprehensively evaluates the cleaning facility 300 based on the above information. In the example of FIG. 7, the dispatch service server 100 selects the cleaning facility 300-3 as the destination of the autonomous vehicle 200. In the example of FIG. Next, the travel instruction unit 152 outputs a travel instruction to automatically move the automatically operated vehicle 200 to the cleaning facility 300-3.

That is, in the example of FIG. 7 in which the user of the dispatch service (occupant of the autonomous vehicle 200) rides the autonomous vehicle 200 until the autonomous vehicle 200 arrives at the standby location PS, the travel instruction unit 152 After the passenger gets off the vehicle, the automatic driving vehicle 200 is moved to the cleaning facility 300-3. For example, when a plurality of occupants are in the autonomous vehicle 200 until the autonomous vehicle 200 arrives at the standby location PS, the travel instruction unit 152 instructs the cleaning facility 300-3 after all the occupants get off the vehicle. The movement (forwarding) of the automated driving vehicle 200 is started. That is, in this case, the travel instruction unit 152 does not start moving the automatically driven vehicle 200 to the cleaning facility 300-3 until all the passengers get off the vehicle, and continues to move to the destination while the passengers are on board. do. When the alighting locations of a plurality of occupants are different, the travel instruction unit 152 may change (reroute) the waypoint in consideration of each scheduled alighting location and the position of the cleaning equipment.

When the crew gets off the automatically driven vehicle 200 at the waiting place PS, there may be a case where the reservation for the use of the automatically driven vehicle 200 by the next user has been confirmed. In this case, the travel instruction unit 152 does not start the movement of the automatically driven vehicle 200 to the boarding place of the next user until the cleaning of the automatically driven vehicle 200 in the cleaning facility 300-3 is completed. That is, after the cleaning of the automatically driven vehicle 200 in the cleaning facility 300-3 is completed, the travel instruction unit 152 starts the movement of the automatically driven vehicle 200 to allow the next user (passenger) to board the automatically driven vehicle 200. allow In another example, acceptance of a reservation for use of the automatically driven vehicle 200 by the next user (acceptance of pick-up order) may be prohibited until the cleaning of the automatically driven vehicle 200 is completed. In this example, the travel instruction unit 152 does not instruct the movement of the automatically driven vehicle 200 to allow the next user (occupant) to board the automatically driven vehicle 200 until the cleaning of the automatically driven vehicle 200 is completed. This does not apply if the scheduled end time of cleaning is fixed and orders can be accepted.

FIG. 8 is a sequence diagram illustrating an example of processing in the dispatch service server 100, the autonomous vehicle 200, and the like.

(Step S1) The automatically driven vehicle 200 transmits a notification to the dispatch service server 100 that it has arrived at the waiting place PS.

(Step S<b>2 ) The dispatch service server 100 transmits to the automatically driven vehicle 200 a detection instruction for causing the detection unit 220 to detect information for estimating the degree of contamination of the automatically driven vehicle 200 .

(Step S<b>3 ) The automatically driven vehicle 200 causes the detector 220 to detect information for estimating the degree of contamination of the automatically driven vehicle 200 .

(Step S<b>4 ) The automatically driven vehicle 200 transmits the detection result of information for estimating the degree of dirtiness of the automatically driven vehicle 200 to the dispatch service server 100 .

(Step S<b>5 ) The vehicle dispatch service server 100 acquires the detection result of information for estimating the degree of contamination of the automatically driven vehicle 200 detected by the detection unit 220 .

(Step S6) The dispatch service server 100 determines that the automatically driven vehicle 200 needs to be cleaned based on the detection result of the information for estimating the degree of dirtiness of the automatically driven vehicle 200 .

(Step S7) The dispatch service server 100 instructs the autonomous driving vehicle 200 to output to the autonomous driving vehicle 200 a request to the user of the dispatch service (occupant of the autonomous driving vehicle 200) to clean the autonomous driving vehicle 200. Send to

(Step S8) The automatically driven vehicle 200 causes, for example, the HMI 282 to output a request for cleaning the automatically driven vehicle 200 to the user of the dispatch service.

(Step S<b>9 ) The autonomous vehicle 200 transmits image data indicating that the user of the dispatch service has cleaned the autonomous vehicle 200 to the dispatch service server 100 .

