WO2020196084A1 - 情報処理方法及び情報処理システム - Google Patents
情報処理方法及び情報処理システム Download PDFInfo
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- WO2020196084A1 WO2020196084A1 PCT/JP2020/011663 JP2020011663W WO2020196084A1 WO 2020196084 A1 WO2020196084 A1 WO 2020196084A1 JP 2020011663 W JP2020011663 W JP 2020011663W WO 2020196084 A1 WO2020196084 A1 WO 2020196084A1
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
- B60W60/00253—Taxi operations
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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
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
- B60W60/0054—Selection of occupant to assume driving tasks
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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
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- 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
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
- G08G1/096816—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the complete route is transmitted to the vehicle at once
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- 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
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096838—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the user preferences are taken into account or the user selects one route out of a plurality
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/041—Potential occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
Definitions
- This disclosure relates to information processing methods and information processing systems.
- Patent Document 1 describes a determination unit that determines whether or not autonomous driving is possible by an autonomous driving vehicle using dynamic map data, and an autonomous driving vehicle based on the dynamic map data when the determination unit determines that autonomous driving is possible.
- an automatic driving support device provided with a control unit that displays a notification that automatic driving is not possible on a display device when the automatic driving is permitted and it is determined that automatic driving is not possible.
- Patent Document 1 may reduce the operation efficiency. For example, in Patent Document 1, when the control unit determines that automatic driving is not possible, a notification that automatic driving is not possible is simply displayed on the display device, and the user uniformly stops the automatic driving vehicle. Therefore, the operation of the automatic driving vehicle is performed. Efficiency is reduced.
- an object of the present disclosure is to provide an information processing method and an information processing system capable of suppressing a decrease in the operation efficiency of an autonomous vehicle.
- the information processing method is an information processing method executed by a computer, and is at least whether or not a person riding an autonomous vehicle can drive an autonomous vehicle that can be manually driven and the degree to which the autonomous vehicle can be driven.
- Acquire one driving skill acquire specifications for automatic driving of multiple autonomous vehicles, acquire routes for delivering the person, and automatically based on each of the specifications and the route.
- the autonomous driving system including the driving vehicle determines the deviation risk including at least one of the possibility and the degree of deviation from the operation design area, and the plurality of automatic driving according to each of the deviation risks and the driving skill. Select the self-driving car to be assigned to the delivery of the person from the car, and notify the selected self-driving car.
- a recording medium such as a system, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM, and the system, the method, and the like. It may be implemented using any combination of integrated circuits, computer programs and recording media.
- FIG. 1 is a block diagram showing an information processing system according to the first embodiment.
- FIG. 2 is a flowchart showing the operation of the information processing system according to the first embodiment.
- FIG. 3 is a block diagram showing an information processing system according to the second embodiment.
- FIG. 4 is a flowchart showing the operation of the information processing system according to the second embodiment.
- FIG. 5 is a flowchart showing the operation of the information processing system according to the third embodiment.
- FIG. 6 is a flowchart showing the operation of the information processing system according to the fourth embodiment.
- FIG. 7 is a flowchart showing the operation of the information processing system according to the fifth embodiment.
- the information processing method is an information processing method executed by a computer, and is at least whether or not a person riding an autonomous vehicle can drive an autonomous vehicle that can be manually driven and the degree to which the autonomous vehicle can be driven.
- Acquire one driving skill acquire specifications for automatic driving of multiple autonomous vehicles, acquire routes for delivering the person, and automatically based on each of the specifications and the route.
- the autonomous driving system including the driving vehicle determines the deviation risk including at least one of the possibility and the degree of deviation from the operation design area, and the plurality of automatic driving according to each of the deviation risks and the driving skill. Select the self-driving car to be assigned to the delivery of the person from the car, and notify the selected self-driving car.
- a person with low driving skill (a person whose driving skill is below the threshold value) is assigned an autonomous vehicle with a low risk of deviation.
- a person with high driving skill (a person whose driving skill is higher than the threshold value) is assigned an autonomous driving vehicle having a high deviation risk (for example, the deviation risk is higher than the threshold value). This is because even if an autonomous vehicle with a high risk of deviation deviates from the operation design area of the route, a person with high driving skill can drive the autonomous vehicle.
- the information processing system is a driving skill for acquiring a driving skill which is at least one of whether or not a person riding an autonomous vehicle can drive an autonomous vehicle that can be manually driven and the degree to which the driver can drive.
- a driving skill for acquiring a driving skill which is at least one of whether or not a person riding an autonomous vehicle can drive an autonomous vehicle that can be manually driven and the degree to which the driver can drive.
- the possibility that the automatic driving system including the plurality of autonomous driving vehicles deviates from the operation design area and the deviation risk including at least one degree of deviation are determined.
- the automatic driving vehicle assigned to the delivery of the person from the plurality of automatic driving vehicles is assigned. It includes a selection unit for selection and an output unit for notifying the autonomous driving vehicle selected by the selection unit.
- This information processing system also has the same effects as described above.
- the delivery of the person in the selection of the autonomous driving vehicle that acquires the tolerance of the person for the driving request and allocates it to the delivery of the person, the delivery of the person is also made according to the tolerance.
- the self-driving car to be assigned to is selected from the plurality of self-driving cars.
- a person is willing to drive an autonomous vehicle in a manually driven state, so that among autonomous vehicles according to driving skills, autonomous driving with a high risk of deviation You can present a car.
- people are less willing to drive an autonomous vehicle in a manually driven state, so it is possible to present an autonomous vehicle with a low risk of deviation among autonomous vehicles according to driving skills. it can. Since a person can select and make a reservation for such an autonomous vehicle, unintended manual driving is suppressed.
- it is possible to suppress delays in the delivery of people due to the allocation of autonomous vehicles having a high risk of deviation and the occurrence of deviations in the operation design area (ODD: Operational Design Domain). Therefore, it is possible to improve the operation efficiency of the autonomous vehicle.
