WO2019243861A1 - 配車システムのための情報提供方法、配車システム及び情報提供装置。 - Google Patents
配車システムのための情報提供方法、配車システム及び情報提供装置。 Download PDFInfo
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- WO2019243861A1 WO2019243861A1 PCT/IB2018/001021 IB2018001021W WO2019243861A1 WO 2019243861 A1 WO2019243861 A1 WO 2019243861A1 IB 2018001021 W IB2018001021 W IB 2018001021W WO 2019243861 A1 WO2019243861 A1 WO 2019243861A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- G—PHYSICS
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- 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
- G06Q10/00—Administration; Management
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
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- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
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Definitions
- the present invention relates to an information providing method, a vehicle allocation system, and an information providing device for a vehicle allocation system.
- Patent Document 1 a system that displays a traveling route of a vehicle to be ride-shared and a current position of the vehicle is known.
- the driving plan may be changed by the judgment of the vehicle side.
- the driving plan of the vehicle is suddenly changed, the movement of the vehicle also changes, and there is a problem that the user monitoring the movement of the vehicle feels uneasy.
- the problem to be solved by the present invention is to provide an information providing method, a vehicle dispatching system, and an information providing device that enable a user to wait for a dispatch with ease even when the driving plan of the vehicle is changed.
- the present invention calculates a first operation plan according to request information and, when a second operation plan different from the first operation plan is calculated based on the acquired detection information, a cause of the change in the operation plan. Is determined based on the detection information, and cause information including the cause is presented, thereby solving the above problem.
- the cause information of the change in the driving plan is provided to the user, so that the user can wait for the vehicle allocation with ease.
- FIG. 1 is a diagram showing a block configuration of the vehicle allocation system 1.
- the vehicle allocation system 1 of the present embodiment includes an information providing device 100, a vehicle control device 200, and a user terminal device 300.
- Each device includes a processor (computer) that executes arithmetic processing and a communication device.
- the information providing device 100, the vehicle control device 200, and the user terminal device 300 have a communication function, and exchange information with each other by wire communication or wireless communication.
- the information providing device 100 functioning as the first device may be mounted on the control device 200 mounted on the vehicle, or may communicate with the control device 200 and the user terminal device 300. It may be provided in a separate server device.
- the user terminal device 300 functioning as the second device can communicate with the control device 200 and the user terminal device 300, and exchanges information including request information and cause information.
- the processor 10 of the information providing device according to the present embodiment includes an operation plan generation unit, a cause information generation unit, and a communication control unit.
- the driving plan generation unit executes a process of generating a first driving plan to be executed by the control device of the vehicle according to the request information of the user.
- the cause information generating unit is configured to generate, when a second operation plan different from the first operation plan is generated based on the detection information indicating the state of the vehicle acquired from the vehicle, cause information indicating a cause of the change in the operation plan. Is generated based on the detection information obtained from the vehicle.
- the communication control unit executes a process of controlling the cause information to be transmitted to the user terminal.
- the user terminal device 300 as a second device includes at least a display 331.
- the display 331 is a touch panel type display having both an output (display) function and an input receiving function.
- the display 331 includes a control device that receives an electronic command and operates the display 331 based on the electronic command.
- the display 331 receives request information from a user according to an electronic command.
- the display 331 performs an operation of presenting cause information based on a command from the information providing apparatus 100.
- the electronic command is generated by the information providing device 100.
- the user terminal device 300 that has received the electronic command via the communication device 320 causes the display 331 to present the cause information.
- the user terminal device 300 may include a speaker (332).
- the user terminal device 300 causes the speaker 332 to utter cause information based on the electronic command generated by the information providing device 100.
- the information providing method according to the present invention is performed by the information providing apparatus 100.
- the information providing device 100 is mounted on a vehicle together with the control device 200.
- the information providing device 100 may be mounted on the vehicle controller 70.
- the information providing device 100 may be a device that is independently constructed from the control device 200 and the user terminal device 300.
- the information providing device 100 is constructed on a network that can communicate with the vehicle control device 200 and the user terminal device 300.
- the aspect of the information providing apparatus 100 is not limited.
- the information providing device 100 can be incorporated in the user terminal device 300.
- the vehicle of the present embodiment has an autonomous traveling function.
- the vehicle control device 200 causes a target vehicle to be distributed to be used by the user to execute autonomous traveling.
- the method of autonomous traveling is not particularly limited, but control device 200 recognizes the lane in which the target vehicle (own vehicle) is traveling, and maintains a predetermined relationship between the position of the lane marker of the lane and the position of the target vehicle. Control the movement of the target vehicle.
- Control device 200 controls the movement of the target vehicle such that the distance (lateral position) along the road width direction from the lane marker of the lane in which the vehicle runs to the target vehicle along the road width direction is within a predetermined value range.
- the lane marker is not limited as long as it has a function of defining a lane, and is a diagram drawn on a road surface, a luminous body embedded in a road, a plant between lanes, and a lane marker on a lane roadside. Road structures such as guardrails, curbs, sidewalks, and motorcycle-only roads may also be used. Further, the lane marker may be an object such as a signboard, a sign, a store, a street tree, or the like existing on the shoulder side of the lane.
- the vehicle control device 200 of the present embodiment includes a communication device 40, a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110 And a navigation device 120.
- the devices constituting the control device 200 are connected to each other by a CAN (Controller Area Network) or another in-vehicle LAN in order to exchange information with each other.
- CAN Controller Area Network
- the detection device 50 detects a situation around the target vehicle.
- the detection device 50 detects the presence of an object existing around the target vehicle and the position of the object.
- the detection device 50 of the present embodiment includes a camera 51.
- the camera 51 may be an infrared camera or a stereo camera.
- the camera 51 of the present embodiment is an imaging device including an imaging element such as a CCD and a CMOS.
- the camera 51 is installed at a predetermined position of the target vehicle and captures an image of an object around the target vehicle.
- the periphery of the target vehicle to be imaged includes the front, rear, front side, and rear side of the target vehicle.
- the camera 51 may include a driving device that changes an imaging direction.
- the objects imaged by the camera 51 include stationary objects such as signs and moving objects such as pedestrians and other vehicles.
- the sign includes a two-dimensional sign displayed on a road surface and a three-dimensional sign such as a signboard.
- the detection device 50 may analyze the image data and identify the type of the target object based on the analysis result.
- the detection device 50 identifies whether the object included in the image data is a vehicle, a pedestrian (human), or a sign by using a pattern matching technique or the like.
- the detection device 50 extracts an image of the object from the image data, and determines the specific type of the object (eg, a four-wheeled vehicle, a two-wheeled vehicle, a bus, a truck, and a construction) based on the size, shape, and characteristic equipment of the image.
- Vehicles, etc. vehicle types (small cars, large cars), and special vehicles (emergency cars, tow trucks, etc.).
- the detection device 50 extracts an image of the pedestrian from the image data, and determines the specific type of the pedestrian (traffic coordinator, police officer, rescue worker, etc.) based on the clothing (uniform) and equipment (helmet or hat) of the image. ).
- the detection device 50 determines that the position where the construction vehicle exists is the construction site.
- the detection device 50 determines that the position where the special vehicle exists is the accident site.
- the detection device 50 determines that the position where the traffic control person (pedestrian) exists is the construction site.
- the detection device 50 determines that a position where a police officer or a paramedic (pedestrian) is present is an accident site.
- the detection device 50 of the present embodiment may use a radar device 52.
- a radar device 52 a device known at the time of application, such as a millimeter wave radar, a laser radar, or an ultrasonic radar, can be used.
- the detection device 50 processes the acquired measurement data, and acquires a distance from the target vehicle to the target object and / or a direction in which the target object exists with respect to the target vehicle based on the position of the target object existing around the target vehicle. .
- a method known at the time of filing the present application can be appropriately used.
- the detection device 50 determines the state of the platoon of other vehicles.
- the detecting device 50 determines the interval between the other vehicles in a row and the direction in which the platoon of the other vehicles extends to the right, left, or front of the target vehicle (own vehicle).
