WO2019004468A1 - Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule, et programme - Google Patents

Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule, et programme Download PDF

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Publication number
WO2019004468A1
WO2019004468A1 PCT/JP2018/024957 JP2018024957W WO2019004468A1 WO 2019004468 A1 WO2019004468 A1 WO 2019004468A1 JP 2018024957 W JP2018024957 W JP 2018024957W WO 2019004468 A1 WO2019004468 A1 WO 2019004468A1
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WIPO (PCT)
Prior art keywords
vehicle
information
user
terminal device
unit
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PCT/JP2018/024957
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English (en)
Japanese (ja)
Inventor
直登志 藤本
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本田技研工業株式会社
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Publication of WO2019004468A1 publication Critical patent/WO2019004468A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a vehicle control system, a server device, a vehicle control method, and a program.
  • Patent Document 1 There has been proposed an autonomous driving vehicle capable of autonomously traveling without driving operation by a driver (for example, Patent Document 1). According to Patent Document 1, after transferring one user to a destination, the user moves to or waits for the destination based on an instruction given according to the behavior mode or action purpose of the user after getting off. An autonomous driving vehicle is described.
  • the conventional technology is to move an autonomously moving vehicle to a destination input by one user, and it is not possible to allow another user to ride with the autonomously moving vehicle.
  • An aspect of the present invention provides a vehicle control system, a server device, a vehicle control method, and a program capable of automatically driving a vehicle based on the user's purpose and providing information to other users about the purpose.
  • the purpose is to
  • One aspect includes an acquisition unit for acquiring purpose information input by a user, a plan setting unit for setting a travel plan of a vehicle based on the purpose information acquired by the acquisition unit, and A vehicle control system including an information providing unit for providing purpose information toward the outside of a vehicle.
  • (3) The vehicle control system according to (1) or (2), wherein the information provision unit stops the provision of the purpose information when the number of vacant seats of the vehicle is zero.
  • plan setting unit sets a plurality of users having the same or similar purpose included in the purpose information.
  • a travel plan of the vehicle to be carried is set.
  • plan setting unit sets a planned traveling route of the vehicle passing through designated positions designated by a plurality of users.
  • the plan setting unit is configured to, based on the passenger information, when the passenger information is returned from the terminal device outside the vehicle after the purpose information acquired by the acquisition unit is transmitted to the terminal device outside the vehicle. It is a server apparatus which changes the said travel plan.
  • (10) The server device according to (7), wherein the display unit of the terminal device transmits information for displaying the vehicle in order of proximity to the destination for which the purpose included in the purpose information is to be implemented. It is.
  • (11) The server device according to any one of (7) to (10), wherein the display unit of the terminal device operates according to a plurality of purposes located within a predetermined range from a designated position Information for displaying the vehicle information of the vehicle to be transmitted.
  • the computer acquires the objective information input by the user, sets the travel plan of the vehicle based on the acquired objective information, provides the objective information to the outside of the vehicle, and acquires It is a vehicle control method of changing the travel plan based on the passenger information, when the passenger information is sent back from the terminal device outside the vehicle after transmitting the purpose information to the terminal device outside the vehicle.
  • a program for operating the terminal device of the user which causes the computer to acquire the target information of one or more vehicles traveling based on the target information input by the user, and the display unit The desired information to be acquired is displayed, and when one vehicle is selected by the user from among the one or more vehicles from which the objective information is acquired, it is desired to get in the selected vehicle and It is a program that sends the expected boarding position.
  • the user can operate the screen displayed on the terminal device to extract candidates for vehicles that can be ridden in order to carry out the purpose. Vehicle can be selected.
  • the vehicle control system is a device for supporting a plurality of users sharing one or more vehicles (ride share).
  • the vehicle used for ride sharing is, for example, an autonomous driving vehicle that basically does not require a driving operation.
  • an autonomous driving vehicle is explained as what is used for ride share, a manual driving vehicle may be used.
  • the vehicle control system When the vehicle control system acquires the target information input from the terminal device of the user through communication, the vehicle control system searches for a vehicle (vehicle capable of dispatching) that matches the purpose included in the target information.
  • the purpose is an object that the user U wants to implement.
  • the vehicle control system causes the vehicle to travel such that a plurality of users having the same or similar purpose of operation of the vehicle used by the users can ride together.
  • Communication may include both data communication and voice communication or telephony.
  • FIG. 1 is a block diagram of a vehicle control system 1.
  • the vehicle control system 1 includes one or more terminal devices 100-1 and 100-2 used by one or more users U-1 and U-2, and one or more vehicles 200, and a vehicle control device. And 300. These components can communicate with each other via the network NW.
  • the network NW includes the Internet, a wide area network (WAN), a local area network (LAN), a public line, a provider device, a dedicated line, a wireless base station, and the like.
  • WAN wide area network
  • LAN local area network
  • public line a public line
  • provider device a public line
  • a provider device a dedicated line
  • a wireless base station and the like.
  • the numbers below the hyphen correspond to the user and will be omitted as appropriate.
  • “used by the user U” may include that the terminal device 100 that can be used by an unspecified number of persons, such as a terminal device of an internet cafe, is temporarily used by the user U.
  • the user U performs user registration so as to be managed by an ID for identifying the user U in order to use the following services.
  • the terminal device 100 is, for example, a smartphone, a tablet terminal, a personal computer, or the like.
  • an application program for utilizing the ride sharing system, a browser or the like is activated, and the service described below is supported.
  • the terminal device 100 is a smartphone and the application program (ride share application) is activated.
  • the ride share application communicates with the vehicle control device 300 according to the operation of the user U, and transmits to the vehicle control device 300 the purpose information P (see FIG. 4) in which the purpose of the user U is digitized. Push notification is performed based on the information received from the device 300.