- ODD Operational Design Domain
- the autonomous driving vehicle that acquires the physical condition of the person and assigns it to the delivery of the person in the selection of the autonomous driving vehicle that acquires the physical condition of the person and assigns it to the delivery of the person, the autonomous driving vehicle that is assigned to the delivery of the person according to the physical condition. Is selected from the plurality of self-driving cars.
- an autonomous vehicle with a high risk of deviation is presented among the autonomous vehicles according to the driving skill.
- the self-driving car with a low risk of deviation is presented.
- an autonomous vehicle with a high deviation risk is assigned to a person who cannot actually drive. It is possible to prevent the deviation of ODD and the delay in delivery of people. Therefore, it is possible to improve the operation efficiency of the autonomous vehicle.
- the autonomous driving vehicle in the selection of the autonomous driving vehicle to be assigned to the delivery of the person, if the driving skill is present or the driving skill is equal to or higher than the threshold value, there is the deviation risk or the deviation risk. Selects an autonomous vehicle having a value equal to or greater than a threshold value from the plurality of autonomous vehicles.
- an autonomous vehicle having the deviation risk or having the deviation risk equal to or higher than the threshold value is more deviated than the other autonomous vehicle among the plurality of autonomous vehicles. It is an autonomous vehicle that has a high risk and a high profit to the person.
- the autonomous driving vehicle in the selection of the autonomous driving vehicle to be assigned to the delivery of the person, if the driving skill is not present or the driving skill is lower than the threshold value, there is no deviation risk or the deviation risk. Selects an autonomous vehicle having a value lower than the threshold value from the plurality of autonomous vehicles.
- an autonomous vehicle having no deviation risk or having a deviation risk lower than a threshold value has a deviation from the other autonomous vehicle among the plurality of autonomous vehicles. It is a low-risk self-driving car.
- the information processing method changes the acquired route to another route when there is no deviation risk or an autonomous vehicle having a deviation risk lower than the threshold value is not selected.
- the route of is a route having a lower risk of deviation than the acquired route.
- the information processing method notifies a proposal for improving the driving skill of the person when the autonomous driving vehicle having no deviation risk or having a deviation risk lower than the threshold value is not selected. To do.
- the information processing method provides a monitoring resource that is a resource for monitoring the selected autonomous vehicle according to the deviation risk and the driving skill of the selected autonomous vehicle. Calculated and calculated, according to the monitoring resource, the specifications of the selected self-driving car, and the route, the cost related to the delivery of the person by the selected self-driving car is calculated, and the calculated cost is calculated. Notice.
- the information processing method has the possibility that the selected autonomous vehicle will stop on the route according to the specifications of the selected autonomous vehicle and the risk of deviation from the route. A certain outage risk is calculated, and the calculated outage risk is notified.
- the information processing method determines and determines the travel control of the selected autonomous vehicle according to the specifications of the selected autonomous vehicle and the deviation risk with respect to the route.
- a driving plan is generated based on the driving control, and the generated driving plan is notified.
- this person can use it as a material for determining whether the travel time, route, etc. shown in the travel plan are suitable for his / her own request. For example, when a person is presented with a plurality of travel plans, the person can select the desired travel plan.
- FIG. 1 is a block diagram showing an information processing system 1 according to the first embodiment.
- the information processing system 1 is a system capable of dispatching an automatic driving vehicle 5 which is a vehicle having an automatic driving function and a manual driving function to a user at a request of the user.
- the information processing system 1 acquires information indicating the departure date and time, the departure place, the destination, etc. from the user who uses the terminal device 3 or the like, and based on the acquired information, dispatches the autonomous driving vehicle 5 according to the user. can do.
- the automatic driving vehicle 5 transitions from the automatic driving state to the manual driving state, or from the manual driving state to the automatic driving state.
- the information processing system 1, the terminal device 3, and the autonomous driving vehicle 5 of 1 or more constitute an autonomous driving system.
- the user is an example of a person who uses the information processing system 1.
- the information processing system 1 is applied to a shared usage mode in which the autonomous driving vehicle 5 is provided for, for example, a ride sharing service (Ride-sharing Service), a ride hailing service (Ride-hairing Service), and the like.
- a ride sharing service (Ride-sharing Service)
- a ride hailing service (Ride-hairing Service)
- the like for example, a ride sharing service (Ride-sharing Service), a ride hailing service (Ride-hairing Service), and the like.
- Ride sharing service is a general term for services that connect users who want to ride in this vehicle by using the vehicle as a means of transportation.
- ride sharing is a carpooling of vehicles that a user who wishes to move to a destination delivers from the departure point to the destination or a position approaching the destination by riding on a vehicle on which another user is riding. is there.
- the ride hailing service is a service that allows a user who wishes to move to a destination to deliver from the desired destination to the destination by requesting the vehicle to be dispatched to the desired destination using the vehicle as a means of transportation.
- the ride hailing service as well, it is possible to provide a ride sharing service by further boarding another user when delivering from the desired destination to the destination.
- the configuration of the information processing system 1 will be specifically explained.
- the information processing system 1 includes a reservation control unit 21, a user management unit 22, a vehicle management unit 23, a route calculation unit 24, a risk estimation unit 25, a matching unit 26, a vehicle allocation control unit 27, and a communication unit 28. And.
- the reservation control unit 21 controls the user management unit 22, the matching unit 26, the route calculation unit 24, etc. so as to connect the user with the autonomous vehicle 5 suitable for the user when the user makes a reservation for the autonomous vehicle 5. It is a department.
- the reservation control unit 21 acquires the user's reservation information from the terminal device 3 via the communication unit 28, the reservation control unit 21 transmits the information indicating the user's request, user skill, etc. included in the reservation information to the user management unit 22. Further, the reservation control unit 21 transmits the departure place information indicating the user's departure place and the destination information indicating the user's destination included in the reservation information to the route calculation unit 24.
