WO2019031002A1 - 制御システムおよび制御方法 - Google Patents

制御システムおよび制御方法 Download PDF

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Publication number
WO2019031002A1
WO2019031002A1 PCT/JP2018/017972 JP2018017972W WO2019031002A1 WO 2019031002 A1 WO2019031002 A1 WO 2019031002A1 JP 2018017972 W JP2018017972 W JP 2018017972W WO 2019031002 A1 WO2019031002 A1 WO 2019031002A1
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WO
WIPO (PCT)
Prior art keywords
route
pedestrian
user
control system
autonomous driving
Prior art date
Application number
PCT/JP2018/017972
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English (en)
French (fr)
Japanese (ja)
Inventor
敦 塩野崎
Original Assignee
ソニー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Priority to CN201880050498.9A priority Critical patent/CN110998687B/zh
Publication of WO2019031002A1 publication Critical patent/WO2019031002A1/ja

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Definitions

  • the present disclosure relates to a control system and control method.
  • a traffic system that controls roads and traffic lights is constructed according to the condition of vehicles and disaster information.
  • Patent Document 1 discloses a technology for grasping the number of pedestrians waiting for a signal and changing the signal switching time of the pedestrian traffic signal.
  • Patent Document 2 discloses a traffic system which monitors disaster information and executes disaster control of light color control of a traffic signal set in advance when disaster information is received.
  • Patent Document 3 discloses a system in which appearance information of a subject is detected by a fixed camera, and the management apparatus moves and monitors a mobile robot when an abnormality of the subject is detected. For example, when a plurality of cameras lose sight of a child, abnormality detection is performed.
  • the traffic signal for pedestrians is controlled according to the number of pedestrians, and cooperation with the road for cars was not achieved.
  • factors related to pedestrians other than the number of pedestrians were not considered in the change of transportation infrastructure.
  • the present disclosure proposes a control system and a control method capable of adjusting an optimal route on the traffic infrastructure in accordance with pedestrian attributes and conditions.
  • the communication unit that receives user information including at least one of the attribute and the condition of the user present in the specific pedestrian route, and around the specific pedestrian route according to the user information
  • a control unit configured to generate request information for requesting control of the automatic driving vehicle route, and to control transmission to the road traffic control system via the communication unit Do.
  • the processor may receive, by the communication unit, user information including at least one of a user attribute and a condition present in a specific pedestrian route, and the specific information may be received according to the user information.
  • FIG. 1 is a diagram for describing an overview of an information processing system according to an embodiment of the present disclosure.
  • a route for an autonomous driving vehicle (a road for automatically driving vehicles, a roadway) according to, for example, the crowded situation of a pedestrian route (pedestrian road, sidewalk) r1.
  • the route R1 for the autonomous vehicle is automatically controlled by automatically controlling the autonomous vehicles 32 (32a to 32e) traveling on the routes R1 and R2 for the autonomous vehicle. It is possible to change the lane of the automatically driven vehicle 32 traveling on to the route R2 for the automatically driven vehicle and open the route R1 for the automatically driven vehicle to the pedestrian. With the spread of automatic driving in recent years, it is possible to automatically control the traffic volume of a vehicle.
  • optimization of the pedestrian route is not limited to the alleviation of the crowded condition, and for example, it is possible to expand the sidewalk route or provide a detour route according to the pedestrian's emotion.
  • FIG. 2 is a diagram showing an example of the entire configuration of the information processing system according to the present embodiment.
  • the information processing system includes a management server 2, a road traffic control server 3, an emotion data server 4, and a flow data server 5.
  • the management server 2 operates in cooperation with other systems such as the road traffic control server 3, the emotion data server 4, and the people flow data server 5, and attributes (age, inbound, Adjust the optimal route on the transportation infrastructure according to the situation (number of people, emotions, etc.) and the situation. More specifically, for example, the management server 2 acquires the attribute and the condition of the pedestrian at the target location from the flow data server 5 and the emotion data server 4 and controls the road traffic so as to optimize the pedestrian route. Request to server 3
  • the emotion data server 4 acquires and accumulates pedestrian's emotion information based on various sensor data.
  • the "emotion” may use, for example, an emotion defined by Russell's ring model of emotions.
  • the emotional toroidal model is shown by a two-dimensional axis of "Activated / deactivated” and "Pleasant / Unpleasant". Specifically, anger, irritability, boredom and depression are assumed as unpleasant emotions.