  • the terminal device 100 includes, for example, an information acquisition unit 110, a display unit 120, and a communication unit 130. The operation of each functional unit will be described later.
  • the display unit 120 is, for example, a touch panel, and displays an input screen when the ride share application is activated as described later, and receives an input of an object from a user.
  • the vehicle 200 is, for example, a vehicle having four or more wheels on which a plurality of users U can ride, but may be a motorcycle or other vehicles.
  • FIG. 2 is a block diagram of the vehicle 200. As shown in FIG. The vehicle 200 includes, for example, an environment monitoring unit 210, a communication device 220, a navigation device 230, a recommended lane determination device 240, an automatic driving control unit 250, a driving force output device 260, a brake device 262, and a steering device. H.264 and an output unit 270.
  • the external world monitoring unit 210 includes, for example, a camera, a radar, an LIDAR (Light Detection and Ranging), an object recognition device that performs a sensor fusion process based on these outputs, and the like.
  • the outside world monitoring unit 210 estimates the types of objects (in particular, vehicles, pedestrians and bicycles) present around the vehicle 200, and outputs the information to the automatic driving control unit 250 together with the information on the position and the speed.
  • the external world monitoring unit 210 authenticates the user U who has made the gesture when the user U makes a predetermined gesture on the traveling route, and outputs the user U to the automatic driving control unit 250. Further, the outside world monitoring unit 210 may authenticate the face of the user U, the barcode displayed on the terminal device 100, and the like.
  • the communication device 220 is, for example, a wireless communication module for connecting to the network NW or directly communicating with another vehicle or a terminal device of a pedestrian.
  • the communication device 220 performs wireless communication based on Wi-Fi, DSRC (Dedicated Short Range Communications), Bluetooth (registered trademark), and other communication standards.
  • a plurality of communication devices 220 may be prepared according to the application.
  • the navigation device 230 includes, for example, a human machine interface (HMI) 232, a global navigation satellite system (GNSS) receiver 234, and a navigation control device 236.
  • the HMI 232 includes, for example, a touch panel display device, a speaker, a microphone, and the like.
  • the GNSS receiver 234 measures the position of the own vehicle (the position of the vehicle 200) based on radio waves coming from GNSS satellites (for example, GPS satellites).
  • the navigation control device 236 includes, for example, a central processing unit (CPU) and various storage devices, and controls the entire navigation device 230. Map information (navigation map) is stored in the storage device.
  • the navigation map is a map representing a road by nodes and links.
  • the navigation control device 236 determines the route from the position of the vehicle 200 determined by the GNSS receiver 234 to the destination designated using the HMI 232 with reference to the navigation map. Further, the navigation control device 236 may transmit the position of the vehicle 200 and the destination to the navigation server (not shown) using the communication device 220, and may acquire the route returned from the navigation server.
  • the information regarding the route to the destination may be designated or changed by the vehicle control device 300.
  • the information on the route may include information on a passing point, a point at which the user U stops to get on or off, and an arrival target time.
  • the navigation control device 236 outputs the information of the route determined by any of the above methods to the recommended lane determination device 240.
  • the recommended lane determination device 240 includes, for example, an MPU (Map Positioning Unit) and various storage devices.
  • the storage device stores high-precision map information more detailed than the navigation map.
  • the high-accuracy map information includes, for example, information such as road width and slope for each lane, curvature, and signal position.
  • the recommended lane determination device 240 determines a preferred recommended lane for traveling along the route input from the navigation device 230, generates information on the route, the recommended lane, and the traveling time, and outputs the information to the automatic driving control unit 250.
  • the automatic driving control unit 250 includes one or more processors such as a CPU and a micro processing unit (MPU) and various storage devices.
  • the autonomous driving control unit 250 follows the vehicle 200 on the principle of traveling on the recommended lane determined by the recommended lane determination device 240 so as to avoid contact with the object whose position and speed are input from the external world monitoring unit 210. Run automatically.
  • the automatic driving control unit 250 sequentially executes various events, for example.
  • the event includes a constant speed traveling event that travels in the same traveling lane at a constant speed, a following traveling event that follows the preceding vehicle, a lane change event, a merging event, a branch event, an emergency stop event, and a charge for passing the toll booth.
  • Event a handover event for ending the automatic operation and switching to the manual operation, and the like.
  • an action for avoidance may be planned based on the peripheral situation of the vehicle 200 (the presence of surrounding vehicles and pedestrians, lane constriction due to road construction, and the like).
  • the autonomous driving control unit 250 generates a target track on which the vehicle 200 travels in the future.
  • the target trajectory includes, for example, a velocity component.
  • the target track is expressed as a sequence of points (track points) to be reached by the vehicle 200.
  • the track point is a point to be reached by the vehicle 200 for each predetermined travel distance, and apart from that, the target velocity and the target acceleration for each predetermined sampling time (for example, about 0 commas [sec]) It is generated as a part.
  • the track point may be a position to be reached by the vehicle 200 at the sampling time for each predetermined sampling time. In this case, information on the target velocity and the target acceleration is expressed by the distance between the track points.
  • FIG. 3 is a diagram for explaining a process of automatic driving.
  • the route is determined by the navigation device 230. This route is, for example, a rough route without distinction of lanes.
  • the recommended lane determination device 240 determines a recommended lane that is easy to travel along the route.
  • the automatic operation control unit 250 generates a track point for traveling along the recommended lane as much as possible while avoiding obstacles, etc., to the track point (and the accompanying speed profile).
  • a part or all of the driving force output device 260, the braking device 262, and the steering device 264 is controlled to travel along.
