JP7312662B2 - Vehicle allocation system, vehicle allocation method of vehicle allocation system, and server - Google Patents

Description

The present invention relates to a vehicle allocation system, a vehicle allocation method of the vehicle allocation system, and a server.

2. Description of the Related Art Conventionally, technology for providing transportation services using vehicles (service vehicles) is known. For example, Patent Literature 1 discloses a vehicle operation system that easily creates a rational operation plan and provides a vehicle operation service even when there is a concentrated demand section depending on the time zone. This vehicle operation system extracts concentrated demand for a combination of a concentrated demand time zone and a concentrated demand section, and based on the extraction result, creates a concentrated demand response operation plan that can appropriately respond to the concentrated demand. Then, the vehicle operation system updates the concentrated demand response operation plan in response to new use request information of the shared vehicle including boarding/alighting points, number of passengers, desired boarding time, and prepares a new optimized operation plan.

Japanese Patent Application Laid-Open No. 2009-301078

The method disclosed in Patent Document 1 assumes a vehicle operation such as a bus vehicle that can preferentially stop in the stop area for users to get on and off, so it does not take into consideration the situation where the stop area is occupied by other objects. In a situation where the stop area is occupied, it may not be possible to stop the vehicle at the destination stop area.

The present invention has been made in view of such problems, and its object is to provide a vehicle allocation system, a vehicle allocation method of the vehicle allocation system, and a server that improve the possibility of stopping at a set destination.

A vehicle allocation system according to an aspect of the present invention includes a plurality of vehicles that travel around a plurality of stop areas, and a server. Each vehicle is equipped with sensors that detect objects in the parking area. Then, the server generates occupancy information based on the detection result, and creates and updates an area database for managing occupancy information for each stop area based on the occupancy information. Based on the area database, the server selects a stopable area where the dispatched vehicle can stop from among the plurality of stop areas, and sets the stopable area as the destination.

According to the present invention, the possibility of stopping at the set destination is improved by considering in advance whether or not the vehicle can stop at the stop area.

FIG. 1 is a diagram showing the configuration of a vehicle allocation system according to this embodiment. FIG. 2 is a block diagram showing the configuration of the vehicle allocation server shown in FIG. 1. As shown in FIG. FIG. 3 is a block diagram showing the configuration of the vehicle shown in FIG. 1. As shown in FIG. FIG. 4 is a block diagram showing the configuration of the user terminal shown in FIG. 1; FIG. 5 is an explanatory diagram showing an overview of service areas to which the dispatch system is applied. FIG. 6 is an explanatory diagram showing the interrelationship among the dispatch server, vehicles, and user terminals. FIG. 7 is a flow chart showing the flow of processing regarding a vehicle allocation request. FIG. 8 is a flow chart showing the details of the process of setting the stopable area as the destination. FIG. 9 is a flowchart showing the details of the process of determining a dispatched vehicle and generating vehicle dispatch information. FIG. 10 is a flow chart showing the flow of processing for updating occupation information. FIG. 11 is a diagram showing the last update time of each stop area. FIG. 12 is a flowchart showing the details of the process of resetting the patrol route of the patrol vehicle. FIG. 13 is an explanatory diagram showing the relationship between patrol vehicles and predicted passage times. FIG. 14 is an explanatory diagram showing the reset tour route.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same parts are denoted by the same reference numerals, and the description thereof is omitted.

The configuration of a vehicle allocation system 10 according to the present embodiment will be described with reference to FIGS. 1 to 6. FIG. A vehicle allocation system 10 according to the present embodiment is a system for allocating vehicles in response to a vehicle allocation request from a user.

The vehicle allocation system 10 mainly includes a vehicle allocation server 20 , vehicles 40 , and user terminals 60 . Vehicle allocation server 20 , vehicle 40 , and user terminal 60 are configured to be able to communicate with each other via network 30 . The network 30 is, for example, the Internet. The network 30 may use mobile communication functions such as 4G/LTE and 5G.

The vehicle 40 is a vehicle (service vehicle) that provides a transport service by taking a user, and a plurality of vehicles 40 are prepared. Although three vehicles 40 are shown in the example shown in FIG. 1, the present invention is not limited to this. A plurality of vehicles 40 travel around a plurality of stop areas. Each stop area is a certain area where the vehicle 40 is scheduled to stop for the user to get on and off, and is also called a stop spot. A plurality of stop areas are discretely prepared within a service providing area where a plurality of vehicles 40 travel.

In this embodiment, the plurality of vehicles 40 includes dispatch vehicles, patrol vehicles, and standby vehicles. The dispatched vehicle is the vehicle 40 that receives the dispatched vehicle request, and provides transportation services according to the dispatched vehicle request. A patrol vehicle is a vehicle 40 that has not received a dispatch request, and travels along an arbitrary route (hereinafter referred to as a “patrol route”). On the other hand, the waiting vehicle is a vehicle 40 waiting in a waiting area set inside or outside the service providing area. In FIG. 5, four patrol vehicles are indicated by symbols Va1 to Va4, three dispatched vehicles are illustrated by symbols Vb1 to Vb3, and ten stop areas are illustrated by symbols Pa1 to Pa10.

The vehicle allocation server 20 performs processes such as vehicle allocation in response to the vehicle allocation request.

In this embodiment, the destination means a boarding place where the user gets on the dispatched vehicle or an alighting place where the user gets off the dispatched vehicle. Also, the destination may include a waypoint set between the place of boarding and the place of getting off.

The dispatch server 20 includes a CPU 21 , a memory 22 (not shown in FIG. 2), a communication device 23 and a storage device 24 . The vehicle allocation server 20 is installed in a business operator that provides transportation services using a plurality of vehicles 40 .

The CPU 21 reads various computer programs stored in the memory 22 or the like and executes various instructions included in the programs. By executing the program, the CPU 21 functions as a plurality of information processing circuits included in the vehicle allocation server 20 . In this embodiment, an example of implementing a plurality of information processing circuits provided in the vehicle allocation server 20 by software is shown, but of course, it is also possible to configure an information processing circuit by preparing dedicated hardware for executing each information processing described below. Also, a plurality of information processing circuits may be configured by individual hardware.

The CPU 21 includes a vehicle management section 211, a user management section 212, an area management section 213, a vehicle stop determination section 214, and a route generation section 215 as a plurality of information processing circuits.