  • the emotion data server 4 recognizes a face image from captured images acquired from a large number of camera sensors 41 installed on the road, performs expression analysis, and detects pedestrian emotion information. You may get it. In addition, it is not limited to analysis of a captured image, You may analyze a speech content by the audio
  • the sensor data is not limited to the sensors installed on the road, and various sensor data acquired by sensors provided on information processing terminals (smartphones, mobile phone terminals, tablet terminals, PCs, wearable devices, etc.) carried by pedestrians
  • the emotion information of the pedestrian may be acquired based on (a face image, voice data, biometric information, etc.).
  • the emotion data server 4 may receive and acquire emotion information analyzed based on various sensor data in an information processing terminal carried by the pedestrian.
  • the population flow data server 5 acquires and accumulates population flow data on the road, such as the degree of congestion of pedestrians. For example, the population flow data server 5 can recognize the number of pedestrians in a specific place and the degree of congestion based on the number-of-terminals information (number-of-people information) acquired from a large number of population flow sensors 51 installed on the road. .
  • the human flow sensor 51 receives radio waves and acquires the number of information processing terminals (the number of user terminals) present in the vicinity.
  • the crowd flow sensor 51 has a Wi-Fi radio wave detection unit that detects a Wi-Fi radio wave transmitted from a Wi-Fi terminal such as a smartphone carried by a pedestrian, and based on the detection result of the Wi-Fi radio wave It can detect how many people are around.
  • the management server 2 can also acquire position information and attribute information of a pedestrian by either the emotion data server 4 or the personal flow data server 5 described above.
  • the road traffic control server 3 grasps the current state of the road, and controls the traffic facility 30 such as a traffic light, an electronic road sign, an electronic road bulletin board (signage terminal) and the like.
  • the road traffic control server 3 can also control the traffic infrastructure in cooperation with the automatic driving navigation server 31 and the pedestrian navigation server 33.
  • the autonomous driving navigation server 31 grasps the traveling condition of the autonomous driving vehicle 32, performs data communication with the autonomous driving vehicle 32, provides traffic information, and the like.
  • the autonomous driving vehicle 32 basically performs autonomous driving autonomously, but a traveling route may be designated by the autonomous driving navigation server 31.
  • the autonomous driving vehicle 32 can perform autonomous driving by acquiring route information from the autonomous driving navigation server 31, detecting a traffic condition in the vicinity, acquiring information of a traffic light and an electric light bulletin board, as necessary.
  • the function of the autonomous driving navigation server 31 may be installed in each autonomous driving vehicle 32 as an autonomous driving navigation system.
  • the pedestrian navigation server 33 grasps the position and condition of each pedestrian by a pedestrian terminal 34 (a smart phone, a mobile phone terminal, a tablet terminal, an information communication terminal such as a wearable device) carried by the pedestrian, and as necessary Present walk routes and provide traffic information to pedestrians.
  • a pedestrian terminal 34 a smart phone, a mobile phone terminal, a tablet terminal, an information communication terminal such as a wearable device
  • the function of the pedestrian navigation server 33 may be mounted on each pedestrian terminal 34 as a pedestrian navigation system.
  • Each server included in the information processing system is not limited to a single device, and may be a system including a plurality of devices. That is, the road traffic control server 3, the emotion data server 4, the traffic flow data server 5, the automatic driving navigation server 31, and the pedestrian navigation server 33 are respectively a road traffic control system, an emotion data system, a traffic flow data system, an automatic driving navigation system , And a pedestrian navigation system.
  • FIG. 3 is a block diagram showing an example of the configuration of the management server 2 according to the present embodiment.
  • the management server 2 includes a control unit 20, a communication unit 21, and a storage unit 22.
  • Control unit 20 The control unit 20 functions as an arithmetic processing unit and a control unit, and controls the overall operation in the management server 2 according to various programs.
  • the control unit 20 is realized by, for example, an electronic circuit such as a central processing unit (CPU) or a microprocessor.
  • the control unit 20 may also include a ROM (Read Only Memory) that stores programs to be used, operation parameters, and the like, and a RAM (Random Access Memory) that temporarily stores parameters and the like that change appropriately.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control unit 20 also functions as the rule setting unit 201 and the route optimization request unit 202.