  • such a role assignment is an example to the last, for example, automatic operation control unit 250 may process centrally.
  • the autonomous driving control unit 250 causes the vehicle 200 to stop after the vehicle 200 travels to the vicinity of the user U who has made the gesture, which is recognized by the external world monitoring unit 210.
  • the driving force output device 260 outputs traveling driving force (torque) for the vehicle 200 to travel to the driving wheels.
  • the driving force output device 260 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and a power ECU (Electronic Control Unit) that controls these.
  • the power ECU controls the above configuration in accordance with the information input from the automatic driving control unit 250 or the information input from the 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 motor in accordance with the information input from the automatic driving control unit 250 or the information input from the drive operator, and outputs the brake torque corresponding to the braking operation to each wheel.
  • the brake device 262 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by the operation of the brake pedal included in the operation operator to the cylinder 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 the information input from the automatic operation control unit 250 to transmit the hydraulic pressure of the master cylinder to the cylinder It is also good.
  • the steering device 264 includes, for example, a steering ECU and an electric motor.
  • the electric motor for example, applies a force to the rack and pinion mechanism to change the direction of the steered wheels.
  • the steering ECU drives the electric motor to change the direction of the steered wheels according to the information input from the automatic driving control unit 250 or the information input from the driver.
  • the output unit 270 notifies the outside of the vehicle of the target information of the vehicle 200 operating according to the purpose of the user U, as described later.
  • the output unit 270 includes, for example, a display device and a speaker.
  • the output unit 270 displays the target information outside the vehicle by the display device.
  • the output unit 270 may notify the outside of the vehicle of the target information by the sound of the speaker.
  • the vehicle control device 300 is, for example, a server device (information providing device) including a communication unit 310, an acquiring unit 320, a plan setting unit 330, an information providing unit 340, and a storage unit 380. .
  • the communication unit 310 is, for example, a network card for connecting to the network NW.
  • the storage unit 380 is realized by a hard disk drive (HDD), a flash memory, a random access memory (RAM), a read only memory (ROM), or the like.
  • the communication unit 310 communicates with the terminal device 100 and the vehicle 200 via the network NW.
  • the acquisition unit 320 and the plan setting unit 330 are realized, for example, by a processor (circuit) such as a CPU executing a program (software) stored in the storage unit 380.
  • a processor circuit
  • some or all of these functional units are realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by cooperation of software and hardware.
  • the acquisition unit 320 acquires the object information P transmitted from the terminal device 100 of the user U via the communication unit 310 and the network NW, and registers the object information P in the storage unit 380 as the object information data 384.
  • the purpose information data 384 includes the purpose information P of the plurality of other vehicles 200.
  • the user information 382 includes personal information of the user U and the like.
  • the acquisition unit 320 acquires the current position of the terminal device 100 at which the target information P is input by the user, or the position designated by the terminal device 100.
  • the acquisition unit 320 acquires information of one or more vehicles operated according to the purpose of the user U at the current time or at a predetermined time.
  • the plan setting unit 330 sets a travel plan of the vehicle 200 based on the purpose information data 384.
  • the plan setting unit 330 also manages billing when the user U uses the vehicle 200.
  • the plan setting unit 330 transmits the set travel plan to the vehicle 200 via the communication unit 310.
  • the information providing unit 340 provides the purpose information P indicating the contents of the purpose for the vehicle 200 to travel to the destination toward the outside of the vehicle based on the set travel plan.
  • providing toward the outside of the vehicle includes, for example, that the vehicle 200 displays the target information P outside the vehicle on the output unit 270 after the information providing unit 340 provides the vehicle 200 with the target information P.
  • the information providing unit 340 includes, for example, providing the target information P to the terminal device 100 of the user U other than the user U who has input the target information P.
  • FIG. 4 is a diagram showing an example of the content of the objective information P.
  • the purpose information P is information in which a purpose, a current location, a desired boarding time, a desired boarding position, and the like are associated with a user ID which is identification information of the user U registered in advance.
  • the “purpose” is, for example, a search query input from the input screen of the terminal device 100 by the user U or a category of the purpose selected from the recommended purposes.
  • “Current location” is position data of the terminal device 100 when the terminal device 100 transmits the target information P.
  • the position data is acquired, for example, by a GPS sensor or the like built in the terminal device 100.
  • the “desired boarding time” and the “desired boarding position” are data input from the input screen of the display unit 120 of the terminal device 100 by the user.
  • the content of the purpose information P is determined when the terminal device 100 receives an input from the user U, and is transmitted to the vehicle control device 300.
  • the input information is transmitted to the vehicle control device 300 as the target information P.
  • the vehicle control device 300 updates the target information data 384 in the storage unit 380.
  • FIG. 5 is a diagram showing an example of an image IM1 to be displayed on the terminal device 100 for inputting the object information P.
  • the user U inputs, for example, an object in the image IM1A.
  • the purpose is to enter a search query or select from the recommendation list of the purpose.
  • the user U inputs the desired boarding time in the switched image IM1B.
  • the time is specified by, for example, an input format such as "immediately”, “* minutes after", “* hours * minutes” and the like.
  • the user U inputs the desired boarding position in the switched image IM1C.
  • the user U selects the current location if he / she desires to get in from the current location, and if he / she desires to get in from the designated location, for example, specify a position on the map.
  • the plan setting unit 330 specifies a destination that meets the purpose of the user based on the received purpose information P.
  • the purpose information P is not related to the recently implemented purpose, and may be input as the future implementation.
  • the user U may set the time to a predetermined time to be scheduled in the future, as in “the purpose from 9 o'clock of tomorrow”.