- the reservation control unit 21 matches the departure place information, the destination information, the departure time information indicating the time of departure from the departure place, and the arrival time information indicating the arrival time of arriving at the destination, which are included in the reservation information. Output to. The output of the departure time and the arrival time is arbitrary.
- the reservation information includes departure place information, destination information, departure time information, arrival time information, user's request information, skill information indicating driving skill, etc. for the user who is planning to get on the autonomous driving vehicle 5.
- the request information is, for example, information indicating the user's tolerance for the user's driving request, the vehicle type of the autonomous driving vehicle 5, the maximum number of passengers, the body size, the presence or absence of a non-smoking vehicle, and the like.
- Tolerance includes the presence or absence of tolerance or the degree of tolerance. Specifically, the tolerance indicates whether or not the user having the driving skill intends to drive the autonomous driving vehicle 5 in the manually driven state, or how much the manual driving is permitted.
- Skill information is information indicating whether or not the autonomous driving vehicle 5 can be driven (for example, whether or not it has a driver's license) when the autonomous driving vehicle 5 shifts to the manual driving state, information such as total driving time, etc. is there.
- the driving in the driving skill may be driving through a general operating device such as a steering wheel and a pedal, or may be a simple driving via an operating device such as an emergency stop button or a touch panel. ..
- the reservation control unit 21 provides candidate information indicating candidates for the autonomous driving vehicle 5 according to the user's reservation information via the communication unit 28. Output to the terminal device 3.
- the user management unit 22 includes skill information that is at least one driving skill, whether or not the user riding the autonomous vehicle 5 can drive the autonomous vehicle 5 that can be manually driven, and the degree to which the user can drive the autonomous vehicle 5. Request information is acquired and managed by the driving skill acquisition department.
- the user management unit 22 stores the user's tolerance included in the request information.
- the user management unit 22 may acquire and manage physical condition information indicating the physical condition of the user.
- the physical condition is the state of health, the presence or absence or degree of drunkenness, and the like.
- the physical condition information may be input by the user at the time of reservation, or may be estimated from the captured image of the user's face.
- the user management unit 22 stores the acquired skill information and request information for each user.
- the user management unit 22 updates the acquired information each time the skill information and the request information are acquired from the reservation control unit 21.
- the user management unit 22 outputs skill information and request information to the matching unit 26.
- the vehicle management unit 23 acquires specifications related to automatic driving of the plurality of autonomous driving vehicles 5 as a specification acquisition unit and manages each of them.
- the specifications related to automatic driving are the vehicle type, traveling ability, sensing ability, and processing ability of the automatic driving vehicle 5.
- Vehicle types include vehicle categories such as sedans and wagons, sizes, and shapes.
- the traveling ability includes acceleration force, maximum speed, braking force, turning ability such as minimum turning radius, and the like.
- Sensing capabilities include sensing distance, sensing angle, resolution, sensing target, and the like. Note that the sensing may include detection of an object, a scene, or the like.
- the processing capacity includes processing speed, number of simultaneous processing tasks, storage capacity, and the like.
- the vehicle management unit 23 outputs vehicle specification information indicating the specifications of the autonomous driving vehicle 5 in response to the request of the matching unit 26.
- the route calculation unit 24 calculates the route candidates for delivering the user.
- the route calculation unit 24 calculates one or more routes from the user's departure point to the destination based on map information stored in, for example, a storage device (not shown). For example, the route calculation unit 24 calculates a route on a map that maps a route that is the shortest distance from the user's departure point to the destination, an alternative route calculated according to the road condition, and the like.
- the route calculation unit 24 outputs route information, which is a calculated route candidate (result), to the matching unit 26.
- the risk estimation unit 25 has at least one possibility and degree of deviation of the autonomous driving system including the autonomous driving vehicle 5 based on each of the specifications and the route indicated by the route information. Estimate (in other words, judge) the deviation risk including one.
- the deviation risk is an index indicating the possibility of deviation from the operation design area set in the route when the autonomous driving vehicle 5 having a certain specification travels according to the route.
- the operation design area is a condition in which the autonomous driving system is designed to function. Conditions include geography, roads, environment, traffic conditions, speed, temporary limits, and driving modes.
- the ODD is set so that the automatic driving system operates normally when all the conditions are satisfied. In other words, it can be said that the autonomous driving system is designed so as not to deviate from the ODD. If any of the conditions is not satisfied, the automatic operation may be hindered. Therefore, it is required to switch the manual operation state or stop the operation.
- the risk estimation unit 25 acquires the route information and the vehicle spec information acquired through the matching unit 26, the risk estimation unit 25 estimates the deviation risk of each autonomous vehicle 5 for each route information.
- the route information includes static information such as the width of the road, the degree of turning, and the number of lanes, and dynamic (or quasi-static) information such as the presence / absence of construction, the weather, the degree of congestion, and the degree of accident occurrence.
- the autonomous driving vehicle 5 having high specifications indicated by the vehicle specification information has high running performance or safety performance, so that the risk of deviation is relatively low and it is easy to estimate.
- the self-driving car 5 having a low spec indicated by the vehicle spec information has a lower running performance or safety performance than the self-driving car 5 having a high spec, so that the deviation risk is relatively high and it is easy to estimate.
- the risk estimation unit 25 outputs risk information, which is a determination result of estimating the deviation risk of each autonomous vehicle 5 for each route, to the matching unit 26.
- the matching unit 26 selects the user who reserves the delivery of the autonomous vehicle 5 from the plurality of autonomous vehicles 5 according to the deviation risk and the driving skill of each autonomous vehicle 5 for each route. Select one or more self-driving cars 5 to be assigned to delivery. That is, the matching unit 26 selects one or more autonomous vehicles 5 according to the user's request and the user's driving skill, and outputs the selected candidates for the one or more autonomous vehicles 5 to the reservation control unit 21.