- the detection device 50 counts the number of other vehicles in a row.
- the detection device 50 counts the number of the other vehicles by determining the outline of the other vehicles in the captured image.
- the detection device 50 detects the tip of the platoon of the other vehicle (the farthest position of the platoon that can be detected from the current position) based on the reception signal acquired by the radar device 52, and detects the number of other vehicles ( Platoon length).
- the detection device 50 uses the number of other vehicles and the length of the platoon of other vehicles as information indicating the degree of congestion.
- the traffic jam information is transmitted to the vehicle controller 70 of the target vehicle, and is used as information for determining whether to avoid running of the target vehicle.
- the vehicle controller 70 moves the vehicle according to the route calculated by the navigation device 120.
- the vehicle changes the driving plan.
- the change in the driving plan includes a change in the route, a change in the time of passing through each point, a change in the time of arriving at the destination (in this example, a point where the user is picked up), and a change in the content of the driving instruction of the vehicle.
- the vehicle controller 70 Change the route of the driving plan.
- the camera 51 and the radar device 52 described above may be installed outside the vehicle.
- the detection information acquired by the camera 51 or the radar device 52 installed on the road may be acquired via an external device such as an intelligent transportation system (Intelligent Transport Systems).
- An external device such as an intelligent transportation system acquires traffic information including the speed of other vehicles, the length of the platoon of other vehicles (degree of congestion), the presence or absence of construction, the presence or absence of accidents, and the like. 200 or the information providing apparatus 100.
- the detection device 50 detects the state of the target vehicle.
- the detection device 50 confirms that the autonomous traveling function of the target vehicle is functioning normally.
- the detection device 50 of the present embodiment includes a vehicle diagnosis device 53 that diagnoses that the driving function of the vehicle is normal.
- the sensor 60 includes a steering angle sensor 61, a vehicle speed sensor 62, and a remaining energy sensor 63.
- the steering angle sensor 61 detects a traveling direction based on steering information related to steering such as a steering amount, a steering speed, and a steering acceleration of the target vehicle, and transmits the detected traveling direction to the information providing device 100 via the vehicle controller 70 and the communication device 40.
- the vehicle speed sensor 62 detects a traveling speed (including a stop) based on the traveling direction of the target vehicle, the vehicle speed / acceleration of the target vehicle, and the like, and sends it to the information providing device 100 via the vehicle controller 70 and the communication device 40.
- the remaining energy sensor 63 detects the remaining energy of the target vehicle.
- the energy remaining amount sensor 63 travels on the first route calculated by the navigation device 120, and acquires the amount of energy required by the target vehicle before reaching the pickup point.
- the remaining energy sensor 63 confirms that the remaining energy of the target vehicle is larger than the amount of energy required to reach the pickup point, and outputs confirmation information. This confirmation process may be performed by the vehicle controller 70.
- the vehicle controller 70 of this embodiment is a vehicle-mounted computer, such as an engine control unit (Engine Control Unit, ECU), and electronically controls the driving state of the vehicle.
- Examples of the vehicle according to the present embodiment include an electric vehicle including an electric motor as a traveling drive source, an engine vehicle including an internal combustion engine as a traveling drive source, and a hybrid vehicle including both an electric motor and an internal combustion engine as a traveling drive source.
- electric vehicles and hybrid vehicles that use an electric motor as a driving source include those that use a secondary battery as a power source for the electric motor and those that use a fuel cell as a power source for the electric motor.
- the drive device 80 of the present embodiment includes a drive mechanism for the target vehicle.
- the driving mechanism includes an electric motor and / or an internal combustion engine, which is the above-described traveling drive source, a power transmission device including a drive shaft and an automatic transmission for transmitting an output from these traveling drive sources to driving wheels, and brakes wheels.
- a braking device 81 and the like are included.
- the drive device 80 generates control signals for these drive mechanisms based on input signals from the accelerator operation and the brake operation, and control signals acquired from the vehicle controller 70 or the information providing device 100, and performs travel control including acceleration and deceleration of the vehicle. Execute. By transmitting the control information to the driving device 80, it is possible to automatically perform traveling control including acceleration and deceleration of the vehicle.
- the distribution of torque output to each of the electric motor and the internal combustion engine according to the running state of the vehicle is also transmitted to the drive device 80.
- the steering device 90 of the present embodiment includes a steering actuator.
- the steering actuator includes a motor mounted on a column shaft of the steering.
- the steering device 90 executes change control of the traveling direction of the vehicle based on a control signal acquired from the vehicle controller 70 or an input signal by a steering operation.
- the vehicle controller 70 executes control for changing the traveling direction by transmitting control information including the steering amount to the steering device 90.
- the vehicle controller 70 includes one or more processors 71 that execute processing of automatic driving (autonomous driving).
- the navigation device 120 includes a position detection device 121, road information 122 including road type (right / left turn lane), road width, road shape, and other information, and map information 123 in which the road information 122 is associated with each point.
- the navigation device 120 specifies a route and a road link on which the target vehicle travels based on the current position of the target vehicle detected by the position detection device 121.
- the road information 122 according to the present embodiment stores, for each piece of identification information of each road link, the position of the intersection, the traveling direction of the intersection, the type of the intersection, and other information on the intersection in association with each other.
- the vehicle controller 70 moves the vehicle according to the route (road link) calculated by the navigation device 120.
- the navigation device 120 transmits the route used for the automatic driving to the information providing device 100.
- the navigation device 120 continuously transmits the current position of the target vehicle detected by the position detection device 121 to the information providing device 100 at a predetermined cycle.
- the navigation device 120 sets a route from the current position of the target vehicle to the destination, and outputs route information to the vehicle controller 70 via the output device 110 described later.
- the pickup point specified in the request information input to the user terminal device 300 by the user desiring the dispatch is the destination.
- the navigation device 120 calculates a first route from the current position to the designated pickup point based on a command from the processor 10 of the information providing device 100.
- the vehicle controller 70 determines whether to change the first route based on a change in the traveling environment based on the detection information. The determination of the change is sent to the navigation device 120 and the information providing device 100.
- the navigation device 120 calculates the second route according to the route change instruction from the vehicle controller 70.
- the calculation result of the second route is transmitted to the vehicle controller 70, the information providing device 100, and the user terminal device 300.
- the contact to the user terminal device 300 may be performed via the information providing device 100.
- the user terminal device 300 causes the display 331 to display the second route.
- the output device 110 of the present embodiment outputs information on driving behavior based on a driving plan.
- the information corresponding to the control information for causing the target vehicle to travel on the target route the fact that the steering operation or acceleration / deceleration is executed is indicated by the display 111, the speaker 112, the occupant of the target vehicle via the vehicle interior lamp, and the vehicle interior lamp. Or, notify the occupants of other vehicles.
- the output device 110 of the present embodiment may output various types of information related to driving support to an external device such as an intelligent transportation system (ITS) via the communication device 40.
- An external device such as an intelligent transportation system uses information on traveling support including vehicle speed, steering information, traveling route, and the like for traffic management of a plurality of vehicles.
- the target vehicle can acquire the speed, steering information, and travel route of another vehicle via the external device.
- the user terminal device 300 will be described.
- the user terminal device 300 is carried by a user who has reserved use of the target vehicle.
- the user terminal device 300 is a small computer such as a PDA (Personal Digital Assistant) or a smartphone that can be carried by the user.
- the user terminal device 300 includes a processor 310, a communication device 320, and an input / output device 330.
- the user terminal device 300 exchanges information with the vehicle control device 200 and / or the information providing device 100 via the communication device 320.
- the user terminal device 300 may be formed integrally with the information providing device 100.
- the input / output device 330 includes a display 331 and a speaker 332.
- the display 331 is a touch panel display.
- the display 331 receives an input of user request information.
- the request information includes the identification information of the user, the reservation date and time, the specific information of the reserved vehicle, the information of the pick-up point where the target vehicle starts to be used, the use time, and the like.