(Step S10) The vehicle allocation service server 100 issues a detection instruction to the automatically driven vehicle 200 to cause the detection unit 220 to detect information for estimating the degree of dirt on the automatically driven vehicle 200 after the user of the vehicle allocation service has cleaned the vehicle. Send.

(Step S11) The automatically driven vehicle 200 causes the detection unit 220 to detect information for estimating the degree of dirt on the automatically driven vehicle 200 after the cleaning action of the user of the dispatch service.

(Step S<b>12 ) The automatically driven vehicle 200 transmits to the dispatch service server 100 the detection result of information for estimating the degree of dirt on the automatically driven vehicle 200 after the cleaning action of the user of the dispatch service.

(Step S13) The vehicle allocation service server 100 acquires the detection result of information for estimating the degree of contamination of the self-driving vehicle 200 detected by the detection unit 220 after the user of the vehicle allocation service has cleaned.

(Step S14) The vehicle allocation service server 100 cleans the automatically driven vehicle 200 in the cleaning facility 300 based on the detection result of the information for estimating the degree of contamination of the automatically driven vehicle 200 after the cleaning action of the user of the vehicle allocation service. is necessary.

(Step S15) The vehicle allocation service server 100 determines usage requirements for the user of the vehicle allocation service based on the detection result of information for estimating the degree of dirt on the automatically driven vehicle 200 after the user of the vehicle allocation service has cleaned. do.

(Step S16) The dispatch service server 100 transmits an inquiry about the congestion status of the cleaning facility 300-1 to the cleaning facility 300-1.

(Step S17) The cleaning facility 300-1 transmits to the dispatch service server 100 a response regarding the congestion status of the cleaning facility 300-1.

(Step S18) The dispatch service server 100 transmits an inquiry about the congestion status of the cleaning facility 300-2 to the cleaning facility 300-2.

(Step S19) The cleaning facility 300-2 transmits to the dispatch service server 100 a response regarding the congestion status of the cleaning facility 300-2.

(Step S20) The dispatch service server 100 sends an inquiry about the congestion status of the cleaning facility 300-3 to the cleaning facility 300-3.

(Step S21) The cleaning facility 300-3 transmits to the vehicle allocation service server 100 a reply regarding the congestion status of the cleaning facility 300-3.

(Step S22) The dispatch service server 100 connects the road from the waiting place PS to the cleaning facility 300-1, the road from the waiting place PS to the cleaning facility 300-2, and the road from the waiting place PS to the cleaning facility 300-3. Get the congestion status of

(Step S23) The dispatch service server 100, for example, determines the distance from the waiting place PS to the cleaning facilities 300-1 to 300-3, the congestion status of the cleaning facilities 300-1 to 300-3, the distance from the waiting place PS to the cleaning facility 300- The cleaning facility 300-3 to which the automatic driving vehicle 200 moves is selected based on the congestion status of the roads 1 to 300-3.

(Step S24) The dispatch service server 100 transmits to the automatically operated vehicle 200 a travel instruction to move the automatically operated vehicle 200 to the cleaning facility 300-3 by automatic operation.

(Step S25) The automatically operated vehicle 200 moves to the cleaning facility 300-3 by automatic operation.

According to the embodiment described above, the vehicle allocation service server 100 acquires the detection result detected by the detection unit 220 that is mounted on the automatically driven vehicle 200 and detects information for estimating the degree of dirt on the automatically driven vehicle 200. and a usage requirement determination unit 146 that determines the requirements related to the use of the automated driving vehicle 200 based on the detection result acquired by the acquiring unit 142, thereby providing an incentive to use the automated driving vehicle 200 cleanly. can be given to the user.

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

DESCRIPTION OF SYMBOLS 1... Vehicle system 100... Vehicle allocation service server 110... Communication part 120... Storage part 130... HMI 140... Control part 142... Acquisition part 144... Dirt degree estimation part 146... Usage requirement determination part 146A Usage fee determination unit 146B Granted point determination unit 148 Cleaning necessity determination unit 150 Cleaning request output instruction unit 152 Travel instruction unit 200 Self-driving vehicle 210 Communication unit 220 Detection unit , 220A... in-vehicle camera for imaging inside the vehicle, 220B to 220G... in-vehicle camera for imaging outside the vehicle, 220H... odor sensor, 220I... house dust sensor, 230... storage unit, 240... control unit, 245... deodorizing device, 250... automatic operation control Unit 260 Driving force output device 262 Brake device 264 Steering device 270 External monitoring unit 280 Navigation device 282 HMI 284 GNSS receiver 286 Navigation control device 290 Recommended lane Determining device 300 Cleaning facility 310 Communication unit 320 Storage unit 330 HMI 340 Control unit 400 Portable terminal device NW Network