  • the plan setting unit 330 estimates a destination meeting the user's purpose, for example, based on the search query input regarding the purpose. For example, when the user inputs “movie 00” for the purpose, the plan setting unit 330 accesses the network NW to perform Internet search, and is screening “movie 00” based on the search result. Extract the cinema that is the destination. At this time, the plan setting unit 330 extracts, for example, movie theaters which are destinations, in order of proximity to the current location of the user. The plan setting unit 330 further selects, based on the target information data 384, a movie screening schedule that meets the movie ⁇ screening time, the user's desired boarding time, and the desired arrival time, and provides a movie. Choose a hall.
  • the purpose may be presented, for example, based on the browsing history of the user U's Internet.
  • the terminal device 100 accesses the plan setting unit 330.
  • the plan setting unit 330 extracts, for example, the purpose related to the category in which the degree of preference of the user is high, based on the recent browsing history of the user U on the Internet.
  • the target input may be performed by the terminal device 100 recognizing the voice of the user U.
  • the terminal device 100 recognizes the user U's biological information (gesture, body vibration, expression, emotion analysis), and performs an intention estimation of the user U based on the recognition result.
  • the target input may be performed based on.
  • the plan setting unit 330 automatically displays the extracted purpose on the purpose input screen of the terminal device 100. At this time, the plan setting unit 330 may cause the display unit 120 of the terminal device 100 to present a plurality of purposes as a recommendation list, and allow the user U to select one purpose.
  • the plan setting unit 330 selects the vehicle 200 which can be allocated to the destination set according to the purpose.
  • the plan setting unit 330 refers to the vehicle operation information 386, and searches for a vehicle 200 which can be distributed to a destination (for example, a movie theater).
  • FIG. 6 is a diagram showing an example of the content of the vehicle operation information 386.
  • the vehicle operation information 386 is a vehicle allocation flag indicating whether or not the vehicle allocation has been determined for the vehicle ID that is identification information of the vehicle 200 managed by the vehicle control device 300 (for example, 1 is allocated and 0 is not allocated. Present location, departure location, transit location, destination location, purpose, number of vacant seats, departure time, arrival time, and the like are associated with each other.
  • the vehicle operation information 386 is appropriately updated by the plan setting unit 330 when a change occurs.
  • the plan setting unit 330 refers to the vehicle operation information 386, and extracts a vehicle 200 within a predetermined range from the current location of the user from among the vehicles for which allocation has not been determined.
  • the plan setting unit 330 selects the vehicle 200 that can arrive at the desired riding time of the user U among the extracted vehicles 200 based on the target information data 384.
  • the plan setting unit 330 sets a travel plan of the selected vehicle 200 based on the purpose information data 384.
  • the plan setting unit 330 sets a route from the current position of the vehicle 200 to the current position of the user U or the desired riding position of the user U so that the user U can get on the vehicle 200 at the desired travel time of the user U. Do.
  • the plan setting unit 330 updates the vehicle operation information 386 based on the determined route.
  • the plan setting unit 330 transmits information on the route to the terminal device 100.
  • the terminal device 100 displays an image asking whether to get on the vehicle 200 operating on the determined route.
  • FIG. 7 is a diagram showing an example of an image IM2 displayed on the terminal device 100 and asking the user to get in the vehicle 200.
  • the image IM2 for example, buttons such as “get on” and “do not get on” are displayed to convey presence or absence of a request for getting on the vehicle 200.
  • the plan setting unit 330 transmits the set travel plan to the vehicle 200.
  • the plan setting unit 330 charges the user U who wants to get on the vehicle. Further, the information providing unit 340 transmits the target information P to the vehicle 200 and the network NW. The vehicle 200 causes the user U to ride on the basis of the received travel plan and travels the route to the destination.
  • the vehicle 200 which causes the user U to get to the destination may ride another user U on the route to the destination or on the way to the destination.
  • the information providing unit 340 transmits the information included in the target information P transmitted by the information providing unit 340 to the output unit 270 of the vehicle 200. It may be displayed outside the vehicle.
  • FIG. 8 is a diagram showing an example of the information 271 displayed on the output unit 270 of the vehicle 200.
  • information 271 such as “purpose”, “destination”, “arrival time”, “vacant seat” and the like included in the purpose information P is displayed toward the outside of the vehicle 200.
  • the information 271 may be notified to the outside of the vehicle by voice in addition to the information displayed on the output unit 270 by a speaker or the like.
  • the vehicle 200 travels while displaying the information 271 on the output unit 270 on the route traveling toward the destination.
  • the user U who is trying to move to the same destination or the user U who is going to move to the same destination has empty seats in the vehicle 200 For example, you may ride on the vehicle 200.
  • the other user U performs a gesture such as holding the hand over the traveling vehicle 200, makes the vehicle 200 recognize the intention to ride, and stops the vehicle 200.
  • the external world monitoring unit 210 of the vehicle 200 recognizes the user U who has made a gesture, and stops the vehicle 200 in front of the user U based on the recognition.
  • the user U who tries to ride together by looking at the information 271 may use the terminal device 100 to transmit a request for riding together to the vehicle control device 300.
  • the vehicle control device 300 instructs the vehicle 200 to stop in front of the user U who desires to ride.
  • the user U may transmit a request for passenger riding directly to the vehicle 200 using the terminal device 100.
  • the user U When the vehicle 200 stops in front of the user U, the user U holds the terminal device 100 over the vehicle 200 and performs authentication.
  • the vehicle 200 performs communication with the terminal device 100, face authentication using the outside monitoring unit 210, barcode authentication displayed on the terminal device 100, RFID (Radio Frequency Identification) authentication such as the terminal device 100 or a card, fingerprints, etc. Authentication by biometrics etc. is performed to authenticate the user U and unlock the door.