- the request information is sent to the information providing device 100.
- the processor 310 of the second device (user terminal device 300) outputs the cause information transmitted from the control device 200 of the vehicle and received via the input / output device 330.
- the user can know the cause (reason) of the change in the operation plan from the cause information output from the input / output device 330.
- the information providing device 100 as the first device exchanges information with the vehicle control device 200 and the user terminal device 300 as the second device.
- the information providing apparatus 100 acquires detection information and information about autonomous traveling from the control device 200 of the vehicle, and provides the user terminal device 300 with cause information.
- the information providing device 100 of the present embodiment includes a processor 10, a communication device 20, and an output device 30.
- the communication device 20 exchanges information with the control device 200 and / or the user terminal device 300 of the vehicle.
- the output device 30 outputs a command to cause the output device 110 of the vehicle control device 200 to present information including cause information.
- the processor 10 of the information providing apparatus 100 functions as the information providing apparatus 100 by executing a ROM (Read Only Memory) 12 storing a program for executing the traveling control of the target vehicle, and executing the program stored in the ROM 12.
- ROM Read Only Memory
- CPU Central Processing Unit
- RAM Random Access Memory
- the processor 10 of the information providing apparatus 100 has an information acquisition function, a cause determination function, a cause information generation function, and an output function.
- the processor 10 of the present embodiment executes each function by cooperation of software for realizing the above functions and the above hardware.
- the processor 10 acquires information configuring a situation around the target vehicle via the communication device 320.
- the processor 10 acquires detection information from the detection device 50 and the sensor 60.
- the detection information includes a captured image of the camera 51, measurement information of the radar device 52, output information of the vehicle diagnostic device 53, and traffic information acquired from an external device (ITS or the like).
- the detection information includes the steering amount of the steering angle sensor 61, the vehicle speed of the vehicle speed sensor 62, and the remaining energy of the remaining energy sensor 63.
- the processor 10 calculates or acquires a first operation plan to be executed by the control device 200 of the vehicle according to the request information input to the user terminal device 300 (second device).
- the calculation process of the first operation plan may be executed by the control device 200 of the vehicle.
- the first operation plan includes a first route to the pickup point specified by the request information, and a vehicle control command for causing the target vehicle to travel on the first route.
- the first route is a route to the pickup point calculated when the request information is obtained.
- the first route is calculated based on the detection information, the road information 122, and the map information 123 acquired at the timing when the request information is acquired.
- the first route is calculated at the start of the vehicle allocation process.
- a first operation plan is calculated based on the calculated first route.
- the process of executing the control command of the first operation plan is started.
- the target vehicle starts moving.
- the traveling environment of the target vehicle changes every moment.
- the detection device 50 continues the detection process of the information about the traveling environment at a predetermined cycle and the transmission process of the detection result.
- the execution of the scheduled first operation plan may be hindered. For example, based on information that has not occurred, information that has been detected even though it has occurred, and information that has occurred but has not been reflected in the road information 122 or the map information 123, the first route and the first driving plan are determined.
- the processor 10 After the calculation, if the generated information, the detected information, and the information reflected in the road information 122 and the map information 123 are newly acquired, it is difficult to execute the first operation plan along the first route. There may be. If, after calculating the first driving plan, information such as traffic congestion due to traffic concentration, traffic prohibition due to an accident, traffic restriction due to construction, vehicle breakdown, etc., after the calculation of the first driving plan, the processor 10 sets the first It may be determined that the execution of the operation plan cannot be continued. If the processor 10 cannot move according to the first route, the scheduled arrival time at each point including the pickup point is delayed, or the vehicle cannot be used, the processor 10 of the originally scheduled first operation plan Judge that execution cannot be continued. In this case, the processor 10 calculates a new second route and a new second operation plan. The process of determining whether to continue the first operation plan may be performed by the vehicle controller 70.
- the processor 10 determines whether a second operation plan different from the first operation plan has been calculated based on the detection information newly acquired by the detection device 50. Get the information of whether or not. If the target vehicle cannot travel on the first route, the processor 10 calculates a second route different from the first route, and calculates a second operation plan including the second route. The processor 10 may cause the vehicle controller 70 to calculate the second route and calculate the second operation plan including the second route.
- the processor 10 determines the first arrival time and Obtains information on whether a different second estimated arrival time has been calculated. If the target vehicle cannot arrive at the pickup point at the first estimated time of arrival, the processor 10 calculates a second estimated time of arrival that is different from the first estimated time of arrival and includes a second operation plan including the second estimated time of arrival. Is calculated. The processor 10 may cause the vehicle controller 70 to calculate the second estimated time of arrival and the second operation plan including the second estimated time of arrival.
- the processor 10 controls the vehicle control device 200 based on the detection information newly acquired by the detection device 50, when the first vehicle specified in the request information is not available, the second vehicle different from the first vehicle Information on whether or not is specified is acquired. If the occurrence of a failure in the first vehicle or the lack of energy of the first vehicle is detected, the user cannot use the first vehicle. The failure of the first vehicle is determined based on output information of the vehicle diagnostic device 53. The energy shortage of the first vehicle is determined based on the output information of the remaining energy sensor 63. If the first vehicle cannot be used by the user, the processor 10 specifies a second vehicle different from the first vehicle. The processor 10 identifies a second vehicle located closest to the position of the first vehicle instead of the first vehicle.
- the processor 10 specifies, instead of the first vehicle, the second vehicle located at a position closest to the pickup point / a position where the vehicle can arrive at the pickup point in the shortest time.
- the processor 10 calculates a second operation plan including the second identification information of the newly identified second vehicle.
- the processor 10 may cause the vehicle controller 70 to specify the second vehicle and calculate the second operation plan including the second specifying information for specifying the second vehicle.
- the processor 10 determines the cause of the change in the operation plan based on the detection information acquired by the control device 200.
- the cause of the change in the operation plan is determined by the in-vehicle control device 200.
- the control device 200 determines the cause of the change in the operation plan based on the detection information at the time when the second operation plan is calculated.
- the detection information changed at the time when the second operation plan is calculated may be determined as the cause of the change in the operation plan.
- the following is an example of a cause determination method.
- (1) At the timing when the second operation plan is calculated, if the number of trains or the length of the trains of other vehicles ahead (left front, right front) exceeds a predetermined value, the processor 10 It is determined that the cause of the change in the operation plan is “congestion”. The processor 10 calculates the number of trains or the length of the trains of other vehicles based on the captured image.
- (2) At the timing when the second driving plan is calculated, when the construction vehicle and / or characteristic pedestrian (traffic coordinator) is included in the captured image in front (left front, right front)
- the processor 10 determines that the cause of the change in the operation plan is “construction”.
- the processor 10 determines the cause by referring to the correspondence information in which the feature of the detection information is associated with each cause.
- the cause "construction” is associated with the image feature of the construction vehicle and the image feature of the clothes (uniform) and belongings (guide lights for traffic control) of the traffic control staff. If the captured image includes a feature associated with the cause “construction”, the processor 10 determines that the cause of the change in the operation plan is “construction”. (3) At the timing when the second operation plan is calculated, the special images (the police vehicle, the ambulance vehicle, the tow vehicle) and / or the characteristic processor (the police officer) are added to the captured images ahead (left front, right front). , Rescue personnel), the processor 10 determines that the cause of the change in the operation plan is “accident”. The processor 10 determines the cause by referring to the correspondence information in which the feature of the detection information is associated with each cause.
- the cause “accident” is associated with the feature on the image of the special vehicle and the feature on the image of clothing (uniform / hat) and belongings (equipment) of police officers and rescue workers.
- the processor 10 determines that the cause of the change in the driving plan is “accident”.
- the processor 10 changes the operation plan. It is determined that the cause is “congestion”. If the vehicle cannot move at the speed predicted in the first operation plan, the processor determines that the vehicle cannot move at the predicted speed because the first route is congested. As the vehicle speed, an average vehicle speed in a certain traveling range may be used. (5) At the timing when the second operation plan is calculated, if the actual steering amount is lower than the steering amount at a certain point defined in the first operation plan by a predetermined value or more, the processor 10 sets the operation plan. It is determined that the cause of the change is “congestion”.