The vehicle management unit 211 periodically acquires vehicle information, which will be described later, from each vehicle 40, and updates a vehicle database (vehicle DB) 242 of the storage device 24 based on the acquired vehicle information. Also, the vehicle management unit 211 can grasp the state of each vehicle 40 based on the vehicle database 242 .

The user management unit 212 periodically acquires user information described later from each user terminal 60, and updates the user database (user DB) 241 of the storage device 24 based on the acquired user information. Also, the user management unit 212 can grasp the status of each user based on the user database 241 .

The area management unit 213 generates occupancy information based on detection information (detection results of objects in the stop area) acquired from each vehicle 40 . The occupancy information is information for determining occupancy situations in which the stop area is occupied by an object. In this embodiment, the occupancy information is the occupancy status of the stop area. The occupancy status can be expressed as, for example, the ratio of stationary objects (parked vehicles, road works, etc.) or moving objects (congested vehicles) in the stop area, that is, the occupancy rate. The occupancy status may also be represented by the number of vehicles 40 that can stop in the stop area, the number of other vehicles that occupy the stop area, and the like. In addition, the occupation information may be information for judging the occupation status of the stop area, and may be the detection result of the object in the stop area itself.

The area management unit 213 creates and updates an area database (area DB) 243 of the storage device 24 based on occupation information and the like. Also, the area management unit 213 can grasp the occupancy status of each stop area based on the area database 243 .

A vehicle stop determination unit 214 selects a stopable area where the allocated vehicle can stop from among a plurality of stop areas based on a vehicle allocation request and an area database 243, i.e., occupation information managed for each of a plurality of vehicle stop areas, and sets the possible stop area as the destination of the allocated vehicle.

The route generation unit 215 determines a vehicle to be allocated from among the plurality of vehicles 40 based on the vehicle allocation request. The route generation unit 215 generates a dispatched route, which is a route for the dispatched vehicle to travel to the destination. For calculation of the vehicle allocation route, road traffic information such as VICS (registered trademark) may be referred to, and the route that takes the shortest time to reach the destination may be considered. The route generation unit 215 also calculates the predicted arrival time at which the dispatched vehicle travels the dispatched route and arrives at the destination.

The route generation unit 215 uses the communication device 23 to transmit the vehicle allocation information including the vehicle allocation route to the vehicle allocation vehicle. In addition, the route generation unit 215 uses the communication device 23 to transmit user vehicle allocation information including the vehicle allocation and the destination (area where the vehicle can stop) to the user terminal 60 . The user dispatch information may include an estimated arrival time.

In addition, the route generation unit 215 sets the patrol route of the patrol vehicle. The patrol route may be a unique route for each patrol vehicle, or may be the same route for all patrol vehicles. In addition, the route generation unit 215 resets the patrol route of the patrol vehicle as necessary. The route generator 215 uses the communication device 23 to transmit the patrol route to patrol vehicles.

Further, the route generation unit 215 plays a role of setting patrol vehicles and waiting vehicles. For example, the route generation unit 215 sets a predetermined reference number of vehicles 40 as patrolling vehicles and sets the remaining vehicles 40 as waiting vehicles among the vehicles 40 that have not received a dispatch request. In this case, the route generation unit 215 may make adjustments such as increasing the reference number, that is, the number (ratio) of patrolling vehicles, in a time zone with more dispatch requests.

Note that the method of setting patrol vehicles is not limited to this. The route generation unit 215 may select a predetermined reference number of patrol vehicles in order from the vehicles 40 that have the longest cruising distance from among the vehicles 40 that have not received the dispatch request. In this case, when the route generation unit 215 determines a patrol vehicle whose cruising distance is equal to or less than the determination distance, the route generation unit 215 causes this patrol vehicle to wait in the waiting area. On the other hand, the route generation unit 215 newly sets a patrol vehicle from the waiting vehicles waiting in the waiting area.

The communication device 23 communicates with the vehicle 40 or the user terminal 60 via the network 30 . The communication device 23 acquires predetermined information (vehicle information, detection information, etc.) from the vehicle 40 and acquires predetermined information (vehicle dispatch request, user information, etc.) from the user terminal 60 . Also, the communication device 23 can acquire road traffic information by communicating with an external device (not shown) via the network 30 . The communication device 23 also transmits predetermined information (vehicle allocation information, etc.) to the vehicle 40 . The communication device 23 transmits predetermined information (user dispatch information, etc.) to the user terminal 60 . For example, the communication device 23 may be a device with a mobile communication function such as 4G/LTE, or a device with a Wifi communication function.

The storage device 24 stores various databases required for transportation services. The storage device 24 has a user database 241 , a vehicle database 242 and an area database 243 .

The user database 241 is a database that manages user information acquired from the user terminal 60 . User information includes the current location of the user. In the user database 241, user information is managed for each of a plurality of users who wish to be provided with transportation services, and each user information is associated with a user ID that identifies the user (user terminal 60).

The vehicle database 242 is a database that manages vehicle information acquired from the vehicle 40 . The vehicle information includes the current position of the vehicle 40, the cruising distance of the vehicle 40, and the like. In the vehicle database 242 , vehicle information is managed for each vehicle 40 that provides transportation services, and each vehicle information is associated with a vehicle ID that identifies the vehicle 40 .

The vehicle information also includes speed, door lock and door open/close status, sensor value of a seatbelt sensor that detects attachment/detachment of the seatbelt, whether the vehicle is in automatic operation, and the like. The vehicle information also includes whether or not a dispatch request can be accepted, whether the vehicle 40 is picking up and dropping off passengers, the presence or absence of passengers (users), the number of passengers, boarding or disembarking status, whether the vehicle has arrived at its destination, whether it is a dispatch vehicle, a patrol vehicle, or a waiting vehicle, and the currently running route (dispatch route or patrol route).

The area database 243 is a database that manages a plurality of stop areas prepared in the service providing area. The area database 243 records spot information including occupancy information (occupancy status) of the stop area, the last update time of the occupancy information, the type of occupancy status, the accuracy of the detection result when an object in the stop area is detected, the distance information of the stop area, the number of vehicles that can be stopped, the position of the stop area, the threshold time, and the like. In the area database 243, spot information is managed for each of a plurality of stop areas prepared in the service providing area, and each spot information is associated with a stop area ID that identifies the stop area.