- the matching unit 26 acquires departure time information and arrival time information from the reservation control unit 21, skill information and request information from the user management unit 22, and vehicle spec information from the vehicle management unit 23. Then, the route information is acquired from the route calculation unit 24. Further, the matching unit 26 acquires the risk information from the risk estimation unit 25 by outputting the vehicle spec information, the route information, and the like to the risk estimation unit 25. The matching unit 26 selects one or more autonomous vehicles 5 that satisfy the acquired information from the plurality of autonomous vehicles 5.
- the matching unit 26 selects the automatic driving vehicle 5 to be assigned to the delivery of the user, and if there is driving skill or the driving skill is equal to or higher than the threshold value, there is a deviation risk or the deviation risk is 1 or more than the threshold value.
- the self-driving car 5 of the above is selected from a plurality of self-driving cars 5.
- the matching unit 26 selects one or more autonomous vehicles 5 having a high deviation risk for users whose driving skills are equal to or higher than the threshold value.
- the self-driving car 5 having a high deviation risk is an self-driving car 5 that is likely to require manual driving because ODD deviation is likely to occur.
- the matching unit 26 uses one or more automatic driving vehicles 5 having a high deviation risk. select.
- the matching unit 26 may select the autonomous driving vehicle 5 when there is a vacancy in the autonomous driving vehicle 5 having a low deviation risk for a user whose driving skill is equal to or higher than the threshold value.
- the matching unit 26 selects one or more automatic driving vehicles 5 to be assigned to the user's delivery, and if there is no driving skill or the driving skill is lower than the threshold value, there is no deviation risk or the deviation risk is lower than the threshold value.
- the driving vehicle 5 is selected from a plurality of autonomous driving vehicles 5.
- the matching unit 26 selects one or more autonomous vehicles 5 having a low deviation risk for a user whose driving skill is lower than the threshold value.
- the autonomous driving vehicle 5 having a low deviation risk is an autonomous driving vehicle 5 that does not require driving itself or high driving skills.
- the autonomous driving vehicle 5 having no deviation risk or a deviation risk lower than the threshold value is an automatic driving vehicle 5 having a lower deviation risk than the other autonomous driving vehicles 5 among the plurality of automatic driving vehicles 5.
- the matching unit 26 has one or more automatic driving with a low deviation risk.
- the car 5 is selected from a plurality of self-driving cars 5. Here, it means that a user whose driving skill is lower than the threshold value cannot drive five autonomous vehicles in the manual driving state, or can drive five autonomous vehicles in the manual driving state under limited conditions. .. Limited conditions include, for example, temporal conditions or operation content conditions.
- the matching unit 26 selects one or more autonomous vehicles 5 to be assigned to the user's delivery by selecting the autonomous vehicle 5 to be assigned to the user's delivery, and assigns one or more autonomous vehicles 5 to the user's delivery according to the tolerance included in the request information. You may choose from 5. For example, the matching unit 26 selects one or more autonomous vehicles 5 having a low deviation risk if the driving skill is equal to or higher than the threshold value but is not acceptable. That is, for a user who has high driving skill but is not tolerant, the matching unit 26 does not drive the automatic driving vehicle 5 even if it transitions to the manual driving state, so that the matching unit 26 has one or more automatic driving with a low deviation risk. Select car 5.
- the matching unit 26 may select the automatic driving vehicle 5 to be assigned to the delivery of the user from the plurality of automatic driving vehicles 5 according to the physical condition of the user. For example, the matching unit 26 selects one or more autonomous vehicles 5 having a low risk of deviation for a user who is in poor physical condition even if the driving skill is equal to or higher than the threshold value. This is because it may be difficult for a user who is in poor physical condition to drive normally.
- the matching unit 26 can travel the route shown in the route information from the departure time to the arrival time desired by the user according to the driving skill among the selected one or more autonomous vehicles 5. Select one or more self-driving cars 5.
- the matching unit 26 generates candidate information including the candidate autonomous driving vehicle 5 and the candidate route.
- the candidate information includes one or more candidates for the autonomous driving vehicle 5 which is the result of selection, a route for each candidate for one or more autonomous vehicles 5, and one or more autonomous vehicles 5.
- Each specification of the above, and the merit (that is, the gain) for each candidate of one or more autonomous vehicles 5 may be included.
- the matching unit 26 transmits candidate information to the terminal device 3 via the reservation control unit 21 and the communication unit 28.
- the merit is a merit from the viewpoint of time cost such as running time of the autonomous driving vehicle 5 traveling on the route, vehicle performance, equipment, and financial cost. From the viewpoint of merits, for example, there are boarding time, fitness to the requested time zone, quietness, seat quality, usage fee and the like.
- the candidate information may include a demerit instead of or together with the merit.
- the candidate information may also include reservation information such as departure place information, destination information, departure time information, arrival time information, user tolerance, and the like.
- the self-driving car 5 having a deviation risk or a deviation risk equal to or higher than the threshold has a higher deviation risk than the other self-driving cars 5 among the plurality of self-driving cars 5 and the gain received by the user is higher. It is a high self-driving car 5.
- the self-driving car 5 with a high deviation risk has a higher quality seat and a lower usage fee than the self-driving car 5 with a low deviation risk (that is, other self-driving cars 5) (in other words, a privilege). There is.
- the matching unit 26 acquires decision information indicating the autonomous driving vehicle 5 and the route desired by the user as a response to the candidate information from the terminal device 3 via the communication unit 28 and the reservation control unit 21.
- the matching unit 26 outputs the determination information to the vehicle allocation control unit 27 and notifies the vehicle allocation control unit 27.
- the determination information includes vehicle information that identifies the autonomous driving vehicle 5 desired by the user, route information that the autonomous driving vehicle 5 plans to travel, departure place information, destination information, departure time information, arrival time information, and request information. , Includes skill information, etc.
- Vehicle allocation control unit 27 When the vehicle allocation control unit 27 acquires the decision information from the matching unit 26, the vehicle allocation control unit 27 allocates the vehicle to the autonomous driving vehicle 5 via the communication unit 28 or the like in order to allocate the autonomous driving vehicle 5 shown in the vehicle information of the acquired determination information. Send an instruction command. That is, the vehicle allocation control unit 27 allocates the autonomous driving vehicle 5 shown in the vehicle information to the time indicated in the departure time information and the departure place indicated in the departure place information.