  • the rule setting unit 201 sets a priority rule regarding the traffic infrastructure, such as when to give priority to the pedestrian, and registers the priority rule in the storage unit 22.
  • the priority rule is, for example, associated with each place, and includes place information, a condition (threshold value), and the like.
  • the conditions include a threshold of change in emotion, a threshold of the number of pedestrians, a threshold of congestion degree, and the like. The threshold conditions may be different depending on the place.
  • the route optimization request unit 202 determines a specific pedestrian route (road) based on user information including at least one of user attributes and conditions (including emotion or number of people) present in a specific pedestrian route. It generates request information for requesting control of the surrounding autonomous driving vehicle route (road) and transmits it to the road traffic control server 3.
  • the route optimization request unit 202 stores information based on user information such as the number of users walking in the target location received from the emotion data server 4 or the flow data server 5 and the user's emotions. With reference to the priority rule registered in the unit 22, it is determined whether or not the condition for giving priority to pedestrians is satisfied. When the condition for prioritizing pedestrians is satisfied, the route optimization request unit 202 generates request information requesting the road traffic control server 3 controlling traffic infrastructure to prioritize pedestrians at a target location. And transmit to the road traffic control server 3 via the communication unit 21. On the road traffic control server 3 side, it is judged whether or not the request can be carried out, and control of the traffic equipment 30 (traffic light, electric road sign, etc.) of the target location and notification to the automatic driving navigation server 31 are performed.
  • the traffic equipment 30 traffic light, electric road sign, etc.
  • the communication unit 21 is connected to an external device by wire or wirelessly to transmit and receive data.
  • the communication unit 21 includes, for example, a road traffic control server 3, an emotion data server 4, and a people flow data server 5 via a network by wired / wireless LAN (Local Area Network), Wi-Fi (Wireless Fidelity, registered trademark) or the like. Connect by communication.
  • the storage unit 22 is realized by a ROM that stores programs used for processing of the control unit 20, calculation parameters, and the like, and a RAM that temporarily stores parameters and the like that change appropriately.
  • the storage unit 22 according to the present embodiment stores priority rules for pedestrians and the like in the traffic infrastructure described above.
  • the configuration of the management server 2 according to the present embodiment has been specifically described above.
  • the configuration of the management server 2 shown in FIG. 3 is an example, and the present embodiment is not limited to this.
  • at least a part of the configuration of the management server 2 may be in an external device.
  • FIG. 4 is a flowchart showing operation processing according to the first embodiment.
  • the management server 2 acquires at least one of the attribute (age, inbound, failure, etc.) and the status (number of people, emotion, etc.) of the user who is at the target location (step S103) .
  • the management server 2 since the system always processes situations in various places, it is assumed that the management server 2 divides areas by defining a specific place as a target, and sequentially processes each area.
  • the management server 2 may select a target location based on prioritized information obtained from another system. For example, information on a congested area may be acquired from the flow data server 5, and pedestrian emotion information in the target area may be acquired and processed from the emotion data server 4 in order of the congested area.
  • an area which has received an explicit request from the user may be processed preferentially.
  • the management server 2 may perform processing based on prediction information of change in emotion according to the time zone (for example, an area where the pedestrian's discomfort index is high depending on the time zone is preferentially selected as the target location , You may get the pedestrian situation in real time).
  • the management server 2 determines whether the pedestrian priority rule is satisfied based on at least one of the attribute and the situation (step S106). For example, pedestrians who have 80% or more of inbound tourists (there is a lot of people unfamiliar with the area, so confusion is likely to occur) or a degree of frustration (so-called discomfort index etc.) of 75% or more It is assumed that the rule to prioritize
  • the management server 2 requests the road traffic control server 3 for pedestrian priority control (step S109). For example, the management server 2 generates request information for requesting installation of a pedestrian priority route, and transmits the request information to the road traffic control server 3.
  • the road traffic control server 3 determines whether pedestrian priority control is possible (step S112). For example, it is determined whether it is possible to change the autonomous driving route around the pedestrian route to the pedestrian route at the target location and expand the pedestrian route.