- the processor determines that the right / left turn cannot be performed due to traffic congestion in the right / left turn lane.
- the processor 10 determines that the cause of the change in the operation plan is “the failure of the target vehicle”. I do. When the first vehicle specified in the first driving plan is changed, the processor determines that the specified first vehicle cannot be dispatched due to a defect in the first vehicle. (7) At the timing when the second operation plan is calculated, if there is output of the remaining energy shortage information, the processor 10 determines that the cause of the change in the operation plan is “insufficient remaining energy of the target vehicle”. Judge. When the first vehicle specified in the first driving plan is changed, the processor cannot reach the destination from the pickup point specified in the request information with the remaining energy of the first vehicle, that is, “energy shortage” It is determined that the specified first vehicle could not be dispatched due to the cause.
- the processor 10 determines that the cause of the change in the driving plan is “congestion”. If the target vehicle cannot move at the speed predicted in the first driving plan, the processor determines that the vehicle cannot move at the predicted speed because the first route is congested. (9) At the timing when the second operation plan is calculated, the number or length of the trains of other vehicles ahead (left front, right front) of the target vehicle acquired from an external device such as ITS or another vehicle.
- the processor 10 determines that the cause of the change in the operation plan is “congestion”. At the time when the second operation plan is calculated, if the traffic congestion information obtained from the external device such as the ITS exceeds a predetermined evaluation value, the processor 10 determines that the cause of the change in the operation plan is “congestion”. Judge. (10) If construction information / accident information is acquired from an external device such as ITS or another vehicle at the timing when the second operation plan is calculated, the processor 10 determines that the cause of the change in the operation plan is “construction”. Or, it is determined to be an “accident”.
- the cause of the change in the determined operation plan is transmitted to the user terminal device 300 as the second device.
- the user can know the cause of the change in the driving plan, such as a change in the route, a change in the arrival time at the pickup point, or a change in the vehicle. Therefore, it is possible to wait for the vehicle to be dispatched to arrive without worry.
- the user confirms that the vehicle allocation process is being properly executed based on the change over time of the route of the vehicle. This is because the driver is not in the vehicle, and it is not expected that a delay in traffic congestion or selection of a detour route will be reported.
- the cause of the change in the driving plan of the vehicle is presented to the user, so that the user understands the movement of the vehicle according to the cause and waits for the arrival of the vehicle without feeling uneasy. be able to. Since the cause of the change in the driving plan is automatically presented to the user, there is no need to constantly manage the position, route, and delay of the autonomous vehicle at the center or the like. The processing cost of the vehicle allocation system 1 can be reduced.
- the vehicle moves toward the pickup point.
- the user can check the status over time. If the vehicle is approaching the pickup point over time, the user can predict the arrival of the vehicle.
- the driving plan of the vehicle is changed due to a change in the driving environment and the vehicle shows a movement away from the pickup point even if the vehicle is temporary, the user may not execute his / her request. I feel uneasy.
- the cause of the change in the operation plan is presented.
- the user understands the reason for the change in the movement of the vehicle before feeling anxious.
- the user who is notified in advance of the cause of the change in the driving plan can calmly receive the change of the route, the delay of the arrival time, and the change of the vehicle.
- the information providing apparatus 100 may store a cause analysis table T in which the detection information and the cause of the change in the operation plan are associated in advance.
- the processor 10 refers to the cause analysis table T and determines the cause of the calculation of the second operation plan based on the acquired detection information. By preparing the cause analysis table T in advance, an accurate cause can be quickly determined.
- FIG. 2 shows an example of the cause analysis table T.
- An example of a method for determining the cause of the change in the operation plan with reference to the cause analysis table T will be described below.
- the processor 10 acquires detection information of the detection device 50.
- the detection information includes detection information obtained from a captured image of the camera 51 and measurement information of the radar device 52.
- the processor 10 acquires construction information or accident information from the detection information.
- the processor 10 acquires traffic jam information from the detection information.
- the processor 10 determines whether the traveling of the first route can be continued. This determination may be executed by the vehicle controller 70. If the traveling of the first route cannot be continued, the second route is calculated.
- the processor 10 determines that the cause of the change in the operation plan is the construction or the accident. . If the traffic congestion information is detected when the travel of the first route cannot be continued and the second route is calculated, the processor 10 determines that the cause of the change in the operation plan is the traffic congestion.
- the detection information (traveling direction / vehicle speed / energy remaining amount) obtained when the driving plan is changed and the cause of the driving plan change (cannot turn right / left / congestion / insufficient remaining energy) ) Are associated with each other.
- the processor 10 acquires detection information of the sensor 60.
- the detection information includes the steering amount of the steering angle sensor 61, the vehicle speed of the vehicle speed sensor 62, and the remaining energy of the remaining energy sensor 63.
- the processor 10 acquires the traveling direction, the vehicle speed, or the remaining energy from the detection information.
- the processor 10 determines whether the first operation plan can be executed. This determination may be executed by the vehicle controller 70. (2-1) When traveling on the first route cannot be continued, the second route is calculated.
- the processor 10 determines the cause of the change in the operation plan as “turn right / left. Can not be done ". (2-2) If the first scheduled arrival time at the pickup point specified by the request information is delayed by a predetermined time or more, a new second operation plan is calculated. When the first vehicle speed at the predetermined point defined in the first operation plan is lower than the predetermined value by a predetermined value and the arrival at the pickup point is delayed, the processor 10 determines that the cause of the change in the operation plan is “congestion”. I do.
- the processor 10 determines that the cause of the change in the operation plan is “insufficient remaining energy”.
- the detection information (vehicle diagnostic information) obtained when the driving plan is changed is associated with the cause of the driving plan change (vehicle failure).
- the processor 10 acquires output information of the vehicle diagnostic device 53.
- the detection information includes an output signal of the vehicle diagnostic device 53.
- the processor 10 extracts the state of the vehicle from the detection information (vehicle diagnostic information).
- the processor 10 determines that the cause of the change in the driving plan is “vehicle failure”.
- the detection information (construction information / accident information or traffic congestion information) obtained from the external device when the operation plan is changed and the cause of the change in the operation plan (traffic restriction or traffic congestion due to construction / accident) ) Are associated with each other.
- the processor 10 acquires detection information of the detection device 50 provided in the external device.
- the detection information includes a captured image of the camera 51 provided in the external device (ITS or the like), detection information obtained from measurement information of the radar device 52, and traffic information (including traffic jam information, accident information, and construction information).
- the processor 10 extracts construction information or accident information from the detection information.
- the processor 10 extracts congestion information from the detection information of the external device.
- the processor 10 determines whether the traveling of the first route can be continued.
- This determination may be executed by the vehicle controller 70. If the traveling of the first route cannot be continued, a second route different from the first route is calculated. When the construction information or the accident information is detected when the second path is calculated without continuing the traveling of the first path, the processor 10 determines that the cause of the change in the operation plan is “construction” or “accident”. Judge that there is. If traffic information is detected when the second route is calculated without continuing the first route, the processor 10 determines that the cause of the change in the operation plan is “congestion”.
- the processor 10 of the information providing apparatus 100 acquires, as the change timing of the operation plan, the timing at which the second operation plan different from the first operation plan formulated based on the request information is calculated based on the acquired detection information. .
- the processor 10 determines the cause of the change in the operation plan based on the detection information acquired by the control device 200. Since the cause of the change in the operation plan is determined based on the detection information obtained at the timing when the second operation plan is calculated, the detection information to be used for the determination of the cause is appropriately narrowed, so that the cause can be accurately determined. .
- the processor 10 of the information providing apparatus 100 acquires the timing at which the route is changed as the timing of changing the operation plan.
- the change timing is a timing at which the operation according to the first operation plan including the first route is changed to the operation according to the second operation plan including the second route.