- the vehicle allocation instruction command includes vehicle information, route information on which the autonomous vehicle 5 is scheduled to travel, departure place information, destination information, departure time information, arrival time information, and the like.
- the vehicle allocation control unit 27 transmits a vehicle allocation instruction command to the autonomous driving vehicle 5, and also transmits reservation result information to the terminal device 3 via the communication unit 28 and the like.
- the reservation result information it was decided to reserve a vehicle that satisfies the conditions such as the desired autonomous vehicle 5, route information, departure place information, destination information, departure time information, arrival time information, and request information desired by the user. Information indicating the result.
- the communication unit 28 is a communication module capable of wireless or wired communication with the terminal device 3 and the autonomous driving vehicle 5 via a network (not shown).
- the communication unit 28 receives reservation information from the terminal device 3, transmits candidate information to the terminal device 3, and receives decision information indicating an autonomous driving vehicle 5 or the like determined by the user. Further, when the vehicle allocation control unit 27 determines the autonomous driving vehicle 5 to be allocated, the communication unit 28 transmits a vehicle allocation instruction command to the autonomous driving vehicle 5 or transmits reservation result information to the terminal device 3.
- the communication unit 28 is an example of an output unit.
- the terminal device 3 is a personal computer, a smartphone, a tablet terminal, or the like that is communicably connected to the information processing system 1 via a network or the like.
- the terminal device 3 receives the reservation input for the allocation of the autonomous driving vehicle 5 from the user, thereby transmitting the reservation information to the information processing system 1 and receiving the candidate information generated by the matching unit 26. Further, the terminal device 3 transmits the decision information indicating the autonomous driving vehicle 5 and the like desired by the user from one or more candidates of the autonomous driving vehicle 5 to the information processing system 1 with respect to the notified candidate information.
- the terminal device 3 acquires the reservation result information
- the conditions such as the desired self-driving car 5, route information, departure place information, destination information, departure time information, arrival time information, and request information desired by the user. Is received and notified.
- the notification may be realized by display, voice output, or the like.
- the self-driving car 5 is a vehicle that is communicably connected to the information processing system 1 via a network or the like.
- the self-driving car 5 transitions from the automatic driving state to the manual driving state or from the manual driving state to the automatic driving state according to the traveling environment.
- the autonomous driving vehicle 5 urges the user to perform manual driving in order to switch to manual driving in an environment where automatic driving is difficult.
- the self-driving car 5 urges the user to drive manually in an environment where self-driving is difficult, depending on the driving skill of the user.
- the automatic driving vehicle 5 is switched to the manual driving state by the user due to the deviation from the ODD, the automatic driving vehicle 5 is switched from the manual driving state to the automatic driving state if the deviation from the ODD is resolved. In this case, the user ends the operation of the automatic driving vehicle 5.
- FIG. 2 is a flowchart showing the operation of the information processing system 1 according to the first embodiment.
- the user inputs reservation information such as the user's departure place, the user's destination, the user's request, and the user's driving skill.
- the terminal device 3 transmits the reservation information to the information processing system 1.
- At least one of the departure time at the departure point and the arrival time at the destination is optionally input to the terminal device 3.
- the reservation control unit 21 of the information processing system 1 determines whether or not the reservation information has been acquired (S11). When the reservation control unit 21 does not acquire the user's reservation information (NO in S11), the information processing system 1 ends the process.
- the reservation control unit 21 acquires the user's reservation information (YES in S11)
- the user management unit 22 acquires the request information and skill information included in the reservation information from the reservation control unit 21 (S12).
- the user management unit 22 outputs skill information and request information to the matching unit 26.
- the route calculation unit 24 acquires the departure place information, the destination information, and the like from the reservation control unit 21, it calculates a route candidate for delivering the user (S13).
- the route calculation unit 24 outputs the route information which is a candidate of the calculated route to the matching unit 26.
- the vehicle management unit 23 outputs the vehicle spec information of the autonomous driving vehicle 5 corresponding to the request to the matching unit 26 in response to the request from the matching unit 26.
- the matching unit 26 acquires vehicle spec information (S14).
- the risk estimation unit 25 estimates the deviation risk of each autonomous vehicle 5 for each route shown in the route information (S15). ..
- the risk estimation unit 25 includes the specifications of the autonomous driving vehicle 5 shown in the vehicle spec information, static information such as the road width on the route shown in the route information, the presence / absence of road construction, the congestion status of the road, and walking on the road.
- the deviation risk of the self-driving car 5 is estimated based on dynamic information such as the number of people who drive the vehicle and the presence or absence of accident-prone spots.
- the risk estimation unit 25 estimates the deviation risk for each autonomous vehicle 5 and each route.
- the risk estimation unit 25 estimates that the low-performance autonomous vehicle 5 has a higher deviation risk than the high-performance autonomous vehicle 5 when there is a point where the crowded level of people is high on the route shown in the route information. To.
- the self-driving car 5 can easily switch to the manual driving state, so that the user is required to have high driving skills. Further, if the deviation risk is low, it is difficult for the autonomous driving vehicle 5 to switch to the manual driving state, so that the user does not have much problem with the level of driving skill.
- steps S13 and S14 may be performed in parallel.
- the matching unit 26 selects candidates for the route and the autonomous vehicle 5 based on the skill information and the risk information (S16). Specifically, the matching unit 26 acquires skill information and request information from the user management unit 22, risk information from the risk estimation unit 25, and acquires a list of routes and vehicles at which the risk is estimated. Then, the matching unit 26 performs the following processing for each route in the list.
- the matching unit 26 is a plurality of self-driving cars in the list of one or more self-driving cars 5 having a driving skill or a driving skill equal to or higher than the threshold value, that is, driving is possible, and having a deviation risk or a deviation risk equal to or higher than the threshold value. Select from 5.