  • the vehicle 200 transmits the authentication result to the vehicle control device 300.
  • the vehicle 200 may unlock the door and allow the user U to get in.
  • the vehicle control device 300 When recognizing that the user U rides the vehicle 200 on the basis of a notification or the like transmitted by the vehicle 200, the vehicle control device 300 charges the user U who rides the vehicle. The charge is set high, for example, when the number of vacant seats of the vehicle 200 is large, and is set low when the number of vacant seats is small. At this time, the vehicle control device 300 may initially set the purpose and discount the fare of the user U who got on the vehicle according to the number of passengers.
  • FIG. 9 is a sequence diagram showing processing between components of the vehicle control system 1.
  • the terminal device 100-1 transmits the object information P to the vehicle control device 300 when the user U-1 who is about to board the vehicle 200 and accepts the object receives the input of the object information P (1) .
  • the vehicle control device 300 specifies a destination that meets the purpose of the user U-1 based on the purpose information P, selects the vehicle 200 that can be allocated to the set destination, and selects the destination of the selected vehicle 200. Send information about the route to (2).
  • the terminal device 100-1 receives an input of a desire for the user U-1 to get on the vehicle 200, and transmits information regarding the received request for getting on to the vehicle control device 300 (3).
  • the vehicle control device 300 sets the charge amount for the user U-1 based on the user U-1's riding preference (4).
  • the vehicle control device 300 sets a travel plan based on a route from the current position of the vehicle 200 to the current position of the user U-1 or the desired riding position of the user U-1 based on the target information P, and the set travel plan Is transmitted to the vehicle 200 (5).
  • the vehicle control device 300 provides the vehicle 200 with the target information P (6).
  • the vehicle 200 displays the provided purpose information P toward the outside of the vehicle by the output unit 270 (7).
  • the other user U-2 looks at the target information P displayed on the output unit 270, and causes the vehicle 200 to recognize the desire to accompany the vehicle 200 by a gesture or a notification from the terminal device 100-2 (8).
  • the vehicle 200 authenticates the user U-2 who tries to ride, and transmits the result of the authentication to the vehicle control device 300 (9).
  • the vehicle control device 300 transmits, to the terminal device 100-1 of the user U-1, the information inquiring the user U-1 of the determination of permission / disapproval for the ride of the user U-2. Alternatively, the vehicle control device 300 transmits, to the inside of the vehicle 200, information inquiring as to whether the user U-2 is allowed to ride or not. At this time, the vehicle control device 300 presents the charge amount to which the discount is applied to the user U-1 when the discount is set by the user U-2 riding (10). The vehicle 200 or the terminal device 100-1 having received the operation for permitting the passenger ride transmits the permission for the passenger ride to the vehicle control device 300 (11). The vehicle control device 300 sets the charge amount for the user U-2 based on the permission of the passenger ride accepted from the user U-1 and the authentication result of the user U-2 (12). The vehicle control device 300 sets the corrected billing amount of the user U-1 (13).
  • the vehicle control device 300 sets a travel plan for allowing the user U-2 who is going to ride together to ride, and transmits it to the vehicle 200 (14).
  • the vehicle control device 300 determines the charges of the users U-1 and U-2 and charges them (15), (16).
  • the plan setting unit 330 sets a route on which the vehicle 200 is to travel, which passes through the designated positions designated by the plurality of users U-1 and U-2.
  • the plan setting unit 330 determines whether the vehicle 200 has arrived at the destination (step S160). If the vehicle 200 has not arrived at the destination, the process returns to step S120. In addition, when the vehicle 200 arrives at the destination, the processing of this flowchart ends.
  • the destination can be determined according to the purpose of the user U-1, and the user U can be moved to the destination by the vehicle 200. Then, according to the vehicle control system 1, in the route for moving the user U-1 to the destination, the other user U-2 having the same or similar purpose can be carried on the vehicle 200.
  • the user U-2 determines whether or not the user U-2 rides on the basis of the purpose information P displayed on the output unit 270 of the vehicle 200.
  • the second embodiment exemplifies a case where the user U-2 who is to ride is provided with the target information P by the information providing unit 340 to the terminal device 100 via the network NW.
  • the information providing unit 340A of the vehicle control device 300A provides the purpose information P of the vehicle 200 toward the outside of the vehicle.
  • providing toward the outside of the vehicle means, for example, that the information providing unit 340 provides the target information P to the external terminal device 100 or the like (for example, outside the vehicle) via the Internet of the network NW.
  • the current positions of the plurality of vehicles 200 and the virtual routes (routes 1 to 3 in the drawing) of the plurality of vehicles 200 are displayed on the map.
  • the plurality of vehicles 200 that are located within a predetermined range from the current position of the user U are displayed.
  • the virtual route is a trace when a plurality of vehicles 200 travel from the current location of the user U-2 to the destination.
  • the plurality of vehicles 200 have vacant seats, and those which can be taken are displayed.
  • the vehicle 200 with no vacant seat is not displayed because the output unit 270 stops providing information.
  • the target information P is displayed in the vicinity of the plurality of vehicles 200, respectively.
  • the fare for taking a ride, the purpose, the arrival time of the user U to the current location, the number of vacant seats, and the like are displayed.
  • the user U selects the vehicle 200 from among the displayed plurality of vehicles 200 according to his / her purpose, a planned boarding position, a destination, an arrival time, and the like.
  • the user U-2 when selecting the vehicle 200, the user U-2 operates the terminal device 100-2 to select items such as the purpose, the required time, the destination, etc.
  • the vehicle 200 may be displayed on the display unit 120.