  • the road traffic control server 3 prioritizes the road as a pedestrian, and restricts the road for an autonomous vehicle as necessary (step S115). Specifically, the road traffic control server 3 notifies the traffic facility 30 (such as a traffic light and a lightning road sign) attached to the road for automatic driving at the target location of the restriction on the road for automatic driving, and each automatic The driving vehicle may autonomously obtain information from the traffic facility 30 and travel according to the restriction of the road for autonomous driving. In addition, the road traffic control server 3 notifies the automatic driving navi server 31 that the road for the automatic driving vehicle is restricted, and notifies the automatic driving navi server 31 to each automatic driving vehicle traveling in the corresponding area. You may As a result, each of the autonomous driving vehicles can change lanes or change routes and promptly open a predetermined route for an autonomous driving vehicle as a pedestrian priority road.
  • the traffic facility 30 such as a traffic light and a lightning road sign
  • FIG. 5 is a view for explaining the sidewalk extension according to the second embodiment.
  • the sidewalk is changed by changing the route (car road) R1 for an autonomous vehicle to the pedestrian route r2 as shown on the right of FIG. It is possible to expand and relieve congestion.
  • the autonomous driving vehicle that has run on the autonomous driving route R1 opens the autonomous driving route R1 by, for example, changing the lane to the autonomous driving route R2 or passing the other route.
  • FIG. 6 is a flowchart showing operation processing according to the present embodiment.
  • the management server 2 acquires at least one of the attribute (age, inbound, failure, etc.) and the status (number of people, emotion, etc.) of the user who is at the target location (step S123) .
  • the management server 2 determines whether or not the pedestrian priority rule is satisfied based on the attribute and the condition of the target place.
  • the determination is made based on the degree of congestion or emotion of the pedestrian at the target location.
  • the management server 2 determines whether the number of pedestrians in the target location exceeds a threshold (step S126).
  • the number of pedestrians at the target location may be acquired from the flow data server 5.
  • the management server 2 may determine whether the number of passersby per unit time exceeds a predetermined threshold for a predetermined time.
  • the management server 2 may determine whether the irritability degree of the pedestrian at the target location exceeds a threshold (step S129).
  • a threshold for example, in the emotion data server 4, facial expression analysis of a face based on a captured image acquired by a camera sensor 41 installed at a target location, pedestrian's voice collected by a micro sensor (not shown) It is recognized based on the analysis of the content. For example, a facial expression that is causing wrinkles in a bag, a situation in which a phrase such as a monologue is issued, etc. may be annoyed state, and the state may continue to define the degree of annoyance of the individual ( For example, the frustration degree index is ranked 1 to 5).
  • the proportion of people with rank 4 or more in the target location may be defined as the frustration degree of the location.
  • the management server 2 sets a threshold (for example, 80%) of the frustration degree, and determines whether the frustration degree of the target location is, for example, 80% or more.
  • the management server 2 automatically It is determined whether the traffic volume on the driving road exceeds a threshold (step S132). This judgment is to prevent the road from being restricted when the traffic volume of the autonomous driving road is large, but this is not necessarily essential.
  • the management server 2 requests the road traffic control server 3 for a pedestrian priority route at the target location (step S135). ).
  • the road traffic control server 3 determines whether there is an autonomous driving road that can be reduced at the target location (step S138).
  • the road traffic control server 3 reduces the autonomous driving road and displays that the sidewalk has been expanded on the lightning road sign at the target location. It controls (step S141).
  • the lightning traffic classification sign at the target location (traffic facility 30 attached to the road for autonomous vehicles) may indicate that the road for autonomous vehicles has been contracted.
  • each autonomous driving vehicle can autonomously obtain information from the traffic facility 30 and can travel according to the reduction of the autonomous driving vehicle road.
  • the road traffic control server 3 notifies the autonomous driving navigation server 31 that the autonomous driving vehicle road is to be reduced, and each autonomous driving vehicle travels (or is scheduled to travel) the corresponding area from the autonomous driving navigation server 31. May be notified to the user.
  • each of the autonomous driving vehicles can change lanes and change routes and promptly open a predetermined autonomous driving road as a pedestrian priority road.
  • FIG. 7 is a diagram for explaining the situation before the pedestrian alternate route appearance according to the present embodiment. As shown in FIG. 7, for example, when a pedestrian road (pedestrian route r1) is congested and the user is annoyed, the management server 2 requests a pedestrian priority route.
  • FIG. 8 is a diagram for explaining the appearance of a pedestrian bypass route according to the present embodiment.