- the matching unit 26 lists 1 or more autonomous vehicles 5 having a low deviation risk or a deviation risk lower than the threshold value when the user's tolerance is lower than the threshold value even if the driving skill is present or the driving skill is equal to or higher than the threshold value. Select from a plurality of self-driving cars 5. Further, when the matching unit 26 has no driving skill or the driving skill is lower than the threshold value, the matching unit 26 selects one or more autonomous driving vehicles 5 having no deviation risk or a deviation risk lower than the threshold value from a plurality of autonomous driving vehicles 5 in the list. To do.
- the matching unit 26 transmits candidate information including the selected self-driving car 5 and the route to the terminal device 3 via the communication unit 28 and the like (S17). Specifically, the matching unit 26 acquires departure time information, arrival time information, and the like from the reservation control unit 21. Then, the matching unit 26 sets the departure time desired by the user among the one or more autonomous vehicles 5 selected from the list based on the departure time information, the arrival time information, and the like for each route in the list. One or more autonomous vehicles 5 that can travel between the time and the arrival time are selected as candidates. The matching unit 26 generates candidate information including the autonomous driving vehicle 5 and the route selected as candidates, and transmits the candidate information to the terminal device 3 via the communication unit 28.
- the terminal device 3 when the terminal device 3 acquires the candidate information, the acquired candidate information is displayed. The user determines a desired self-driving car 5, route, etc. from the displayed candidate information. The terminal device 3 transmits the determination information for which the autonomous vehicle 5 and the route are determined to the information processing system 1.
- the information processing system 1 determines whether or not the decision information has been acquired (S18).
- the information processing system 1 If the information processing system 1 does not acquire the decision information (NO in S18), the information processing system 1 returns the process to step S18. If the information processing system 1 does not acquire the decision information even after the lapse of the specified period, the information processing system 1 may end the process.
- the matching unit 26 of the information processing system 1 outputs the decision information to the vehicle allocation control unit 27.
- the vehicle allocation control unit 27 acquires the decision information from the matching unit 26, the vehicle allocation control unit 27 issues a vehicle allocation instruction command to the autonomous driving vehicle 5 via the communication unit 28 or the like in order to allocate the autonomous driving vehicle 5 shown in the acquired determination information. Send. That is, the vehicle allocation control unit 27 controls the autonomous driving vehicle 5 shown in the vehicle information of the determination information so as to allocate the vehicle to the departure place (S19). As a result, the autonomous driving vehicle 5 that has received the vehicle allocation instruction command moves so as to arrive at the departure place at the departure time.
- the vehicle allocation control unit 27 transmits a vehicle allocation instruction command to the autonomous driving vehicle 5, and also transmits reservation result information to the terminal device 3 via the communication unit 28 or the like (S20). As a result, the terminal device 3 displays the reservation result information indicating the reservation result of the allocation of the autonomous driving vehicle 5 desired by the user. Then, the information processing system 1 ends the process.
- the autonomous driving vehicle 5 having a deviation risk according to the driving skill of the person can be assigned to the person. Therefore, it is possible to prevent the automatic driving system from deviating from the operation design area, and it is possible to prevent the operation of human delivery from being delayed even if it deviates. Therefore, it is possible to suppress a decrease in the operation efficiency of the autonomous driving vehicle 5.
- a user with low driving skill is assigned an autonomous vehicle 5 having a low risk of deviation.
- a user having a high driving skill is assigned an autonomous driving vehicle 5 having a high risk of deviation. This is because even if the autonomous driving vehicle 5 having a high deviation risk deviates from the operation design area of the route, a user with high driving skill can drive the autonomous driving vehicle 5. In this way, both the autonomous driving vehicle 5 having a high deviation risk and the autonomous driving vehicle 5 having a low deviation risk will operate, and the operation efficiency of the autonomous driving vehicle 5 can be improved.
- FIG. 3 is a block diagram showing an information processing system 1 according to the second embodiment.
- the remote system for the operator to perform remote monitoring or remote control acquires vehicle information about the autonomous driving vehicle 5 from the autonomous driving vehicle 5 from a remote location, and enables remote monitoring or remote control of the autonomous driving vehicle 5.
- the matching unit 26 is a resource for monitoring the selected one or more autonomous vehicles 5 according to the deviation risk and the driving skill of the selected one or more autonomous vehicles 5 when generating the candidate information. Calculate each monitoring resource.
- the monitoring resource may be an operator's resource (for example, time, man-hours), or may be a calculation resource such as a calculation amount or a communication amount required for the monitoring process.
- the matching unit 26 calculates and calculates the cost related to the delivery of the user by the selected one or more autonomous vehicles 5 according to the calculated monitoring resource, the specifications and the route of the selected one or more autonomous vehicles 5. The cost is notified to the user via the communication unit 28. Specifically, the matching unit 26 calculates the time cost or the monetary cost according to the size of the monitoring resource, the traveling time of the route, the usage fee of the autonomous driving vehicle 5, and the cost showing the calculated result. The information and the candidate information are transmitted to the terminal device 3 via the communication unit 28 and the like. Monetary costs may be expressed in terms of price or points.
- FIG. 4 is a flowchart showing the operation of the information processing system 1 according to the second embodiment.
- the matching unit 26 selects one or more automatic driving vehicles according to the deviation risk and the driving skill of the selected one or more automatic driving vehicles 5.
- Monitoring resources which are resources for monitoring the driving vehicle 5, are calculated respectively (S21).
- the matching unit 26 calculates the cost related to the delivery of the user by the selected one or more autonomous vehicles 5 according to the calculated monitoring resource, the specifications and the route of the selected one or more autonomous vehicles 5. (S22).
- the matching unit 26 transmits the candidate information including the candidate of one or more selected autonomous vehicles 5, the candidate of the route shown in the route information, and the cost information to the terminal device 3 via the communication unit 28 and the like. Transmit (S23).
- step S18 the information processing system 1 proceeds to step S18 and performs the same processing as in FIG.