  • the vehicle control system 1 weights the items according to the items such as the purpose, the required time, the destination, etc. selected by the user U-2, and changes the display order of the purpose of the displayed vehicle 200. Good.
  • the vehicle 200 may be displayed in the order of items selected by the user U-2.
  • the vehicles 200 are displayed on the display unit 120 in order of proximity to the destination for which the purpose is implemented, in accordance with the purpose input by the user U-2.
  • the terminal device 100 may cause the display unit 120 to display the vehicles in order of proximity to the user's planned boarding location according to the current location of the user U-2 and the planned boarding position input by the user U-2. .
  • the terminal device 100 may cause the display unit 120 to display information of the vehicle 200 of a vehicle operated according to a plurality of purposes located in a predetermined range from the position designated by the user U-2.
  • the vehicles 200 are displayed in the display unit 120 in descending order of the degree of matching with the purpose information P.
  • the user U-2 selects a vehicle 200 that is the same as or similar to his / her purpose from among the plurality of vehicles 200 displayed on the display unit 120.
  • the similar purpose includes, for example, the action of implementing the purpose being identical or the destination being identical even if the target object is not identical.
  • the purpose of watching movie ⁇ and the purpose of watching movie ⁇ ⁇ are regarded as similar if the movie is shown in the same movie theater.
  • the purpose of eating ramen is similar to the purpose of eating dumplings.
  • FIG. 13 is a diagram showing an example of the image IM4 displayed on the display unit 120 of the terminal device 100.
  • an image including the target information P of the vehicle 200 selected by the user U- 2 and a button for selecting whether to get on or not is displayed.
  • the image IM4A is switched to an image IM4B for specifying a position for the user U-2 for getting in.
  • the riding position is specified by, for example, using the current location of the user U-2 and tapping the position displayed on the map.
  • the passenger control information 101 including the ID of the user U, the ID of the vehicle 200 desiring to board the vehicle, the current position of the user U-2, and the desired boarding position is the vehicle control device Sent to 300.
  • the information providing unit 340 After receiving the passenger information 101, the information providing unit 340 notifies the vehicle 200 that there is a ride request.
  • the occupant of the vehicle 200 operates the operation screen displayed on the HMI 232 of the navigation device 230, for example, and transmits the permission to ride the vehicle to the vehicle control device 300.
  • the vehicle control device 300 may transmit information in the vehicle 200 for inquiring as to whether the user U-2 is allowed to ride or not, and the user U-1 who is in the vehicle 200 It may be transmitted to the terminal device 100-1. Further, at that time, when a discount by ride is set, the vehicle control device 300 transmits the charge amount to which the discount is applied by the ride of the user U-2 to the user U-1, and the user If U-1 permits a ride, the preset charge amount is corrected.
  • FIG. 14 is a diagram showing an example of the content of the passenger information 101.
  • the plan setting unit 330 authenticates the user U-2 who desires to ride on the basis of the passenger information 101, and the traveling plan of the vehicle 200 for which the user desires to ride is required to pass through the designated position designated by the user U-2.
  • Set a travel plan to change the route of When there are a plurality of users U who want to ride, the plan setting unit 330 changes the travel plan for changing the planned travel route of the vehicle 200 for which the passenger desires to ride so as to pass through the designated positions designated by the plurality of users.
  • Each process in the terminal device 100 described above may be performed on the vehicle control device 300 side and displayed on the display unit 120 of the terminal device 100.
  • FIG. 15 is a sequence diagram showing processing between components of the vehicle control system 1. The same processing as that of the first embodiment is performed from (1) to (5) of the processing of the vehicle control system 1. Hereinafter, the process (5) will be described.
  • the vehicle control device 300 transmits the travel plan to the vehicle 200 based on the purpose information P of the user U (5). Thereafter, the vehicle control device 300 provides the purpose information P toward the outside of the vehicle via the network NW.
  • the terminal device 100 acquires the target information P by the operation of the user U who desires to ride (6).
  • the terminal device 100 allows the vehicle control device 300 to ride the vehicle 200 operating according to the same or similar purpose as the purpose of the user U who wants to ride by operation of the user U who desires to ride. Send hope (7).
  • the vehicle control device 300 notifies the vehicle 200 that there is a request for passenger riding, and when a discount for passenger riding is set, it indicates to the occupant that the discount is applied for the passenger U-2 passenger riding. (8).
  • the vehicle 200 transmits the passenger's permission to the vehicle control device 300 by the operation of the passenger (9).
  • the vehicle control device 300 authenticates the user U-2 who desires to ride on the basis of the permission to ride and sets the charge amount of the user U-2 on the basis of the authentication result (10).
  • the vehicle control device 300 sets the corrected billing amount of the user U-1 (11)
  • the vehicle control device 300 sets a travel plan for causing the user U-2 to ride together and sends it to the vehicle 200 Do it (12).
  • the vehicle control device 300 determines the charged amounts of the users U-1 and U-2 and charges them (13), (14).
  • FIG. 16 is a flowchart showing an example of the flow of processing by the vehicle control device 300.
  • the acquisition unit 320 of the vehicle control device 300 acquires the target information P input by the user U (step S200).
  • the plan setting unit 330 sets a travel plan of the vehicle 200 based on the purpose information P acquired by the acquisition unit 320 (step S210).
  • the information provision unit 340 provides the purpose information P toward the outside of the vehicle (step S220).
  • the plan setting unit 330 calculates the number of vacant seats of the target vehicle 200 when there is a request for passenger riding from another user U, and determines whether or not there are vacant seats for the passenger preferred person (step S230). When there are vacant seats, the plan setting unit 330 sets a travel plan for allowing a plurality of users having the same or similar purpose included in the purpose information P to ride (step S240).