- the processor 10 calculates the second operation plan including the second route different from the first route based on the detection information acquired by the control device 200 of the vehicle driven according to the first operation plan including the first route. Get timing as change timing.
- the processor 10 determines the cause of the change in the operation plan at the timing when the route included in the operation plan is changed.
- the cause determined at this timing is the cause of the route change.
- the cause of the change in the operation plan is notified to the user. Since the user can know the cause of the change of the route of the vehicle reserved by the user, if the vehicle does not approach the pickup point on the shortest route, the vehicle may travel in a direction away from the pickup point. Even so, you can wait for the vehicle to arrive without feeling uneasy.
- the processor 10 of the information providing apparatus 100 acquires the timing at which the first estimated arrival time at the pickup point has been changed, as the change timing of the operation plan.
- the change timing is a timing at which the second operation plan including the second estimated arrival time later than the first estimated arrival time by a predetermined time or more is calculated.
- the processor 10 is configured to perform a first scheduled time of arrival based on the detection information obtained by the control device of the vehicle driven according to the first operation plan including the first scheduled time of arrival at the pickup point specified in the request information.
- the timing at which the second operation plan including the second scheduled arrival time later than the predetermined time by more than a predetermined time is calculated is acquired as the change timing.
- the processor 10 determines the cause of the change in the operation plan when the arrival time at the pickup point included in the operation plan is changed.
- the cause determined at this timing is that the arrival time is delayed.
- the cause of the change in the operation plan is notified to the user. Since the user can know the cause of the delay in the arrival time of the vehicle reserved by the user, if the vehicle does not arrive at the pickup point at the scheduled time, the speed at which the vehicle approaches the pickup point becomes slow. Can also wait for the vehicle to arrive without feeling uneasy.
- the processor 10 of the information providing apparatus 100 acquires the timing at which the vehicle to be dispatched to the pickup point has been changed as the driving plan change timing.
- the change timing is a timing at which a second operation plan in which the first vehicle specified in the request information is allocated to a second vehicle other than the first vehicle is calculated.
- the processor 10 determines the first vehicle and the first vehicle based on the detection information acquired by the control device 200 of the first vehicle driven according to the first driving plan including the first specifying information specifying the first vehicle specified in the request information. Obtains, as the change timing, the timing at which the second operation plan including the second specifying information specifying the different second vehicle is calculated.
- the processor 10 determines that the first vehicle specified by the user in the request information cannot be dispatched, and determines the cause of the change in the driving plan at the timing when the dispatched vehicle is changed from the first vehicle to the second vehicle.
- the change of the detection information acquired at the timing of the change of the operation plan is highly likely to be the cause of the change of the operation plan.
- the processor 10 of the information providing apparatus 100 generates cause information at a timing when a new operation plan is calculated.
- the cause determined at the timing of the calculation of the new driving plan is highly likely to be the cause of the change of the vehicle. In this way, by limiting the timing for determining the cause, an accurate cause can be determined.
- the processor 10 transmits the cause information to the user terminal device 300 as the second device at the timing when the execution of the second operation plan is started instead of the first operation plan. Even if a new operation plan is calculated, it may not be actually executed.
- the cause information is transmitted to the user terminal device 300. Send to The start of the driving control based on the second driving plan may be acquired from the vehicle controller 70.
- the user knows the change of the route, the position, and the arrival time of the target vehicle after the driving control based on the second driving plan is started in the target vehicle. Since the cause information has already been presented to the user when the driving plan is changed, the user understands the cause and then knows the change in the movement of the target vehicle (change in route, position, arrival time). For this reason, the user does not feel anxious even when looking at changes in the movement of the target vehicle (changes in route, position, arrival time). Even if a new operation plan is calculated, it may not be actually executed. Since the cause information is presented to the user at the timing when the operation control based on the new operation plan is actually started, it is possible to prevent the user from being presented with the cause of the change to the new operation plan that is not actually executed. Thus, it is possible to prevent unnecessary information from being presented to the user, and to present useful information to the user in a timely manner.
- the processor 10 of the information providing apparatus 100 generates cause information in which the contents of the cause of the change in the operation plan are expressed in text, and sends the generated cause information to the user terminal apparatus 300. Since the cause of the operation plan is expressed by text information, it can be accurately transmitted to the user.
- the cause information can be categorized not only into the "cause” itself, but also into the state (temporary stop, lane change impossible / no traffic / route change), categorization into results (delay / stop), and countermeasures ( Detour). Although not particularly limited, "The lane could not be changed.” “The lane could not be changed due to traffic congestion.” “It takes time to arrive due to traffic congestion.” “Traffic congestion. "The traffic has been restricted due to construction. I will go on another route.” “I am closed due to an accident. I will go on another route.” “I will pause to let the ambulance pass.” Can be cited as an example of cause information.
- the processor 10 of the information providing apparatus 100 generates cause information in which the contents of the cause of the operation plan are represented by an image, and sends the generated cause information to the user terminal device 300. Since the cause of the operation plan is represented by an image, the state can be accurately transmitted to the user. Further, the user can visually understand the state and the degree thereof by the image. For example, a captured image of the vehicle-mounted camera 51 may be presented as cause information. The degree of congestion can be appropriately transmitted to the user by the captured image.
- the processor 10 of the information providing apparatus 100 may generate cause information including both text and images.
- the cause can be accurately conveyed by text, and the degree of the cause can be conveyed by the image.
- the cause information is transmitted to the user terminal device 300.
- the user terminal device 300 presents cause information.
- step S101 the processor 10 of the information providing apparatus 100 acquires request information input to the user terminal device 300 (second device).
- step S102 the processor 10 calculates a first operation plan to be executed by the control device of the vehicle according to the input request information.
- the first driving plan includes a first route from the current position of the target vehicle to be dispatched to the pickup point specified in the request information.
- the first driving plan includes the specific information of the first vehicle (target vehicle) specified in the request information.
- the first operation plan includes a first scheduled arrival time at the pickup point specified in the request information.
- the processor 10 may cause the vehicle controller 70 to calculate the first operation plan.
- FIG. 4 shows an example of the first route.
- the first route R1 is a scheduled route from the current position A of the first vehicle to the pickup point B, and is indicated by a thick line.
- the information of the first route R1 is displayed on the display 331 of the user terminal device 300 carried by the user so as to be superimposed on the map information 123.
- the map information 123 may be provided from the navigation device 120, may be stored in the user terminal device 300, or may be downloaded from an external device.
- step S103 the processor 10 acquires the detection information obtained by the control device 200 of the target vehicle.
- the detection information is information on the traveling environment acquired from the detection device 50, the sensor 60, and an external device (not shown).
- step S104 the processor 10 determines whether the driving environment has changed based on the detection information.
- a predetermined difference is calculated / determined between the detection information when the first driving plan is calculated and the newly obtained detection information, it is determined that the traveling environment has changed.
- This change in the traveling environment may be determined for each point on the first route in the first driving plan.
- the first driving plan for example, at the point X, the scheduled vehicle speed P / the scheduled passing time T / the right turn (steering amount K) is defined.
- the processor 10 determines the traveling environment. Is determined to have changed.
- step S105 If it is determined that the traveling environment has changed, the process proceeds to step S105, and if it is determined that the traveling environment has not changed (as predicted in the first operation plan), the process proceeds to step S112. In step S112, the control device 200 is instructed to execute the first operation plan, and the vehicle is moved on the first route.
- step S105 the processor 10 calculates a second operation plan different from the first operation plan in accordance with a change in the traveling environment.
- the processor 10 may cause the vehicle controller 70 to calculate the second operation plan.
- the second operation plan of the present example includes a second route R2 different from the first route R1.
- FIG. 5 shows an example of the second route R2.
- the second route R2 is a route that goes straight ahead, unlike the first route R1 that turns right at the intersection K.
- FIG. 6A shows a captured image G1 indicating traffic congestion in the right turn lane.