  • a pedestrian bypass route As shown in FIG. 8, for example, it is possible to limit the road R1 for an autonomous vehicle (block traffic) and cause a detour route r2 to appear. Thereby, the congestion of the pedestrian route r1 can be alleviated, and the annoyance of the pedestrian can be eliminated. Also, the appearance of such a detour route may be notified to the pedestrian on the original route r1. The notification may be made to a pedestrian terminal 34 such as a smartphone owned by the pedestrian, or may be made by a nearby signage, a lightning road sign, or the like.
  • FIG. 9 is a diagram for explaining notification of a detour route. As shown in FIG. 9, for example, it may be displayed that there is a detour route on the signage 35 installed on the pedestrian route r1.
  • FIG. 10 is a flowchart showing operation processing according to the present embodiment.
  • the management server 2 acquires at least one of the attribute (age, inbound, failure, etc.) and the condition (number of people, emotion, etc.) of the user who is at the target location (step S203) .
  • the management server 2 determines, as an example of the pedestrian priority rule, whether the frustration degree of the pedestrian at the target location exceeds the threshold (step S206) or the walking of the target location It is determined whether the number of persons exceeds a threshold (step S209).
  • the management server 2 makes a request of the pedestrian priority route at the target location to the road traffic control server 3 (step S212).
  • the management server 2 may also request the pedestrian to notify the appearance of the pedestrian priority route (the appearance of the detour route) when the priority of the pedestrian priority route is realized at the target location.
  • the road traffic control server 3 determines whether or not a sidewalk can be newly provided to divert the pedestrian at the target location (step S215).
  • the road traffic control server 3 limits the road for automatic driving for the new sidewalk installation (step S218). Specifically, the road traffic control server 3 notifies the traffic facility 30 (such as a traffic light and a lightning road sign) attached to the road for automatic driving at the target location of the restriction on the road for automatic driving, and each automatic The driving vehicle may autonomously obtain information from the traffic facility 30 and travel according to the restriction of the road for autonomous driving. In addition, the road traffic control server 3 notifies the automatic driving navi server 31 that the road for the automatic driving vehicle is restricted, and notifies the automatic driving navi server 31 to each automatic driving vehicle traveling in the corresponding area. You may As a result, each of the autonomous driving vehicles can change the route or the like and quickly open a predetermined autonomous driving vehicle route as a pedestrian priority road.
  • the traffic facility 30 such as a traffic light and a lightning road sign
  • the road traffic control server 3 notifies the pedestrian navigation server 33 of the appearance of the detour route (step S221).
  • the pedestrian navigation server 33 can notify the pedestrian terminal 34 of the pedestrian passing the target location of the appearance of the detour route.
  • the road traffic control server 3 may perform reduction of the automatically driven vehicle road and display of the detour route by the traffic facility 30 (light road sign, traffic light, etc.) of the target location.
  • FIG. 11 is a diagram for explaining the reduction of the pedestrian road according to the present embodiment.
  • the management server 2 As shown on the left side of FIG. 11, for example, in the case of an expanded pedestrian road (pedestrian routes r1 and r2), when the degree of congestion decreases or the degree of frustration decreases, the management server 2 The pedestrian road is reduced by returning the existing r2 to the road R1 for an autonomous vehicle as shown in the right of FIG. At this time, for example, in the lightning road signs 36a and 36b installed at the upper part of the sidewalk r2 to be reduced, the reduction of the sidewalk may be warned.
  • FIG. 12 is a flowchart showing operation processing according to the present embodiment.
  • the management server 2 acquires at least one of the attribute (age, inbound, failure, etc.) and the condition (number of people, emotion, etc.) of the user who is at the target location (step S303) .
  • the management server 2 determines whether the number of pedestrians in the target location is less than the threshold (step S306) or whether the target location frustration level is lower than the threshold (step S309) Do.
  • the degree of frustration (discomfort index) being lower (smaller) than the threshold value includes a certain degree of comfort index or more.
  • the management server 2 It is determined whether or not there is a pedestrian of a special attribute such as a disability at the place of (step S312). This is because when there is a pedestrian with a special attribute such as a disability, the sidewalk is not reduced.
  • the management server 2 may determine based on the density of the disabled person or the elderly person on the sidewalk.