Claims (10)

Detection for detecting information for estimating the degree of dirt in the interior of the autonomous vehicle, the degree of odor in the interior of the autonomous vehicle, and the degree of dirt in the exterior of the autonomous vehicle. an acquisition unit that acquires the detection result detected by the unit;
a usage requirement determination unit that determines requirements related to the use of the automated driving vehicle based on the detection result acquired by the acquisition unit;
A request unit that displays information requesting cleaning action of the automatic operation vehicle on the display unit of the automatic operation vehicle when the detection result acquired by the acquisition unit is equal to or higher than the reference,
The usage requirement determination unit grants a right to preferentially make a reservation for the dispatch service to the user of the dispatch service for the autonomous vehicle when the user responds to the request for the cleaning action. ,
A dispatch service server. A determination unit that determines whether or not cleaning of the autonomous vehicle is necessary based on the detection result acquired by the acquisition unit, and determines whether cleaning is necessary for each of a plurality of compartments of the autonomous vehicle. A determination unit that determines whether or not
A request unit that requests the user to perform a cleaning action before the user gets off the vehicle when the determination unit determines that the self-driving vehicle needs to be cleaned;
A travel instruction unit that instructs the automatic operation vehicle to travel to a cleanable place when the judgment unit determines that the automatic operation vehicle needs to be cleaned,
The usage requirement determination unit reduces the current or next usage fee of the user when the user responds to the request for the cleaning action,
When the degree of dirt after the cleaning action of the user is equal to or higher than a reference, the travel instruction unit causes the autonomous vehicle to travel to a cleanable place after the user of the autonomous vehicle gets off. to indicate that
The vehicle dispatch service server according to claim 1. The detection result acquired by the acquisition unit includes a photographed image of the interior of the vehicle of the automatic driving vehicle,
The vehicle dispatch service server estimates the degree of dirt by analyzing the photographed image.
The vehicle dispatch service server according to claim 1 or 2. The usage requirement determination unit determines the usage fee for the current or next time onwards of the automated driving vehicle as the requirement,
The vehicle dispatch service server according to any one of claims 1 to 3. The usage requirement determining unit determines, as the requirement, points to be given to the user of the automated driving vehicle;
The vehicle dispatch service server according to any one of claims 1 to 4. determining the cleanable place based on the location information of the autonomous vehicle or the cleaning attribute of the cleanable place;
The vehicle dispatch service server according to claim 2. a dispatch service server according to any one of claims 1 to 6 ;
the automated driving vehicle having the detection unit;
vehicle system with The automatic driving vehicle includes a deodorizing device for deodorizing the inside of the vehicle, and a control unit for controlling the deodorizing device,
The control unit causes the deodorizing device to deodorize the interior of the self-driving vehicle,
Vehicle system according to claim 7 . the computer
Detection for detecting information for estimating the degree of dirt in the interior of the autonomous vehicle, the degree of odor in the interior of the autonomous vehicle, and the degree of dirt in the exterior of the autonomous vehicle. Get the detection result detected by the part,
Based on the obtained detection results, determine requirements for the use of the automated driving vehicle;
When the acquired detection result is equal to or higher than a reference, displaying information to the effect that a cleaning action of the automatic driving vehicle is requested on the display unit of the automatic driving vehicle,
Giving the user the right to preferentially make a reservation for the dispatch service when the user of the dispatch service for the autonomous vehicle responds to the request for the cleaning action;
Delivery service method. to the computer,
Detection for detecting information for estimating the degree of dirt in the interior of the autonomous vehicle, the degree of odor in the interior of the autonomous vehicle, and the degree of dirt in the exterior of the autonomous vehicle. A process of acquiring the detection result detected by the unit;
A process of determining requirements for use of the automated driving vehicle based on the obtained detection results;
When the acquired detection result is equal to or higher than a reference, a process of displaying information requesting a cleaning action of the automated driving vehicle on the display unit of the automated driving vehicle;
A process of giving the user the right to preferentially make a reservation for the dispatch service when the user of the dispatch service of the automatic driving vehicle responds to the request for the cleaning action;
program to run.

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