- the right turn lane has a long train line, short inter-vehicle distance, and no area where the target vehicle can enter. Therefore, the processor 10 (or the vehicle controller 70) determines that the vehicle cannot enter the right-turn lane, and calculates a new second route R2 based on a change in the traveling environment.
- FIG. 6B shows a captured image G2 indicating that the road to be approached is under construction.
- signs for closing off traffic are also arranged.
- the processor 10 or the vehicle controller 70 determines from the image information that this road is under construction and cannot enter. Therefore, the processor 10 (or the vehicle controller 70) determines that the vehicle cannot enter the right road, and calculates a new second route R2 based on a change in the traveling environment.
- step S106 the processor 10 confirms a change in the operation plan. That is, it is confirmed that the newly calculated second operation plan is different from the previously executed first operation plan.
- the process proceeds to step S112 and the execution of the first operation plan is continued.
- the process proceeds to step S107.
- the determination as to whether the first operation plan is different from the second operation plan is made based on a difference in detection information at each point. For example, when the positions of the first route and the second route are separated by a predetermined distance or more, it is determined that the first operation plan is different from the second operation plan.
- first operation plan and the second operation plan are different. If the identification information of the first vehicle and the second vehicle that were scheduled to be dispatched are different, it is determined that the first operation plan and the second operation plan are different.
- step S107 the processor 10 determines the cause of the change in the operation plan.
- the processor 10 determines the cause based on the detection information obtained when the operation plan is changed.
- the processor 10 determines the cause based on the difference between the pieces of detection information obtained before and after the change of the operation plan.
- the above description is referred to for the method of determining the cause of the change in the operation plan.
- the cause may be determined using the cause analysis table T.
- step S108 the processor 10 confirms that the execution of the second operation plan has been started.
- the processor 10 acquires from the vehicle controller 70 information indicating that the first operation plan has been stopped and the execution of the newly calculated second operation plan has been started. If the execution of the second operation plan is not started, the subsequent transmission processing is not performed.
- the validity of the continuation of the execution of the first operation plan is periodically examined, and a second operation plan as an alternative is calculated. However, in actual autonomous driving control, it may be better to continue the first operation plan, and when the second operation plan is calculated, the second operation plan is not always executed. In the present embodiment, after confirming execution of the second operation plan, the process proceeds to step S109.
- step S109 the processor 10 generates the cause information of the change in the operation plan and transmits it to the user terminal device 300.
- step S110 the user terminal device 300 displays the acquired cause information of the operation plan change on the display 331.
- FIG. 7A to 7C show display examples of cause information.
- the cause of the change in the operation plan accompanying the route change (reroute) is presented by cause information including the text “Reroute because it cannot enter the right turn lane”.
- the cause information may include a captured image G1 indicating a state where the vehicle cannot enter the right turn lane.
- the cause of the change in the operation plan accompanied by the delay of the estimated arrival time is presented by cause information including the text “The arrival time is delayed by 5 minutes due to traffic congestion”.
- the cause information may include a captured image G1 indicating a “congested” state. As shown in FIG.
- cause information including the text "There is a problem with the designated vehicle and another vehicle will be dispatched.”
- the cause information may include an image G3 indicating “vehicle failure”.
- the cause “congestion of the right-turn lane” may be indicated by the captured image G1 in association with the map information including the route and the point K at which the driving plan is changed.
- the captured image G1 may be displayed.
- step S111 the processor 10 confirms that the vehicle has arrived at the pickup point designated by the user.
- the processing after step S103 is repeatedly performed until the target vehicle arrives at the pickup point.
- the information providing apparatus 100 is configured and operates as described above, and has the following effects.
- the first operation plan to be executed by the control device of the vehicle according to the request information is calculated, and the second operation plan different from the first operation plan is calculated based on the acquired detection information.
- the cause of the change in the operation plan is determined based on the detection information, and the cause information indicating the cause is presented to the user by the user terminal device 300.
- the timing at which the second operation plan different from the first operation plan is calculated is acquired as the operation plan change timing, and when the change timing is acquired, the detection information is obtained. Then, the cause of the change in the operation plan is determined. Since the timing at which the second operation plan was calculated is obtained, and the cause of the change in the operation plan is determined based on the detection information obtained at that timing, the detection information to be used for determining the cause can be appropriately narrowed down. . As a result, the cause of the change in the operation plan can be accurately determined.
- the cause of the change in the operation plan is determined based on the detection information.
- the timing at which the route included in the operation plan is changed is acquired, and the cause of the change in the operation plan is determined based on the detection information acquired at the timing.
- the cause determined at the timing when the second operation plan including the second route is calculated is likely to be the cause of the route change.
- the timing at which the second operation plan including the second route is calculated is acquired, and the cause of the route change is determined based on the detection information acquired at that timing. Therefore, the detection information to be used for determining the cause is appropriately narrowed down. be able to. As a result, the cause of the change in the operation plan due to the route change can be accurately determined.
- the second operation plan including the second estimated arrival time later than the first estimated arrival time at the pickup point included in the first operation plan by a predetermined time or more is calculated. If the detected timing is acquired as the change timing, the cause of the change in the operation plan is determined based on the detection information. The timing at which the estimated arrival time included in the operation plan is changed is acquired, and the cause of the change in the operation plan is determined based on the detection information acquired at the timing. The cause determined at the timing when the second operation plan including the second estimated arrival time is calculated is likely to be a cause of the estimated arrival time delay.
- the timing at which the second operation plan including the second estimated arrival time is calculated is acquired, and the cause of the estimated arrival time delay is determined based on the detection information acquired at that timing. Can be appropriately narrowed down. As a result, it is possible to accurately determine the cause of the change in the operation plan due to the scheduled arrival time delay.
- the second driving plan including the second specifying information specifying the second vehicle different from the first specifying information specifying the first vehicle included in the first driving plan. Is calculated as the change timing.
- the processor 10 of the information providing apparatus 100 acquires the timing at which the vehicle distributed to the pickup point has been changed as the driving plan change timing.
- the change timing is a timing at which a second operation plan in which the first vehicle specified in the request information is allocated to a second vehicle other than the first vehicle is calculated.
- the processor 10 determines the first vehicle and the first vehicle based on the detection information acquired by the control device 200 of the first vehicle driven according to the first driving plan including the first specifying information specifying the first vehicle specified in the request information. Obtains, as the change timing, the timing at which the second operation plan including the second specifying information specifying the different second vehicle is calculated.
- the processor 10 determines that the first vehicle specified by the user in the request information cannot be dispatched, and determines the cause of the change in the driving plan at the timing when the dispatched vehicle is changed from the first vehicle to the second vehicle.
- the cause determined at this timing is likely to be the cause of the vehicle change.
- the cause of the change in the operation plan is notified to the user. Since the user can know the cause of the change of the vehicle reserved by himself, he can understand that the requested first vehicle is not allocated in the request information and wait for the arrival of the vehicle.
- the cause of the change in the operation plan is determined based on the detected information with reference to the cause analysis table in which the contents of the detected information and the cause are previously associated. .
- the cause analysis table T By preparing the cause analysis table T in advance, an accurate cause can be quickly determined.
- the cause information is transmitted to the user terminal device 300 at the timing when the execution of the second operation plan is started instead of the first operation plan. Even if a new operation plan is calculated, it may not be actually executed.
- the cause information is transmitted to the user terminal device 300. Send to The user knows the change in the route, the position, and the arrival time of the target vehicle after the driving control based on the second driving plan is started in the target vehicle.
- the cause information is presented to the user, so that the user understands the cause and then knows a change in the movement of the target vehicle (change in route, position, arrival time). For this reason, the user does not feel anxious even when looking at changes in the movement of the target vehicle (changes in route, position, arrival time). Even if a new operation plan is calculated, it may not be actually executed. Since the cause information is presented to the user at the timing when the operation control based on the new operation plan is actually started, it is possible to prevent the user from being presented with the cause of the change to the new operation plan that is not actually executed. Thus, it is possible to prevent unnecessary information from being presented to the user, and to present useful information to the user in a timely manner.