- the total related to the automatic driving including the monitoring of the selected automatic driving vehicle 5 for the user who is going to get on the automatic driving vehicle 5 Cost can be presented. Therefore, the user can reserve and determine the desired self-driving car 5 after grasping each of the presented costs.
- the information processing method and the information processing system 1 in the present embodiment also have the same effects as those in the first embodiment.
- the matching unit 26 calculates the stop risk that the selected one or more autonomous vehicles 5 may stop on the route according to the specifications of the selected one or more autonomous vehicles 5 and the deviation risk with respect to the route. , Notify the calculated outage risk. For example, while the route and the candidate for the autonomous driving vehicle 5 according to the driving skill are presented to the user as the candidate information, the deviation risk of each candidate is not always the same. The autonomous driving vehicle 5 having a high risk of deviation may be switched to a manual driving state on the route, or may be stopped or stopped. On the other hand, even if the deviation risk is presented to the user as it is, it may be difficult for the user to understand. Therefore, the matching unit 26 transmits not only the candidate information but also the calculated stop risk to the terminal device 3 via the communication unit 28 and the like.
- FIG. 5 is a flowchart showing the operation of the information processing system 1 according to the third embodiment.
- the matching unit 26 selects one or more selected autonomous vehicles 5 according to the specifications of the selected one or more autonomous vehicles 5 and the risk of deviation from the route.
- the stop risk that the autonomous vehicle 5 may stop on the route is calculated (S31).
- the matching unit 26 transmits the candidate of one or more selected autonomous vehicles 5, the candidate information including the candidate of the route shown in the route information, and the stop risk to the terminal device 3 via the communication unit 28 or the like. (S32).
- step S18 the information processing system 1 proceeds to step S18 and performs the same processing as in FIG.
- the stop risk can be presented in advance to the user who is planning to get on the autonomous driving vehicle 5.
- this user can reserve and decide the allocation of the autonomous driving vehicle 5 after understanding the stop risk. This is suitable in such a case because there are some users who wish to be able to move to the middle or near the destination.
- the information processing method and the information processing system 1 in the present embodiment also have the same effects as those in the first embodiment.
- the matching unit 26 determines the travel control for each of the selected autonomous vehicles 5 to travel according to the specifications of the selected one or more autonomous vehicles 5 and the deviation risk with respect to the route, and the determined travel control. Generate a driving plan based on. If a travel plan is prepared in advance, the travel plan may be generated by changing the prepared travel plan. The generated travel plan is notified to the autonomous driving vehicle 5 via the communication unit 28. Specifically, the matching unit 26 changes the speed, acceleration, deceleration, steering angle, etc. included in the travel plan according to the deviation risk. For example, when the deviation risk is lower than the threshold value, the allowable range of speed, acceleration, deceleration, steering angle, etc. may be set relatively large. Further, when the deviation risk is equal to or higher than the threshold value, the allowable range may be set relatively small.
- the matching unit 26 may update the reservation information from the generated travel plan.
- the matching unit 26 notifies the terminal device 3 of the updated reservation information via the communication unit 28 and the like.
- the travel plan is information indicating travel control of the autonomous vehicle 5 traveling on the route, and is information indicating travel control such as speed, acceleration, deceleration, and steering angle of the autonomous vehicle 5 on the route.
- the speed, acceleration, deceleration, etc. indicated by the travel plan may differ depending on the performance of the autonomous driving vehicle 5.
- a high-performance autonomous vehicle 5 may be able to travel at a speed of 30 km / h, but a low-performance autonomous vehicle 5 may be able to travel only at a speed of 10 km / h. ..
- the scheduled arrival time may be exceeded.
- the matching unit 26 determines whether or not to update the reservation information according to the generated travel plan. Specifically, when the matching unit 26 determines that at least one of the departure time and the arrival time is to be changed according to the traveling plan according to each of the selected autonomous vehicles 5, the matching unit 26 goes through the reservation control unit 21. The new reservation information and the candidate information obtained by changing the departure time information and the arrival time information obtained above are transmitted to the terminal device 3 via the communication unit 28 or the like.
- FIG. 6 is a flowchart showing the operation of the information processing system 1 according to the fourth embodiment.
- the matching unit 26 selects each of the automatic vehicles according to the specifications of the selected one or more autonomous vehicles 5 and the deviation risk with respect to the route.
- a travel plan for the driving vehicle 5 to travel is determined (S41). That is, the matching unit 26 determines information indicating running control such as speed, acceleration, deceleration, and steering angle of the autonomous driving vehicle 5 on the route according to the deviation risk.
- the matching unit 26 determines whether to change at least one of the departure time and the arrival time according to the determined travel plan (S42).
- the matching unit 26 proceeds to step S18 and performs the same processing as in FIG.
- the matching unit 26 changes at least one of the departure time and the arrival time (YES in S42)
- the matching unit 26 updates the departure time information and the arrival time information according to the travel plan and the original reservation information (S43).
- the matching unit 26 transmits the updated reservation information and candidate information to the terminal device 3 via the communication unit 28 or the like (S44).
- step S18 the information processing system 1 proceeds to step S18 and performs the same processing as in FIG.
- the traveling plan it is possible to present the traveling plan to the user who is planning to get on the autonomous driving vehicle 5. Therefore, this user can use it as a material for determining whether the travel time, route, or the like shown in the travel plan meets his / her request. For example, when a plurality of travel plans are presented to the user, the user can select the desired travel plan.
- the information processing method and the information processing system 1 in the present embodiment also have the same effects as those in the first embodiment.
- the matching unit 26 selects the acquired route for a user who has no driving skill or has a driving skill lower than the threshold value when one or more autonomous vehicles 5 having no deviation risk or a deviation risk lower than the threshold value are not selected. Change to another route. Another route is one that has a lower risk of deviation than the acquired route.
- one or more autonomous vehicles 5 having no deviation risk or a deviation risk lower than the threshold are not selected, so that the condition is not met.