The storage device 24 also holds map information (not shown) for generating routes of dispatched vehicles and patrol vehicles and for recognizing the positional relationship of the user or the vehicle 40 .

The vehicle 40 is a vehicle that runs by an automatic driving function without a driver. However, the vehicle 40 may be a vehicle that is driven manually by a driver, or a vehicle that is driven by an automatic driving function with a driver on board.

Automatic driving refers to, for example, a state in which at least one actuator among brake, accelerator, and steering actuators is controlled without the driver's operation. Therefore, other actuators may be operated by the passenger's operation. Further, automatic operation may be a state in which any control such as acceleration/deceleration control or lateral position control is being executed. Further, manual driving in this embodiment refers to a state in which the driver is operating the brake, accelerator, and steering, for example.

Further, the vehicle 40 may be any of an engine vehicle driven only by an engine, a hybrid vehicle driven by an engine and an electric motor, and an electric vehicle driven only by an electric motor.

The vehicle 40 has an object detection device 41 , a position estimation device 42 , a computer 43 and a communication device 44 .

The object detection device 41 includes a plurality of object detection sensors mounted on the vehicle. The object detection device 41 detects objects existing around the vehicle using a plurality of object detection sensors.

The plurality of object detection sensors includes laser range finders. The laser range finder senses the surroundings (for example, 360 degrees) of the vehicle within a predetermined range and outputs sensing result data. The sensing result data is output in, for example, a point cloud format. Also, the plurality of object detection sensors includes a camera. The camera photographs the surroundings (for example, 360 degrees) of the vehicle and outputs the photographed image data. Multiple cameras are installed so that the surroundings of the vehicle can be photographed. The object detection device 41 outputs sensing result data and image data to the computer 43 . The object detection device 41 may include types of sensors other than laser range finders and cameras.

The position estimating device 42 measures the absolute position of the vehicle using position estimating techniques such as GPS (Global Positioning System) and odometry. The position estimating device 42 includes a GPS receiver, an inertial navigation system, sensors provided on brake pedals and accelerator pedals, sensors for acquiring vehicle behavior such as wheel speed sensors and yaw rate sensors, laser radars, cameras, and the like. The position estimating device 42 measures the position, speed, acceleration, steering angle, and posture (moving direction) of the vehicle.

Computer 43 is a vehicle system for controlling vehicle 40 .

The computer 43 is a general-purpose microcomputer having a CPU (central processing unit), memory, and an input/output unit. A computer program is installed in the computer 43 to function as a vehicle 40 (vehicle system) on the dispatch system 10 . By executing the computer program, the computer 43 functions as a plurality of information processing circuits included in the vehicle system. In this embodiment, an example of realizing a plurality of information processing circuits provided in the vehicle system by software is shown, but of course, it is also possible to configure an information processing circuit by preparing dedicated hardware for executing each information processing described below. Also, a plurality of information processing circuits may be configured by individual hardware.

The computer 43 includes an information processing section 431 and a vehicle control section 432 as a plurality of information processing circuits.

The information processing unit 431 determines whether or not the vehicle 40 passes through the stop area while traveling along the route (the dispatch route or the patrol route) in the service provision area. When passing through the stop area, the information processing section 431 uses the object detection device 41 to detect an object in the stop area. The information processing unit 431 transmits detection information, which is the detection result, to the vehicle allocation server 20 .

Object detection using the object detection device 41 includes object position, size, and types of objects such as moving and stationary objects. Further, moving objects may include types of moving objects such as motorbikes, bicycles, and pedestrians. Similarly, stationary objects may include types of stationary objects such as parked vehicles and works including buildings.

Note that the information processing section 431 may generate occupation information from the detection result of an object in the stop area instead of the vehicle allocation server 20 . In this case, the information processing section 431 will transmit the occupation information to the vehicle allocation server 20 as the detection information. That is, in this specification, the detection information transmitted by the information processing unit 431 may be the detection result itself of the object in the stop area, or may be occupation information generated from the detection result. When the occupancy information is transmitted from the information processing section 431, the area management section 213 of the vehicle allocation server 20 obtains the occupancy information and generates the occupancy information based on the detection result.

Further, the detection information transmitted to the vehicle allocation server 20 includes the degree of certainty of the detection result, which is the accuracy when an object in the stop area is detected. The certainty of the detection result takes into consideration factors such as the passing speed of the vehicle 40, the lane in which the vehicle 40 is traveling, the influence of shielding by other traveling vehicles, the presence or absence of stationary objects other than the vehicle, dirt on the sensor, raindrops, and the like.

The information processing section 431 also generates vehicle information based on the calculation results of the position estimation device 42 and the like.

The information processing unit 431 uses the communication device 23 to transmit vehicle information to the vehicle allocation server 20 in response to a request from the vehicle allocation server 20 or at predetermined intervals. Further, when transmitting vehicle information, if there is detected information that has not been transmitted to the vehicle allocation server 20 , the information processing unit 431 uses the communication device 23 to transmit the detected information together with the vehicle information to the vehicle allocation server 20 . The detection information may be transmitted to the vehicle allocation server 20 at the timing when the object in the stop area is detected.

The vehicle control unit 432 performs vehicle control of the own vehicle. The vehicle control unit 432 controls various actuators (a steering actuator, an accelerator pedal actuator, a brake actuator, etc.) of the host vehicle to perform automatic driving. The vehicle 40 can travel along a vehicle allocation route or a patrol route by automatic driving performed by the vehicle control unit 432 .

The communication device 44 communicates with the vehicle allocation server 20 via the network 30 . The communication device 44 acquires predetermined information (such as vehicle allocation information) from the vehicle allocation server 20 . The communication device 44 also transmits predetermined information (detection information, vehicle information, etc.) to the vehicle allocation server 20 . For example, the communication device 44 may be a device with a mobile communication function such as 4G/LTE, or a device with a Wifi communication function.

The user terminal 60 is a device that receives a user's vehicle dispatch request, and is a device that the user uses on a daily basis, such as a communication device such as a mobile phone, a smart phone, or a personal digital assistant (PDA). Although two user terminals 60 are shown in FIG. 1, the present invention is not limited to this, and at least one is sufficient.

The user terminal 60 has a computer 61 , an operation display device 62 , a position detection device 63 and a communication device 64 .