- the cause information expressing the contents of the cause of the change in the operation plan in text is generated. Since the cause of the operation plan is expressed by text information, it can be accurately transmitted to the user.
- the cause information that expresses the details of the cause of the change in the operation plan by an image is generated. Since the cause of the operation plan is represented by an image, the state can be accurately transmitted to the user. Further, the user can visually understand the state and the degree thereof by the image.
- the cause information including both the text and the image may be generated. The cause can be accurately conveyed by text, and the degree of the cause can be conveyed by the image.
- a vehicle having an autonomous traveling function is used as a target vehicle (vehicle to be distributed).
- vehicle vehicle to be distributed
- the user confirms that the vehicle allocation process is being properly executed based on a change over time in the route of the vehicle.
- the driver is not on the vehicle, and it is not expected that delays in traffic congestion or selection of a detour route will be reported.
- the cause of the change in the driving plan of the vehicle is presented to the user, so that the user understands the movement of the vehicle according to the cause, and waits for the arrival of the vehicle without anxiety. Can be. Since the cause of the change in the driving plan is automatically presented to the user, there is no need to constantly manage the position, route, and delay of the autonomous vehicle at the center or the like. The processing cost of the vehicle allocation system 1 can be reduced.
- the vehicle allocation system 1 of the present embodiment has the same operation and effect as the above-described information providing method.
- the information providing apparatus 100 of the present embodiment has the same operation and effect as the above-described information providing method.
Abstract
Description
本実施形態の情報提供装置のプロセッサ10は、運転計画生成部と、原因情報生成部と、通信制御部と、を有する。運転計画生成部は、ユーザのリクエスト情報に応じて、車両の制御装置に実行させる第1運転計画を生成する処理を実行する。原因情報生成部は、車両から取得した車両の状態を示す検出情報に基づいて、第1運転計画とは異なる第2運転計画が生成された場合に、運転計画が変更された原因を示す原因情報を、車両から得た検出情報に基づいて生成する処理を実行する。通信制御部は、原因情報をユーザの端末に対して送信するよう制御する処理を実行する。
検出装置50は、他車両の台数、他車両の隊列の長さは、渋滞の程度を示す情報として用いる。渋滞の情報は、対象車両の車両コントローラ70に送信され、対象車両の走行の回避を判断する情報として用いられる。
プロセッサ10は、通信装置320を介して対象車両の周囲の状況を構成する情報を取得する。プロセッサ10は、検出装置50、センサ60から検出情報を取得する。検出情報は、カメラ51の撮像画像、レーダー装置52の計測情報、車両診断装置53の出力情報、及び外部装置(ITSなど)から取得した交通情報を含む。検出情報は、操舵角センサ61の操舵量、車速センサ62の車速、エネルギー残量センサ63のエネルギー残量を含む。
(1)第2運転計画が算出されたタイミングにおいて、前方(左前方、右前方)の他車両の車列の台数又は車列の長さが所定値を超えた場合には、プロセッサ10は、運転計画が変更された原因が「渋滞」であると判断する。プロセッサ10は、他車両の車列の台数又は車列の長さは撮像画像に基づいて算出する。
(2)第2運転計画が算出されたタイミングにおいて、前方(左前方、右前方)の撮像画像に工事車両、及び/又は特徴的な歩行者(交通整理担当者)が含まれている場合には、プロセッサ10は、運転計画が変更された原因が「工事」であると判断する。プロセッサ10は原因ごとに検出情報の特徴が対応づけられた対応情報を参照して、原因を判断する。対応情報において、原因「工事」には、工事車両の画像上の特徴、交通整理担当者の着衣(制服)・所持品(交通整理用の誘導灯)の画像上の特徴が対応づけられる。プロセッサ10は、撮像画像に、原因「工事」に対応づけられた特徴が含まれる場合には、運転計画が変更された原因が「工事」であると判断する。
(3)第2運転計画が算出されたタイミングにおいて、前方(左前方、右前方)の撮像画像に特殊車両(警察車両、救急車両、レッカー車両)、及び/又は特徴的な処理者(警察官、救急隊員)が含まれている場合には、プロセッサ10は、運転計画が変更された原因が「事故」であると判断する。プロセッサ10は原因ごとに検出情報の特徴が対応づけられた対応情報を参照して、原因を判断する。対応情報において、原因「事故」には、特殊車両の画像上の特徴、警察官、救急隊員などの着衣(制服・帽子)・所持品(機材)の画像上の特徴が対応づけられる。プロセッサ10は、撮像画像に、原因「事故」に対応づけられた特徴が含まれる場合には、運転計画が変更された原因が「事故」であると判断する。
(5)第2運転計画が算出されたタイミングにおいて、第1運転計画において定義されたある地点における操舵量に比べて、実際の操舵量が所定値以上低い場合には、プロセッサ10は、運転計画が変更された原因が「渋滞」であると判断する。第1経路に従う移動ができなくなった、つまり右左折すべき地点において対象車両が直進する場合には、プロセッサは右左折レーンが渋滞していることが原因で、右左折ができなかったと判断する。
(7)第2運転計画が算出されたタイミングにおいて、エネルギー残量不足情報の出力があった場合にはプロセッサ10は、運転計画が変更された原因が「対象車両のエネルギー残量不足」であると判断する。第1運転計画において特定された第1車両が変更された場合には、プロセッサは第1車両のエネルギー残量ではリクエスト情報に特定されたピックアップ地点から目的地に到達できない、つまり「エネルギー不足」が原因で、特定された第1車両が配車できなかったと判断する。
(9)第2運転計画が算出されたタイミングにおいて、ITSなどの外部装置又は他車両から取得した、対象車両の前方(左前方、右前方)の他車両の車列の台数又は車列の長さが所定値を超えた場合には、プロセッサ10は、運転計画が変更された原因が「渋滞」であると判断する。第2運転計画が算出されたタイミングにおいて、ITSなどの外部装置から取得した渋滞情報が所定の評価値を超えた場合には、プロセッサ10は、運転計画が変更された原因が「渋滞」であると判断する。
(10)第2運転計画が算出されたタイミングにおいて、ITSなどの外部装置又は他車両から工事情報/事故情報を取得した場合には、プロセッサ10は、運転計画が変更された原因が「工事」又は「事故」であると判断する。
(2−1)第1経路の走行が継続できない場合には、第2経路が算出される。第1経路に従う右左折ができず第2経路が算出された場合において、右左折不可能である旨が検出されたときには、プロセッサ10は運転計画が変更された原因を、「右左折をすることができなかったこと」であると判断する。
(2−2)リクエスト情報で指定されたピックアップ地点への第1到達予定時刻が所定時間以上遅延する場合には、新たな第2運転計画が算出される。第1運転計画において定義された所定地点の第1車速が所定値以上低く、ピックアップ地点への到着が遅延する場合には、プロセッサ10は運転計画が変更された原因を「渋滞」であると判断する。