  • the plan setting unit 330 sets a route for the vehicle 200 to travel through the designated positions designated by the plurality of users U (step S250).
  • the plan setting unit 330 determines whether the vehicle 200 has arrived at the destination (step S260). If the vehicle 200 has not arrived at the destination, the process returns to step S220. In addition, when the vehicle 200 arrives at the destination, the processing of this flowchart ends.
  • the plan setting unit 330 sets a travel plan of the vehicle 200 on which a plurality of users having the same or similar purpose included in the purpose information P are carried. That is, after the purpose information P of the user U accepted by the acquisition unit 320 is transmitted to the terminal device 100 outside the vehicle, the plan setting unit 330 is based on the passenger information 101 returned from the terminal device 100 outside the vehicle. , Change the travel plan of the vehicle 200.
  • the user U who desires to ride can select the vehicle 200 moving to the destination with the same or similar purpose in the terminal device 100.
  • a vehicle control system 1B of the third embodiment will be described.
  • the user U who desires to ride is presented and displayed information about the purpose of the vehicle 200 to be ride-on through the output unit 270 of the vehicle 200 and the terminal device 100.
  • the user U selected the purpose.
  • 3rd Embodiment when the user U inputs the objective through the terminal device 100 grade
  • FIG. 17 is a diagram showing an example of the configuration of a vehicle control system 1B of the third embodiment.
  • the vehicle control system 1B has the same configuration as the configuration of the vehicle control system 1 of the first embodiment.
  • the same names and reference numerals are used for the same configuration as that of the first embodiment, and the overlapping description is appropriately omitted.
  • the terminal device 100 receives an input of an object by the user U who wants to ride on the basis of the search query.
  • the target input is input, for example, by character input from the display unit 120.
  • the target input may be input by a device that detects speech, brain waves, gestures, and gaze in addition to character input.
  • the plan setting unit 330 extracts the vehicle 200 for the purpose that is the same as or similar to the purpose of the user U who desires to ride.
  • the information providing unit 340B provides the extracted information on the vehicle 200 to the terminal device 100 of the user U who desires to ride.
  • the display unit 120 displays, for example, an image similar to the image IM3 (see FIG. 12) in which a plurality of vehicles 200 located within a predetermined range centering on the current position on the map is displayed. The vehicle 200 is displayed within a predetermined range from the current location of the user U.
  • FIG. 18 is a diagram showing an example of an image IM5 displayed on the terminal device 100 and including information of the vehicle 200 operated according to the same or similar purpose.
  • Information on the vehicles 200 operated according to the same or similar purpose is not limited to one, and information for a plurality of vehicles may be provided.
  • the image IM5 for example, in addition to a destination, a purpose, an estimated arrival time to the current position, and a charge, a button for making a request for getting in the vehicle 200 is displayed.
  • the user U desires to get in the vehicle 200 by touching and operating the image IM 5 on the screen of the terminal device 100.
  • the user U may select an object of interest from among a plurality of objects presented from the terminal device 100 and set the object information P.
  • a plurality of candidate purposes are presented.
  • a plurality of candidates for the purpose may be listed and displayed.
  • FIG. 19 is a diagram showing an example of an image IM6 showing candidates of a plurality of purposes presented to the terminal device 100.
  • the user U selects an object of interest from among a plurality of objects presented in the image IM6, and displays the details of the object.
  • the display unit 120 On the display unit 120 whose display has been switched, for example, the above-described image IM5 in which detailed information of the vehicle 200 being carried is described is displayed.
  • the user U desires to get in the vehicle 200 by carrying out an operation desired to ride on the image IM5 of the terminal device 100 in the same manner as described above.
  • FIG. 20 is a diagram showing an example of the image IM 7 for inputting information displayed on the terminal device 100. As shown in FIG.
  • the passenger ID 101 (see FIG. 14) including the ID of the user U, the ID of the vehicle 200 desiring to board the vehicle, the current position of the user U, and the desired boarding position controls the vehicle It is transmitted to the device 300B.
  • the information providing unit 340B After receiving the passenger information 101, the information providing unit 340B notifies the vehicle 200 that there is a request for getting on the vehicle.
  • the occupant of the vehicle 200 operates the operation screen displayed on the HMI 232 of the navigation device 230, for example, and transmits the permission to ride the vehicle to the vehicle control device 300B.
  • the plan setting unit 330 adjusts the travel plan of the vehicle 200 based on the passenger information 101, and changes the route so that the user U can ride. When there is no need to change the route, the plan setting unit 330 changes the vehicle 200 travel plan by adding a plan such as stopping so that the user U can ride along while maintaining the route.
  • FIG. 21 is a diagram showing an example of an image IM8 related to the route information of the vehicle 200 displayed on the terminal device 100. As shown in FIG. In the image IM8, for example, buttons such as “get on” and “do not get on” for determining the intention of getting on the vehicle 200 are displayed.
  • the plan setting unit 330 transmits the changed travel plan to the vehicle 200.
  • Vehicle 200 travels a route along which user U rides based on the changed travel plan.
  • FIG. 22 is a sequence diagram showing processing between components of the vehicle control system 1B.
  • the terminal device 100 receives an input intended to be performed by the user U (1).
  • the vehicle control device 300B extracts the vehicle 200 operating or scheduled to operate according to the same or similar purpose as the purpose input by the user U, and provides the terminal device 100 with the information of the extracted vehicle 200 ( 2).
  • the terminal device 100 receives the selection of the vehicle 200 operated according to the purpose which is the same as or similar to the purpose of the user U by the operation of the user U, the terminal device 100 rides the vehicle 200 with the riding preference for the vehicle 200. Passenger information 101 is transmitted to the vehicle control apparatus 300B (3).