The computer 61 is a general-purpose microcomputer having a CPU (Central Processing Unit), a memory, and an input/output unit. A computer program for functioning as the user terminal 60 on the dispatch system 10 is installed in the computer 61 . By executing computer programs, the computer 61 functions as one or more information processing circuits included in the user terminal 60 . In this embodiment, an example of realizing a plurality of information processing circuits provided in the user terminal 60 by software is shown, but of course, it is also possible to configure an information processing circuit by preparing dedicated hardware for executing each information processing described below. Also, one or more information processing circuits may be configured by separate hardware.

The computer 43 includes a request processing section 611 as one or more information processing circuits.

The request processing unit 611 generates a vehicle allocation request corresponding to the user's vehicle allocation request. When the user requests dispatch of the vehicle 40, the user operates the operation display device 62 to input a dispatch request. Upon accepting the vehicle allocation request according to the user's input, the request processing unit 611 uses the communication device 64 to transmit the vehicle allocation request to the vehicle allocation server 20 .

The dispatch request includes the current user's location. The current position of the user may be directly input by the user, or information detected by the position detection device 63 may be used. In addition, the dispatch request may include information on the desired boarding time (desired boarding time), the desired place (where the user wants to go), the desired arrival time at the desired place, that is, the desired alighting time (desired alighting time), the number of passengers, and baggage information.

In addition, the request processing unit 611 displays on the operation display device 62 the vehicle allocation information for the user returned from the vehicle allocation server 20 in response to the vehicle allocation request.

The computer 61 may access a server that provides the function of the request processing unit 611 to receive the function, and display the execution result of the function provided by the server on the browser.

Also, the request processing unit 611 generates user information based on the detection result of the position detection device 63 . The request processing unit 611 uses the communication device 64 to transmit user information to the vehicle allocation server 20 in response to a request from the vehicle allocation server 20 or at predetermined intervals.

The operation display device 62 includes an operation unit operated by the user to input information to the user terminal 60 and a display unit for displaying information output from the user terminal 60 . In this embodiment, the operation display device 62 is mainly composed of a display and a touch panel that allows input operation according to information displayed on the display.

The position detection device 63 detects the position of the user terminal. The position detection device 63 is composed of a GPS receiver that receives signals from GPS satellites.

The communication device 64 communicates with the vehicle allocation server 20 via the network 30 . The communication device 64 acquires predetermined information (such as vehicle allocation information for the user) from the vehicle allocation server 20 . The communication device 64 also transmits predetermined information (user information, vehicle allocation request, etc.) to the vehicle allocation server 20 . For example, the communication device 64 may be a device with a mobile communication function such as 4G/LTE, or a device with a Wifi communication function.

The operation of the vehicle allocation system according to the present embodiment, more specifically, the flow of processing relating to vehicle allocation requests will be described below with reference to FIGS. 7 to 9. FIG. The flowchart shown in FIG. 7 is executed by the CPU 21 of the vehicle allocation server 20 triggered by the reception of the vehicle allocation request from the user terminal 60 .

First, in step S10, the stop determination unit 214 acquires the desired boarding area based on the current position of the user. For example, the stop determination unit 214 acquires an area within a predetermined range around the current position of the user as the desired boarding area.

Also, when the destination location is included in the dispatch request, the vehicle stop determination unit 214 acquires the desired alighting area based on the destination location. For example, the stop determination unit 214 acquires an area within a predetermined range around the target location as the desired exit area.

In step S11, the stop determination unit 214 identifies all stop areas included in the desired boarding area based on the area database 243, and acquires occupation information (occupancy status) of each stop area. Also, when the desired alighting area has been acquired, the occupancy status of all stop areas included in the desired alighting area is similarly acquired for the desired alighting area.

In step S12, the vehicle stop determination unit 214 selects a stopable area where the dispatched vehicle can stop based on the occupancy status of all the stop areas included in the boarding desired area, and sets the stopable area as the boarding place (destination) of the dispatched vehicle.

Hereinafter, with reference to FIG. 8, the process of setting the stopable area as the boarding place will be specifically described. First, in step S20, the vehicle stop determination unit 214 determines whether or not the dispatched vehicle can stop for each of the vehicle stop areas included in the boarding desired area, based on the occupancy of the vehicle stop areas. Based on this determination, the vehicle stop determination unit 214 identifies a possible stop area where the dispatched vehicle can stop from among all the stop areas included in the desired boarding area.

In step S21, the vehicle stop determination unit 214 determines whether or not there are multiple areas in which the vehicle can be stopped. If there is only one area where the vehicle can stop, a negative determination is made in step S21, and the process proceeds to step S22. On the other hand, if there are a plurality of areas where the vehicle can be stopped, an affirmative determination is made in step S21, and the process proceeds to step S23.

In step S22, the vehicle stop determination unit 214 sets the only area in which the vehicle can be stopped specified in step S20 as a boarding place.

In step S23, the vehicle stop determination unit 214 determines whether or not there is an area in which the vehicle can be stopped that has a lower occupancy rate than the reference occupancy rate among the plurality of areas in which the vehicle can be stopped. The reference occupancy rate is a value for judging whether the occupancy rate of the stopable area is low enough to allow a plurality of vehicles to stop, and is set in advance through experiments or the like. If there is a stopable area with a low occupancy rate, an affirmative determination is made in step S23, and the process proceeds to step S24. On the other hand, if there is no stopable area with a low occupancy rate, a negative determination is made in step S23, and the process proceeds to step S25.

In step S24, the vehicle stop determination unit 214 sets the closest possible stop area to the current position of the user as the boarding place among the plurality of possible stop areas.

In step S<b>25 , the vehicle stop determination unit 214 sets, as a boarding place, a vehicle stop area around which another vehicle stop area is adjacent, among the plurality of vehicle stop areas. This is because when the dispatched vehicle arrives at the area where the vehicle can stop set as the boarding place, it is assumed that the area where the vehicle can stop is occupied due to a change in the situation after that, and it is important to have an alternative stop area nearby.

When the desired alighting area is acquired, the disembarking place (destination) of the dispatched vehicle is similarly specified for the desired alighting area. That is, the vehicle stop determination unit 214 selects a possible stop area where the dispatched vehicle can stop based on the occupancy status of all the stop areas included in the desired alighting area, and sets the possible stop area as an alighting place.