  • the attribute of such a pedestrian may be obtained by, for example, analyzing and acquiring a captured image captured by a large number of camera sensors 41 installed on the sidewalk in the flow data server 5, or a beacon indicating a special attribute
  • the flow sensor 51 may receive a signal from the pedestrian and acquire a signal.
  • the management server 2 requests the road traffic control server 3 to expand the road for autonomous driving at the target location (step S315).
  • the management server 2 may also request the road traffic control server 3 to notify (warning) the pedestrian before expanding the surrounding road for autonomous driving vehicles.
  • the management server 2 may also request the road traffic control server 3 to notify (warning) the pedestrian by the surrounding autonomous driving vehicle before expanding the surrounding autonomous driving vehicle road.
  • the road traffic control server 3 determines whether there is a road for an autonomous vehicle that can be expanded (step S318), and when there is a road for an autonomous vehicle that can be expanded (step S318 / Yes), for pedestrians
  • the road is reduced, and it is displayed on the lightning road sign that the sidewalk has been reduced (step S321).
  • the display of the lightning road sign may be, for example, a countdown for returning to the road for an autonomous vehicle, or may be made to output a voice or a warning sound in addition to the display.
  • the road traffic control server 3 notifies the automatic driving navi server 31 of the expansion of the road (step S324).
  • the autonomous driving navigation server 31 notifies the autonomous driving vehicles traveling (or planning to travel) the corresponding area that the autonomous driving vehicle road has been expanded.
  • the road traffic control server 3 may instruct the autonomous driving vehicle in the vicinity of the sidewalk to be reduced to issue a warning (by voice or the like) to the surroundings (pedestrians in the vicinity) by the autonomous driving navigation server 31 ( Step S327). Further, the warning to the surroundings by the autonomous driving vehicle may be notified to the signage provided in the autonomous driving vehicle as well as the voice.
  • all roads basically having zero pedestrians may be roads for automatic driving vehicles.
  • FIG. 13 is a view for explaining the case where the pedestrian safety is secured by the route control of the autonomous driving vehicle according to the present embodiment.
  • FIG. 13 in a certain area, when detecting a situation where a problem arises in terms of pedestrian safety (for example, the user is walking alone at night with a woman, the user is walking alone with a child, etc.)
  • a situation where a problem arises in terms of pedestrian safety for example, the user is walking alone at night with a woman, the user is walking alone with a child, etc.
  • the route R10 of the autonomous driving vehicle 32a running in the periphery is rerouted to the route R11 to overlap the route r10 of the user.
  • FIG. 14 is a flowchart showing operation processing according to the present embodiment.
  • Step S 403 when the management server 2 receives a request for safety assistance from the user (step S 403 / Yes), or the presence of a target person (user) who meets the predetermined condition in the flow data server 5.
  • Step S406 if there is a safety assistance target person (step S409 / Yes), the road traffic control server 3 is inquired whether there is a vehicle (automatic driving vehicle) that can be rerouted to the target area (step S412) .
  • the subject person's inquiry may be made to the emotion data server 4 in addition to the flow data server 5. For example, it is possible to obtain position information of a scared or scared pedestrian from the emotion data server 4.
  • distance sensors such as a laser range finder on the road, for example, and to detect from the traffic infrastructure side (in the case of a laser range finder, it is also possible to measure the height). It is also possible to determine whether or not you are a child).
  • distance sensor it is also possible to analyze an image from a surveillance camera installed on a road to recognize a woman walking alone at night or one child's behavior.
  • step S415 when there is a vehicle that can be rerouted (step S415 / Yes), the road traffic control server 3 instructs the automatic driving navigation server 31 to reroute the vehicle along the route of the safety assistance target person (step S418).
  • the road traffic control server 3 sends a watching notice to the safety assistance target person (step S421).
  • the vehicle is provided with lighting for brightening the surroundings, and the lighting lamp is turned on, so that a sense of security other than traveling along with the person subject to safety assistance is felt. It may have a function to give.
  • the rerouting of the vehicle may be realized by control of the traffic facility 30 (a traffic light or an electronic road sign). That is, the road traffic control server 3 controls each of the surrounding traffic facilities 30 so that the surrounding vehicles travel as the detour route (route to R11 and R13), so that each automatic driving of the user's route r10 is performed. The vehicle travels autonomously in accordance with the traffic facility 30.
  • the traffic facility 30 a traffic light or an electronic road sign
  • the management server 2 may change the road for autonomous driving based on the weather and the time zone of the target location.