  • the vehicle control device 300B notifies the vehicle 200 that there is a ride request (4).
  • the vehicle 200 transmits the passenger's permission to the vehicle control device 300B by the operation of the passenger (5).
  • the vehicle control device 300B changes the travel plan of the vehicle 200 based on the passenger information 101, and transmits route information based on the travel plan to the terminal device 100 (6).
  • the terminal device 100 transmits the notification of the determination of getting on the vehicle 200 by the input operation of the user U (7).
  • the vehicle control device 300B sets the charge amount for the user U based on the determination of the user U's boarding (8).
  • the vehicle control device 300B transmits, to the vehicle 200, a travel plan for allowing the user U to ride (9).
  • the vehicle control device 300B determines the charge amount of the user U and charges it (10).
  • the payment of the toll may be withdrawn by the payment method specified by the passenger in advance, but the charge may change due to the increase or decrease of the passenger or the change of the travel time / distance.
  • the final charge amount may be set and settled at the time of getting off.
  • FIG. 23 is a flowchart showing an example of the flow of processing by the vehicle control device 300B.
  • the acquisition unit 320 of the vehicle control device 300B acquires the purpose input by the user U (step S300).
  • the plan setting unit 330 extracts a rideable vehicle 200 having the same or similar purpose as the purpose acquired by the acquisition unit 320 (step S310).
  • the plan setting unit 330 determines whether or not the vehicle 200 for which the terminal device 100 desires to ride is selected (step S320).
  • the acquisition unit 320 acquires the passenger information 101 (step S330).
  • the plan setting unit 330 changes the travel plan of the vehicle 200 to a travel plan on which the user U rides (step S340).
  • the plan setting unit 330 determines whether or not the user U has decided to board the vehicle 200 based on the presence or absence of notification of determining the boarding from the terminal device 100 to the vehicle 200 (step S350). ).
  • the process returns to step S310, and the plan setting unit 330 extracts another rideable vehicle 200.
  • the information providing unit 340B transmits, to the vehicle 200, a travel plan for causing the user U to ride based on the notification. (Step S360).
  • the plan setting unit 330 determines whether the vehicle 200 has arrived at the destination (step S370). If the vehicle 200 has not arrived at the destination, the process returns to step S310. In addition, when the vehicle 200 arrives at the destination, the processing of this flowchart ends.
  • the user U inputs the purpose he / she intends to carry out with the terminal device 100 or the like, so that the purpose the same as or similar to the purpose of the user U
  • the vehicle 200 operating for the purpose can be extracted and presented to the user.
  • the user U can efficiently arrive at the destination for implementing his / her purpose by the vehicle control system 1B.
  • the vehicle control device 300 may be applied to a manually driven vehicle that the user U is driving, and an automatically driven vehicle 200 in which the user U is executing the automatic driving mode.
  • the user U searches for vehicle 200 purpose information in the vicinity of the own vehicle using the terminal device 100, and selects 200 to be operated according to the purpose which is the same as or similar to the purpose of the user. Then, the user U may register in the vehicle control device 300 the purpose information of the selected vehicle 200 as the purpose information of the own vehicle.
  • the terminal device 100 acquires the destination of the vehicle 200 operated according to the purpose that is the same as or similar to the purpose of the user U, and the manually driven vehicle It may be registered in the navigation device of This registration may be performed directly by the operation of the navigation device. Further, the user U may find the vehicle 200 selected based on the search result, and track the target vehicle 200 to arrive at the destination. In this case, the vehicle control device 300 may perform the process of excluding the vehicle 200 registered as not to be tracked from the search target.
  • the search of the vehicle 200 may be performed based on preset conditions.
  • the conditions set in advance are, for example, setting the search range of the vehicle 200 within a predetermined range from the distance from the current location of the user, setting in advance the riding place on the vehicle 200, and setting the purpose in advance. It includes narrowing down a target search target in advance. By doing this, when the purpose of use of the vehicle 200 is determined by the user U, it is possible to speed up the search of the vehicle 200 of the vehicle control system.
  • the terminal device 100 may display the vehicles 200 on the display unit 120 in descending order of the number of vehicles 200 for which the same purpose is set, regardless of the input of the user U. In this manner, the user U can know the event held on that day according to the target information P of the vehicle 200 displayed. Then, the user U may participate in the event, or may set another purpose to avoid the area or route congested by the event.
  • the terminal device 100 may display the vehicles 200 on the display unit 120 in ascending order of the number of vehicles 200 for which the same purpose is set, without depending on the input of the user U. In this way, the user U can discover the purpose which he / she did not assume from the different purpose information P of the plurality of vehicles 200 displayed.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Health & Medical Sciences (AREA)
  • Economics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Remote Sensing (AREA)
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  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un système de commande de véhicule (1) qui comprend : une unité d'acquisition (320) permettant d'acquérir des informations d'intention entrées par un utilisateur ; une unité de définition de plan (330) permettant de définir un plan de déplacement pour un véhicule sur la base des informations d'intention acquises par l'unité d'acquisition ; et une unité de fourniture d'informations (340) permettant de fournir les informations d'intention à l'extérieur du véhicule.
PCT/JP2018/024957 2017-06-29 2018-06-29 Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule, et programme WO2019004468A1 (fr)

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CN111752270A (zh) * 2019-03-11 2020-10-09 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
WO2020262673A1 (fr) * 2019-06-28 2020-12-30 株式会社ＮｅａｒＭｅ Dispositif de traitement d'informations, procédé de traitement d'informations et programme
JP2021163415A (ja) * 2020-04-03 2021-10-11 トヨタ自動車株式会社 運行管理装置、運行管理システム、運行管理方法、及び車両
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