In step S13 shown in FIG. 7, the route generation unit 215 determines a vehicle to be allocated and generates vehicle allocation information based on the vehicle allocation request.

Hereinafter, with reference to FIG. 9, the process of determining a vehicle to be allocated and generating vehicle allocation information will be specifically described. First, in step S30, the route generation unit 215 refers to the vehicle database 242, the area database 243, etc., and predicts the arrival time to the stop-possible area set as the destination (boarding point or drop-off point) for each of the plurality of vehicles 40 that have not received a dispatch request. The arrival time to the stopable area is predicted based on the current position of the vehicle 40 and the position of the stopable area at the boarding point. Then, the route generation unit 215 extracts the vehicles 40 that can arrive at the stop possible area of the boarding place by the desired boarding time. Note that when predicting the arrival time, the route generation unit 215 may refer to road traffic information and consider the effects of traffic jams and the like.

In step S31, the route generation unit 215 refers to the vehicle database 242 and extracts the vehicles 40 whose cruising distance is equal to or greater than a predetermined distance among the vehicles 40 extracted in the process of step S30. Here, the predetermined distance is determined based on the cruising distance of the vehicle 40 required to realize the dispatch request, and for example, a predetermined fixed value or a value derived from the distance between the boarding place and the destination is adopted.

In step S32, the route generator 215 determines whether or not there are multiple vehicles 40 extracted in the process of step S31. If there are a plurality of vehicles 40, an affirmative determination is made in step S32, and the process proceeds to step S33. On the other hand, if there is only one vehicle 40, a negative determination is made in step S32, and the process proceeds to step S34.

In step S33, the route generation unit 215 determines the vehicle 40 with the highest priority among the plurality of extracted vehicles 40 as the dispatched vehicle. The route generating unit 215 assigns priority to the plurality of extracted vehicles 40 so that the vehicle 40 that can arrive at the time closest to the desired boarding time with the least amount of energy is ranked higher. In assigning priority, the distance from the current position of the vehicle 40 to the area where the vehicle can stop at the boarding point, the grade of the gradient, the state of traffic congestion, and the like are taken into consideration. The route generation unit 215 refers to the priority given to each vehicle 40 and determines the dispatch vehicle.

In step S34, the route generator 215 determines the extracted only vehicle 40 as the dispatched vehicle.

In step S35, the route generation unit 215 calculates a dispatched route for the dispatched vehicle to travel from the current position to the stoppable area of the boarding place, and an estimated arrival time.

When the desired alighting area has been acquired, in step S36, the route generation unit 215 calculates a dispatched route for the dispatched vehicle to travel from the possible stop area of the boarding place to the possible stop area of the disembarking place, and the predicted arrival time.

Through such a series of processes, the route generation unit 215 generates a vehicle allocation route to a stopable area of a boarding place as vehicle allocation information. When the desired alighting area has been acquired, the vehicle dispatch information also includes a dispatch route to the stopable area of the disembarkation place.

In step S14 in FIG. 7, the route generator 215 generates user vehicle allocation information. The user dispatch information includes the dispatched vehicle, the possible stoppage area of the boarding place, and the estimated time of arrival at the possible stoppage area of the boarding place. In addition, the vehicle allocation information for the user may include a stopable area of the drop-off point and an estimated arrival time to the stopable area of the drop-off point.

In step S<b>15 of FIG. 7 , the route generation unit 215 uses the communication device 23 to transmit the vehicle dispatch information to the dispatch vehicle. Similarly, the route generation unit 215 uses the communication device 23 to transmit user vehicle allocation information to the user terminal 60 that transmitted the vehicle allocation request.

10 to 14, the operation of the vehicle allocation system according to the present embodiment, more specifically, the flow of processing relating to updating of occupancy information will be described. The flowchart shown in FIG. 10 is executed by the CPU 21 of the vehicle allocation server 20 at a predetermined cycle.

In step S<b>50 , the area management unit 213 adjusts the threshold time based on the area database 243 . The threshold time is a judgment time for judging that it is necessary to update the occupancy information for the stop area when the time elapsed since the last update time of the occupancy information exceeds the threshold time.

Adjustment of the threshold time is performed for each of a plurality of stop areas within the service area. For adjusting the threshold time, for example, the first to seventh methods described below can be used. Note that the first to seventh methods may be used independently, or several methods may be used in combination.

A first method is to set a shorter threshold time for a time slot in a day when there are more dispatch requests. For example, the area management unit 213 counts the number of vehicle allocation requests received per unit time, and if the count exceeds the determination count, determines that it is a time zone with many vehicle allocation requests. In addition, the area management unit 213 may hold a standard of time zones with many vehicle allocation requests acquired in advance by a statistical method, and determine that the time zone with many vehicle allocation requests is present when the current time belongs to the standard. Then, when the area management unit 213 determines that it is a time period in which there are many dispatch requests, the threshold time is set shorter than a predetermined reference value.

A second method is to set a shorter threshold time for a stop area with a larger number of dispatch requests, that is, a stop area that is frequently determined as a pick-up or drop-off place among a plurality of stop areas. For example, the area management unit 213 counts the number of times that the pick-up or drop-off location is determined for each stop area, and if the counted number exceeds the judgment counted number, the area management unit 213 determines that the stop area has many dispatch requests. In addition, the area management unit 213 may hold information on stop areas with many vehicle allocation requests, which is acquired in advance by a statistical method. Then, when the area management unit 213 determines that the area is a stop area with many vehicle allocation requests, the threshold time is set shorter than a predetermined reference value.

A third method is to set a shorter threshold time for a stop area existing in an area where users are concentrated among a plurality of stop areas. For example, based on the user database 241, the area management unit 213 counts the number of users existing within a predetermined processing area including the stop area for each stop area. Then, when the count number exceeds the determination count number, the area management unit 213 determines that the stop area exists in an area where users concentrate. For example, if the area management unit 213 determines that the stop area exists in an area where users concentrate, the threshold time is set shorter than a predetermined reference value.

A fourth method is to set a shorter threshold time for a stop area that exists in an area where stop areas with a high occupancy status (occupancy rate) are concentrated among a plurality of stop areas. For example, based on the area database 243, the area management unit 213 groups a plurality of stop areas into predetermined processing areas. Then, for a processing area that includes a stop area with a high occupancy rate, the threshold time for the stop area is made shorter than a predetermined reference value.