(2−3)ピックアップ地点を経てユーザの目的地に至るまでに要するエネルギー量よりもエネルギー残量が少ない場合には、リクエスト情報において特定された第1車両とは異なる第2車両が配車される。配車される車両が変更された場合に、エネルギー残量不足が判断されたときには、プロセッサ10は運転計画が変更された原因を「エネルギー残量不足」であると判断する。
原因情報はユーザ端末装置300へ送信される。ユーザ端末装置300は、原因情報を提示する。
他方、第2運転計画が第1運転計画とは異なると判断された場合には、ステップS107に進む。第1運転計画と第2運転計画とが異なるか否かの判断は、各地点における検出情報の差異に基づいて判断する。例えば、第1経路と第2経路の位置が所定距離以上離隔した場合には、第1運転計画と第2運転計画とは異なると判断する。例えば、ある地点への第1予定到着時刻と第2予定到着時刻が所定時間以上の差が生じた場合には、第1運転計画と第2運転計画とは異なると判断する。配車予定であった第1車両と第2車両との識別情報が異なる場合には、第1運転計画と第2運転計画とは異なると判断する。
第1運転計画に従い、対象車両の運転/移動が開始されると、対象車両の走行環境は刻々と変化する。予定されていた第1運転計画の実行が、走行環境の変化によって妨げられることがあるものの、ユーザは事前に運転計画の変更の原因を知ることができるので、不安を覚えることなく、配車される車両の到着を待機できる。
車両の経路及び現在位置がユーザ端末装置300に遂次表示される場合において、車両の運転計画が変更され、車両が一時的であってもピックアップ地点から離隔するような動きを示す場合には、ユーザは自身のリクエストが実行されないかもしれないという不安を覚える。運転計画の変更の原因が事前に知らされたユーザは、車両の動きの変化の理由を理解し、経路の変更、到着時間の遅延、車両の変更を冷静に許容することができる。
第2運転計画が算出されたタイミングを取得し、そのタイミングにおいて取得された検出情報に基づいて運転計画の変更の原因を判断するので、原因の判断に用いるべき検出情報を適切に絞り込むことができる。この結果、運転計画の変更の原因を正確に判断できる。
運転計画に含まれる経路が変更されたタイミングを取得し、そのタイミングにおいて取得された検出情報に基づいて運転計画の変更の原因を判断する。第2経路を含む第2運転計画が算出されたタイミングで判断された原因は、経路変更の原因である可能性が高い。
第2経路を含む第2運転計画が算出されたタイミングを取得し、そのタイミングにおいて取得された検出情報に基づいて経路変更の原因を判断するので、原因の判断に用いるべき検出情報を適切に絞り込むことができる。この結果、経路変更による運転計画の変更の原因を正確に判断できる。
運転計画に含まれる到着予定時刻が変更されたタイミングを取得し、そのタイミングにおいて取得された検出情報に基づいて運転計画の変更の原因を判断する。第2到着予定時刻を含む第2運転計画が算出されたタイミングで判断された原因は、到着予定時刻遅延の原因である可能性が高い。
第2到着予定時刻を含む第2運転計画が算出されたタイミングを取得し、そのタイミングにおいて取得された検出情報に基づいて到着予定時刻遅延の原因を判断するので、原因の判断に用いるべき検出情報を適切に絞り込むことができる。この結果、到着予定時刻遅延による運転計画の変更の原因を正確に判断できる。
新たな運転計画が算出されたとしても、実際に実行されないこともある。本実施形態では、第1運転計画に従う対象車両の運転制御が中止され、新たに算出された第2運転計画に従う対象車両の運転制御が実際に開始されたタイミングにおいて、原因情報をユーザ端末装置300に送信する。ユーザが対象車両の経路、位置、到着時刻の変化を知るのは、対象車両において第2運転計画に基づく運転制御が開始された後である。運転計画の変更時において、その原因情報がユーザに提示されるので、ユーザは原因を理解してから対象車両の動きの変化(経路、位置、到着時刻の変化)を知ることになる。このため、ユーザは対象車両の動きの変化(経路、位置、到着時刻の変化)を見ても、不安を覚えることがない。また、新たな運転計画が算出されたとしても、実際に実行されないこともある。新たな運転計画に基づく運転制御が実際に開始されたタイミングで原因情報をユーザに提示するので、実際に実行されない新たな運転計画への変更原因をユーザに提示することを防止できる。これにより、ユーザに不要な情報を提示することを防止し、ユーザにとって有用な情報を適時に提示することができる。
100…情報提供装置、第1装置
10…プロセッサ
11…CPU
12…ROM
T…原因分析テーブル
13…RAM
20…通信装置
30…出力装置
31…ディスプレイ
32…スピーカ
200…制御装置、車載装置
40…通信装置
50…検出装置
51…カメラ
52…レーダー装置
53…車両診断装置
60…センサ
61…操舵角センサ
62…車速センサ
70…車両コントローラ
71…プロセッサ
80…駆動装置
81制動装置
90…操舵装置
110…出力装置
111…ディスプレイ
112…スピーカ
120…ナビゲーション装置
121…位置検出装置
122…道路情報
123…地図情報
300…ユーザ端末装置,第2装置
310…プロセッサ
311…CPU
312…ROM
313…RAM
320…通信装置
330…入出力装置
331…(タッチパネル式の)ディスプレイ
332…スピーカ
Claims (12)
- 第1装置と、前記第1装置と情報を授受する第2装置とを備える配車システムのための情報提供方法であって、
前記第1装置のプロセッサは、
前記第2装置に入力されたユーザのリクエスト情報に応じて、車両の制御装置に実行させる第1運転計画を算出し、
前記車両より取得した検出情報に基づいて、前記第1運転計画とは異なる第2運転計画が算出された場合には、運転計画が変更された原因を前記検出情報に基づいて判断し、
前記原因を含む原因情報を前記第2装置へ送信し、
前記第2装置は、受信した前記原因情報を出力装置により出力する情報提供方法。 - 前記第1装置のプロセッサは、
前記第1運転計画とは異なる第2運転計画が算出されたタイミングを運転計画の変更タイミングとして取得し、
前記変更タイミングを取得した場合には、前記検出情報に基づいて運転計画が変更された前記原因を判断する請求項1に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記第1運転計画に含まれる第1経路とは異なる第2経路を含む前記第2運転計画が算出されたタイミングを、前記変更タイミングとして取得する請求項2に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記第1運転計画に含まれるピックアップ地点への第1到着予定時刻よりも所定時間以上遅い第2到着予定時刻を含む前記第2運転計画が算出されたタイミングを、前記変更タイミングとして取得する請求項2に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記第1運転計画に含まれる第1車両を特定する第1特定情報とは異なる第2車両を特定する第2特定情報を含む第2運転計画が算出されたタイミングを、前記変更タイミングとして取得する請求項2に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記検出情報の内容と前記原因とを予め対応づけられた原因分析テーブルを参照し、前記検出情報に基づいて、前記運転計画が変更された前記原因を判断する請求項1~5の何れか一項に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記第1運転計画に代えて前記第2運転計画の実行が開始されたタイミングで、前記原因情報を前記第2装置へ送信する請求項1~6の何れか一項に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記運転計画が変更された前記原因の内容をテキストにより表現した前記原因情報を生成する請求項1~7の何れか一項に記載の情報提供方法。 - 前記第1装置のプロセッサは、
前記運転計画が変更された前記原因の内容を画像により表現した前記原因情報を生成する請求項1~8の何れか一項に記載の情報提供方法。 - 前記車両は、自律走行機能を備える自動運転車両である請求項1~9の何れか一項に記載の情報提供方法。
- 第1装置と、前記第1装置と情報を授受する第2装置とを備え、
前記第1装置のプロセッサは、
前記第2装置に入力されたユーザのリクエスト情報に応じて、車両の制御装置に実行させる第1運転計画を算出し、
前記車両より取得した検出情報に基づいて、前記第1運転計画とは異なる第2運転計画が算出された場合には、運転計画が変更された原因を前記検出情報に基づいて判断し、
前記原因を含む原因情報を前記第2装置へ送信し、
前記第2装置は、受信した前記原因情報を出力装置により出力する配車システム。 - ユーザのリクエスト情報に応じて、車両の制御装置に実行させる第1運転計画を生成する運転計画生成部と、
前記車両から取得した前記車両の状態を示す検出情報に基づいて、前記第1運転計画とは異なる第2運転計画が生成された場合に、運転計画が変更された原因を示す原因情報を前記検出情報に基づいて生成する原因情報生成部と、
前記原因情報を前記ユーザの端末に対して送信するよう制御する通信制御部と、
を備える情報提供装置。
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CN112602107A (zh) | 2021-04-02 |
JP6973643B2 (ja) | 2021-12-01 |
US11938965B2 (en) | 2024-03-26 |
BR112020026186A2 (pt) | 2021-03-23 |
US20210114618A1 (en) | 2021-04-22 |
CN112602107B (zh) | 2023-06-06 |
JPWO2019243861A1 (ja) | 2021-07-29 |
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