  • the road for autonomous driving may be restricted to give priority to pedestrians in case of good weather or when going to or from school.
  • priority may be given to roads for automatic driving vehicles.
  • the conditions are not limited to this, and it is assumed that the danger is increased due to poor visibility of the pedestrian in the case of rainy weather, for example. Therefore, the autonomous driving vehicle is given priority to give pedestrians priority in rainy weather at a predetermined target location. Roads may be restricted.
  • the management server 2 can dynamically change a part of the road for an autonomous driving vehicle to a parking space according to pedestrians, the amount of autonomous driving vehicles, surrounding events, etc. It is.
  • a “manual driving vehicle” is a motor vehicle which a user needs to perform driving operation itself, and is a non-automatic driving vehicle.
  • a computer program for causing the hardware of the above-described management server 2 such as a CPU, a ROM, and a RAM to exhibit the function of the management server 2 can also be created.
  • a computer readable storage medium storing the computer program is also provided.
  • a communication unit that receives user information including at least one of the user's attributes and / or status of a particular pedestrian route; According to the user information, request information for requesting control of a route for an autonomous driving vehicle around the specific pedestrian route is generated, and transmitted to the road traffic control system via the communication unit. Control unit to control Control system.
  • the control unit When a certain number of users or more exist in the specific pedestrian route, or when a user existing in the specific pedestrian route indicates a degree of discomfort or more, The control system according to (1), wherein request information is generated to request reduction of a surrounding autonomous driving vehicle route in order to expand the specific pedestrian route.
  • the control unit Further, a request to request a reduction of the surrounding autonomous driving route to expand the particular pedestrian route if the traffic volume of the surrounding autonomous driving route falls below a threshold.
  • the control system according to (2) which generates information.
  • the control unit When a certain number of users or more exist in the specific pedestrian route, or when a user existing in the specific pedestrian route indicates a degree of discomfort or more, The control system according to (1), which generates request information for requesting reduction of a surrounding autonomous driving vehicle route to newly generate a bypass route for the specific pedestrian.
  • the control unit The control system according to (4), wherein request information is generated to request that the user is notified that a detour route for the specific pedestrian has been newly generated.
  • the control system according to (5), wherein the notification request to the user that the bypass route is newly generated is a request for at least one of notification to a user terminal and notification on a light road sign.
  • the control unit When the number of users present in the particular pedestrian route is less than a certain number, or when the degree of discomfort of the user present in the particular pedestrian route is less than a certain value, The control system according to (1), wherein the request information is generated to request expansion of a surrounding automatic vehicle route in order to reduce the specific pedestrian route.
  • the control unit The control system according to (7), which generates request information for requesting notification to the user before expanding the surrounding autonomous driving vehicle route.
  • the control unit The control system according to (7) or (8), wherein request information is generated to request that the autonomous driving vehicle traveling on the surrounding autonomous driving vehicle route warns the user.
  • the control unit Even when the number of users present in the particular pedestrian route is less than a certain number, or even when the degree of discomfort of the user present in the particular pedestrian route is less than a certain value, Any one of the above (7) to (9) which restricts the expansion of the surrounding autonomous driving route if at least one of the users existing in the specific pedestrian route has a fault attribute
  • the control unit If it is detected that there is a problem in the safety aspect of the user based on the user information of the user existing in the specific pedestrian route, The control system according to (1), wherein request information is generated to request an autonomous driving vehicle route to reroute around the specific pedestrian route. (12) The control unit Depending on the user information having the attribute and / or the status of the user present in the specific bicycle route or the route for the manual drive vehicle, the automatic route around the specific bicycle route or the route for the manual drive vehicle The control system according to (1), which generates request information for requesting control of a driving vehicle route and controls transmission to a road traffic control system via the communication unit.
  • Processor is Receiving by the communication unit user information including at least one of the user's attributes and / or conditions present in a specific pedestrian route; According to the user information, request information for requesting control of a route for an autonomous driving vehicle around the specific pedestrian route is generated, and transmitted to the road traffic control system via the communication unit.
  • user information including at least one of the user's attributes and / or conditions present in a specific pedestrian route
  • request information for requesting control of a route for an autonomous driving vehicle around the specific pedestrian route is generated, and transmitted to the road traffic control system via the communication unit.

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  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
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