A fifth method is to set a shorter threshold time for a stop area that is located in the area where the user who requested the dispatch request is located among the plurality of stop areas. For example, the area management unit 213 sets a predetermined processing area based on the position of the user when the vehicle allocation request was transmitted. Then, the area management unit 213 makes the threshold time shorter than a predetermined reference value for the stop area existing in the processing area.

A sixth method is to identify the type of occupancy for each stop area and set the threshold time based on the type of occupancy. For example, if the parking area is occupied by a road construction work, the occupation of the parking area is unlikely to change. In this case, the threshold time is made longer than the reference value.

A seventh method is to set a threshold time for each stop area based on the degree of certainty of the detection result when an object in the stop area is detected. For example, when the accuracy of the detection result is low, it is desirable to improve the accuracy by updating the occupation information in a short period of time. Therefore, when the certainty of the detection result is low, the threshold time is set shorter than the reference value.

In step S51, the area management unit 213 refers to the area database 243 and reads out the last update time and the threshold time for each stop area. Then, the area management unit 213 determines whether or not the elapsed time from the last update time exceeds the threshold time for each stop area. The area management unit 213 identifies a stop area in which the elapsed time from the last update time exceeds the threshold time as a stop area that needs to be updated (hereinafter referred to as "update target area").

FIG. 11 will be described as an example. In FIG. 11, each of the ten stop areas Pa1 to Pa10 is associated with the last update time. Here, it is assumed that the threshold times for the individual stop areas Pa1 to Pa10 are all 30 minutes, and the current time is 14:00. In the stop area Pa8, since the last update time is 13:29, the elapsed time from the last update time is 31 minutes. Therefore, the area management unit 213 specifies the stop area Pa8 as an area to be updated.

In step S52, the area management unit 213 refers to the vehicle database 242 and determines whether or not at least one of the plurality of patrol vehicles is scheduled to pass through the update target area within a predetermined time. The predetermined time is a value for determining whether or not a patrol vehicle will pass through the update target area in the near future, and is set in advance. If at least one patrol vehicle is scheduled to pass through the update target area, an affirmative determination is made in step S52, and the process proceeds to step S53. On the other hand, if none of the patrol vehicles are scheduled to pass through the update target area, a negative determination is made in step S52, and the process proceeds to step S54.

In step S<b>53 , the area management unit 213 calculates the predicted passage time for at least one patrol vehicle to pass through the update target area. The predicted passage time is calculated based on the position of the patrol vehicle, the speed of the patrol vehicle, the position of the update target area, and the like. The area management unit 213 updates the final update time of the update target area in the area database 243 with the passage prediction time. If there are a plurality of patrol vehicles passing through the update target area, the final update time is updated by the predicted passing time of the patrol vehicle that passes through the update target area earliest.

Note that in this embodiment, the determination in step S52 is performed only for patrol vehicles. However, the determination in step S52 may include the dispatched vehicle. Then, if the dispatched vehicle is scheduled to pass through the update target area within the predetermined time, in step S53, the area management unit 213 may update the final update time of the update target area with the predicted passage time of the dispatched vehicle.

In step S54, the route generation unit 215 resets the patrol route of the patrol vehicle to a route passing through the update target area.

The process of resetting the patrol route of the patrol vehicle will be specifically described below with reference to FIG. 12 . First, in step S60, the route generation unit 215 refers to the vehicle database 242 and searches for patrol vehicles near the update target area, for example, patrol vehicles existing within a predetermined search area centered on the update target area.

In step S61, the route generator 215 determines whether or not there is a patrol vehicle within the search area. If there is a patrol vehicle, an affirmative determination is made in step S61, and the process proceeds to step S62. On the other hand, if there is no patrol vehicle, a negative determination is made in step S61, and the process proceeds to step S65.

In step S62, the route generator 215 determines whether or not there are a plurality of patrol vehicles within the search area. If there are a plurality of patrol vehicles, an affirmative determination is made in step S62, and the process proceeds to step S63. On the other hand, if there is only one patrol vehicle, a negative determination is made in step S62, and the process proceeds to step S64.

In step S<b>63 , the route generation unit 215 calculates, for each of the plurality of patrol vehicles in the search area, the predicted passage time required to pass through the update target area when traveling along a route that passes through the update target area. Then, the route generating unit 215 selects, from among the plurality of patrol vehicles, the patrol vehicle that can reach the update target area the earliest, that is, the patrol vehicle that has the earliest estimated passage time.

FIG. 13 will be described as an example. The route generation unit 215 calculates the predicted passage times of the four patrol vehicles Va1 to Va4 around the stop area Pa8, which is the area to be updated. In this case, the route generating unit 215 selects the patrol vehicle Va3, which has the earliest passage prediction time of 14:08, among the four patrol vehicles Va1 to Va4.

In step S64, the route generator 215 selects the only patrol vehicle in the vicinity of the update target area.

In step S65, the route generator 215 selects a patrol vehicle that exists outside the search range. If there are a plurality of patrol vehicles outside the search range, it is preferable to select the patrol vehicle closest to the update target area. Also, the route generation unit 215 may select a waiting vehicle waiting in the waiting area.

In step S66, the route generator 215 resets the selected patrol vehicle's patrol route to a route that passes through the update target area.

In step S55 shown in FIG. 10, the route generation unit 215 uses the communication device 23 to transmit the reset patrol route to patrol vehicles. When the patrol vehicle receives the reset patrol route, it travels by switching from the previously used patrol route to the reset patrol route. In the example of FIG. 14, the patrol vehicle Va3 travels along a new patrol route that passes through the stop area Pa8, which is the update target area.

As described above, in the dispatch system 10 of the present embodiment, each vehicle 40 is provided with an object detection device 41 that detects an object in the stop area, and transmits the detection result to the dispatch server. The vehicle allocation server 20 generates occupancy information for determining the occupancy status of the stop area based on the detection result, creates and updates the area database 243 based on the occupancy information, selects a stopable area where the dispatched vehicle can stop from among a plurality of stop areas based on the area database 243, and sets the stopable area as the destination.

According to this configuration, since a plurality of vehicles 40 are running in the service providing area, objects in each stop area can be detected when each vehicle 40 passes through the stop area. The vehicle allocation server 20 can manage the latest occupancy information of each stop area based on the detection result of each vehicle 40 . As a result, it is possible to select a stopable area where the dispatched vehicle can stop from among a plurality of stop areas, and to determine the stopable area as the destination. As a result, by considering in advance whether or not the vehicle can stop in the stop area, the possibility of stopping at the set destination is improved.

Further, in the present embodiment, the vehicle allocation server 20 sets the vehicle 40 that has not received the vehicle allocation request among the plurality of vehicles as the patrol vehicle. On the other hand, the vehicle allocation server 20 specifies a stop area in which occupancy information is not updated for a threshold time among a plurality of stop areas as an area to be updated, and determines whether or not the route of the patrol vehicle passes near the area to be updated. If the vehicle does not pass through the update target area, the vehicle allocation server 20 resets the patrol route of the patrol vehicle to a route that passes through the update target area.

According to this configuration, the patrol vehicle can be forcibly directed to the update target area, so that it is possible to prompt the update of the occupation information about the update target area. As a result, it is possible to prevent a situation in which, among a plurality of stop areas, there is a stop area in which the occupancy information is not updated for a long period of time.

In this embodiment, when a plurality of patrol vehicles are set, the vehicle allocation server 20 calculates the predicted passage time of the update target area for each of the plurality of patrol vehicles. Then, the vehicle allocation server 20 resets the patrol route of the patrol vehicle with the fastest estimated passage time among the plurality of patrol vehicles as a route passing through the update target area.

According to this configuration, the patrol vehicle that reaches the update target area earliest can be directed to the update target area, so that the occupation information of the update target area can be quickly updated.

Note that the vehicle allocation server 20 may select a patrol vehicle for resetting the patrol route by a method other than the estimated passage time. For example, the vehicle allocation server 20 may perform processing for resetting the patrol route for the patrol vehicle that runs on the patrol route closest to the update target area among the plurality of patrol vehicles. According to this configuration, it is possible to quickly update the occupation information of the update target area.

In addition to this, the vehicle allocation server 20 may select a patrol vehicle that runs in an area where it is difficult to receive vehicle allocation requests, a patrol vehicle that has a sufficient cruising distance, and a patrol vehicle that resets the patrol route. In addition, the dispatch server 20 may reset the dispatched vehicle if the dispatched vehicle is able to arrive at the desired boarding time with sufficient margin even if it passes through the update target area.

In this embodiment, when the patrol vehicle passes through the update target area, the vehicle allocation server 20 calculates the predicted passage time for the patrol vehicle to pass through the update target area, and updates the final update time of the update target area with the predicted passage time.

According to this configuration, if it is expected that the patrol vehicle will pass through the update target area, the patrol route is not reset. As a result, resetting of the patrol route can be suppressed, and the control load can be reduced.

In this embodiment, the vehicle allocation server 20 may set a shorter threshold time for a time period during which there are more vehicle allocation requests in a day.

According to this configuration, it is possible to increase the update frequency of the occupancy information of each stop area in the time period when there are many dispatch requests. Thereby, the reliability of the occupation information can be improved.

In this embodiment, the vehicle allocation server 20 sets a threshold time for each of a plurality of stop areas. In this case, the vehicle allocation server 20 may set a shorter threshold time for a stop area with more vehicle allocation requests among the plurality of vehicle stop areas.

According to this configuration, it is possible to increase the update frequency of the occupancy information for the stop areas with many vehicle allocation requests. Thereby, the reliability of the occupation information can be improved.

In this embodiment, the vehicle allocation server 20 may set a shorter threshold time for a stop area existing in an area where users are concentrated among the plurality of stop areas.

According to this configuration, it is possible to increase the update frequency of the occupancy information for a stop area existing in an area where users are concentrated. Thereby, the reliability of the occupation information can be improved.

In the present embodiment, the vehicle allocation server 20 may set a shorter threshold time for a stop area that is located in an area where stop areas with a high occupancy rate of objects are concentrated among a plurality of stop areas.

According to this configuration, it is possible to increase the update frequency of the occupancy information for the stop area with a high occupancy rate and the surrounding stop areas. Thereby, the reliability of the occupation information can be improved.

In the present embodiment, the vehicle allocation server 20 may set a shorter threshold time for a vehicle stop area that is closer to the user who requested the vehicle allocation request among the plurality of vehicle stop areas.

According to this configuration, it is possible to increase the update frequency of the occupancy information for the stop area located near the user who requested the dispatch request, that is, the stop area that can be a boarding place. Thereby, the reliability of the occupation information can be improved.

In this embodiment, the vehicle allocation server 20 may set the threshold time based on the type of occupancy.

According to this configuration, the period during which the stop area is occupied can be estimated from the type of occupancy. Thereby, the threshold time can be appropriately set according to the period during which the stop area is occupied.

In this embodiment, the vehicle allocation server 20 sets a predetermined reference number of vehicles among the vehicles that have not received a vehicle allocation request as patrolling vehicles, and sets the remaining vehicles as waiting vehicles to wait in the waiting area. In this case, the vehicle allocation server 20 increases the number of reference numbers in a time zone with more vehicle allocation requests.

According to this configuration, the number of patrolling vehicles increases as the number of dispatch requests increases during a time period. Therefore, the patrol vehicle can be made to quickly arrive at the update target area, so the occupation information can be quickly updated.

Further, the vehicle allocation server 20 may select, as the patrol vehicle, the vehicles that have not accepted the vehicle allocation request, in descending order of cruising distance. In this case, the vehicle allocation server 20 may cause the patrol vehicle whose cruising distance is equal to or less than the judgment distance to wait in the waiting area, and newly set a patrol vehicle from the waiting vehicles waiting in the waiting area.

According to this configuration, it is possible to use a patrol vehicle that can travel a long distance, so it is possible to efficiently update the occupation information of the update target area. In addition, it is possible to suppress running out of fuel or batteries of patrol vehicles.

Further, the vehicle allocation method of the vehicle allocation system 10 according to the present embodiment has technical matters corresponding to those of the vehicle allocation system 10 described above. As a result, it is possible to improve the reliability when the dispatched vehicle stops at the stop point of the destination.

The vehicle allocation server 20 that constitutes the vehicle allocation system 10 also functions as part of the present invention. According to this vehicle allocation server 20, it is possible to improve the certainty when the vehicle allocated stops at the stop point of the destination. Also, the function of the vehicle allocation server 20 may be performed by the vehicle 40 .

In the above-described embodiment, the vehicle allocation server 20 determines a destination and generates a vehicle allocation route from this destination. However, the vehicle allocation server 20 may determine only the destination and generate the vehicle allocation route on the vehicle 40 side. Further, in the above-described embodiment, the vehicle allocation server 20 generates the round route when resetting the round route, but the vehicle 40 may generate the vehicle allocation route based on the update target area. It is sufficient for the vehicle allocation server 20 to perform processing for resetting the tour route.

While embodiments of the present invention have been described above, the discussion and drawings forming part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, implementations and operational techniques will become apparent to those skilled in the art from this disclosure.

10 vehicle allocation system 20 vehicle allocation server 21 CPU
211 vehicle management unit 212 user management unit 213 area management unit 214 stop determination unit 215 route generation unit 22 memory 23 communication device 24 storage device 241 user database 242 vehicle database 243 area database 40 vehicle 41 object detection device 42 position estimation device 43 computer 431 information processing unit 432 vehicle control unit 44 communication device 60 user terminal 61 computer 611 request processing unit 62 operation Display device 63 Position detection device 64 Communication device

Claims (15)

A plurality of vehicles traveling around a plurality of stop areas;
a server for setting a dispatch vehicle and a destination of the dispatch vehicle from the plurality of vehicles, based on a dispatch request transmitted from a device for accepting the dispatch request;
In a dispatch system comprising
each of the vehicles,
comprising a sensor for detecting an object in the stop area, transmitting the detection result to the server;
The server is
generating occupancy information for determining the occupancy status of the stop area based on the detection result;
creating and updating a database for managing the occupancy information for each of the stop areas based on the occupancy information;
A vehicle dispatch system that selects a stopable area where the dispatched vehicle can stop from among the plurality of stop areas based on the database, and sets the stopable area as the destination. The server is
setting a vehicle that has not received the dispatch request among the plurality of vehicles as a patrol vehicle traveling on an arbitrary route;
identifying the stop area in which the occupancy information has not been updated for a predetermined threshold time from among the plurality of stop areas as an update target area;
determining whether the route of the patrol vehicle passes through the vicinity of the update target area;
2. The vehicle allocation system according to claim 1, wherein the route of the patrol vehicle is reset to a route that passes through the update target area when the patrol vehicle does not pass through the update target area. The server is
When a plurality of patrol vehicles are set, calculating an estimated passage time for passing through the update target area when traveling on a route passing through the update target area for each of the plurality of patrol vehicles,
3. The dispatch system according to claim 2, wherein the route of the patrol vehicle with the earliest estimated passage time among the plurality of patrol vehicles is reset to a route passing through the update target area. The server is
when passing near the update target area, calculating a predicted passage time for the patrol vehicle to pass through the update target area;
3. The vehicle allocation system according to claim 2, wherein a final update time at which said occupation information was last updated in said update target area is updated with said passage prediction time. The server is
5. The vehicle allocation system according to any one of claims 2 to 4, wherein the threshold time is set shorter for a time period during which there are more vehicle allocation requests in a day. The server is
6. The vehicle allocation system according to any one of claims 2 to 5, wherein, among the plurality of vehicle stop areas, the threshold time is set shorter in the vehicle area where the vehicle allocation request is more frequent. The server is
7. The vehicle allocation system according to any one of claims 2 to 6, wherein, among the plurality of stop areas, the threshold time is set shorter for a stop area existing in an area where users are concentrated. The server is
8. The vehicle allocation system according to any one of claims 2 to 7, wherein, among the plurality of stop areas, the threshold time is set shorter for a stop area located in an area where the stop areas having a higher occupancy rate of the objects are concentrated. The server is
9. The vehicle allocation system according to any one of claims 2 to 8, wherein, among the plurality of vehicle stop areas, the threshold time is set shorter for a vehicle stop area located in an area where the user who requested the vehicle allocation request exists. The server is
The vehicle allocation system according to any one of claims 2 to 8, wherein the threshold time is set based on the type of the occupancy situation. The server is
3. The vehicle allocation system according to claim 2, wherein, when a plurality of patrol vehicles are set, the route of the patrol vehicle traveling on the route closest to the update target area among the plurality of patrol vehicles is reset to a route passing near the update target area. The server is
setting a predetermined reference number of the vehicles from among the vehicles that have not received the dispatch request as the patrolling vehicles, and setting the remaining vehicles as waiting vehicles to wait in a waiting area;
7. The vehicle allocation system according to claim 5, wherein the reference number is increased as the number of vehicle allocation requests increases. The server is
Selecting as the patrolling vehicle in order from the vehicle that has the longest cruising distance from among the vehicles that have not received the dispatch request,
7. The vehicle allocation system according to claim 5, wherein the patrol vehicle whose distance is equal to or less than the judgment distance is made to wait in a waiting area, and the patrol vehicle is newly set from the waiting vehicles waiting in the waiting area. A plurality of vehicles traveling around a plurality of stop areas;
a server for setting a dispatch vehicle and a destination of the dispatch vehicle from the plurality of vehicles, based on a dispatch request transmitted from a device for accepting the dispatch request;
In a vehicle allocation method for a vehicle allocation system comprising
each of the vehicles detects an object on the stop area;
generating occupancy information for determining the occupancy status of the stop area based on the detection result;
creating and updating a database for managing the occupancy information for each of the stop areas based on the occupancy information;
A vehicle allocation method for a vehicle allocation system, comprising: selecting a stopable area where the allocated vehicle can stop from among the plurality of vehicle stop areas based on the database, and setting the stopable area as the destination. A server having a controller for setting a dispatched vehicle and a destination of the dispatched vehicle from a plurality of vehicles traveling around a plurality of stop areas based on a dispatch request transmitted from a device for accepting the dispatch request,
The controller is
generating occupancy information for judging the occupancy status of the stop area based on the detection result of each vehicle detecting an object in the stop area;
creating and updating a database for managing the occupancy information for each of the stop areas based on the occupancy information;
A server that selects a stopable area where the dispatched vehicle can stop from among the plurality of stop areas based on the database, and sets the stopable area as the destination.

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