- the self-driving car 5 is presented to the user and reserved, the user cannot drive even if the self-driving car 5 is switched to the manual driving state on the route. Therefore, there is a possibility that the self-driving car 5 will be stopped or stopped.
- the matching unit 26 changes the route shown in the route information acquired from the route calculation unit 24 to another route. That is, the matching unit 26 changes to an alternative route that lowers the deviation risk or eliminates the deviation risk as compared with the original route.
- the matching unit 26 provides the route calculation unit 24 with the conditions for the alternative route, and causes the route calculation unit 24 to search for the alternative route.
- the matching unit 26 When the matching unit 26 acquires the alternative route, it generates alternative candidate information and transmits the generated alternative candidate information to the terminal device 3 via the communication unit 28 or the like. Specifically, the matching unit 26 reselects the candidate of the autonomous driving vehicle 5 according to the deviation risk in the alternative route. Alternative candidate information including the reselected candidate for the autonomous vehicle 5 and the candidate for the route is generated.
- the matching unit 26 may update the reservation information based on the alternative candidate information. For example, the matching unit 26 updates the reservation information with reservation information such as a route indicated by alternative candidate information and a departure time and an arrival time that can be reserved by the autonomous driving vehicle 5. Then, the matching unit 26 transmits the updated reservation information to the terminal device 3 via the communication unit 28.
- the matching unit 26 when the matching unit 26 does not select one or more autonomous driving vehicles 5 having no deviation risk or a deviation risk lower than the threshold value for a user having no driving skill or a driving skill lower than the threshold value, the matching unit 26 of the user You may notify us of suggestions for improving your driving skills. Specifically, the matching unit 26 generates proposal information indicating the above proposal when the candidate route and the autonomous driving vehicle 5 can be selected by improving the driving skill. The generated proposal information is transmitted to the terminal device 3 via the communication unit 28. The reason why there is no candidate for the autonomous driving vehicle 5 to be presented to the user may be that the user's driving skill is low. In this case, by proposing to the user that he / she should take a course for improving his / her driving skill, it is possible to make it possible to present the candidate information to the user or increase the candidate information that can be presented.
- FIG. 7 is a flowchart showing the operation of the information processing system 1 according to the fifth embodiment.
- the matching unit 26 determines whether or not there is one or more candidates for the autonomous driving vehicle 5 (S51).
- step S51 If there is one or more candidates for the autonomous driving vehicle 5 (YES in S51), the process proceeds to step S17, and the same processing as in FIG. 2 is performed.
- the matching unit 26 calculates an alternative route that reduces the deviation risk or eliminates the deviation risk as compared with the original route in step S16. Let the unit 24 search (S52).
- the matching unit 26 generates alternative candidate information according to the alternative route found by the search (S53). Specifically, the matching unit 26 reselects the candidate of the autonomous driving vehicle 5 according to the deviation risk in the alternative route.
- the matching unit 26 transmits the generated alternative candidate information to the terminal device 3 via the communication unit 28 (S54).
- the matching unit 26 notifies a proposal for improving the driving skill of the user (S55).
- step S18 the information processing system 1 proceeds to step S18 and performs the same processing as in FIG.
- a route with a lower risk of deviation than the acquired route can be presented to a user who does not have driving skill or has low driving skill. Therefore, it is possible to facilitate the movement of an autonomous vehicle carrying a user who has no driving skill or has low driving skill without deviating from the ODD.
- the information processing method and the information processing system 1 in the present embodiment also have the same effects as those in the first embodiment.
- the information processing methods and information processing systems according to the above embodiments 1 to 5 are realized by a program using a computer, and such a program may be stored in a storage device.
- each processing unit included in the information processing method and the information processing system according to the above-described first to fifth embodiments is typically realized as an LSI which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them.
- the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor.
- An FPGA Field Programmable Gate Array
- a reconfigurable processor that can reconfigure the connection and settings of the circuit cells inside the LSI may be used.
- each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component.
- Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
- the division of the functional block in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, one functional block can be divided into a plurality of functional blocks, and some functions can be transferred to other functional blocks. You may. Further, the functions of a plurality of functional blocks having similar functions may be processed by a single hardware or software in parallel or in a time division manner.
- each step in the flowchart is executed is for the purpose of exemplifying the present disclosure in detail, and may be an order other than the above. Further, a part of the above steps may be executed at the same time (parallel) with other steps.
- the present disclosure can be applied to an autonomous vehicle, a device for remotely controlling an autonomous vehicle, a terminal device for presenting the state of an autonomous vehicle, or a system including these.
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Abstract
Description
<構成:情報処理システム1>
図1は、実施の形態1における情報処理システム1を示すブロック図である。
予約制御部21は、ユーザによる自動運転車5の予約に際して、ユーザに適した自動運転車5とユーザとを結びつけるように、ユーザ管理部22、マッチング部26、ルート算出部24等を制御する処理部である。予約制御部21は、通信部28を介して端末装置3から、ユーザの予約情報を取得すると、予約情報に含まれるユーザの要望、ユーザスキル等を示す情報をユーザ管理部22に送信する。また、予約制御部21は、予約情報に含まれる、ユーザの出発地を示す出発地情報、及び、ユーザの目的地を示す目的地情報をルート算出部24に送信する。また、予約制御部21は、予約情報に含まれる、出発地情報、目的地情報、出発地を出発する時刻を示す出発時刻情報、目的地に到着する到着時刻を示す到着時刻情報をマッチング部26に出力する。なお、出発時刻及び到着時刻の出力は、任意である。
ユーザ管理部22は、予約情報から、自動運転車5に乗るユーザが手動運転可能な自動運転車5を運転できるか否か及び運転できる度合いの、少なくとも1つである運転スキルであるスキル情報並びに要望情報を、運転スキル取得部として取得して管理する。
車両管理部23は、複数の自動運転車5の自動運転に関する仕様を仕様取得部として取得し、それぞれ管理する。ここで、自動運転に関する仕様とは、自動運転車5の車両タイプ、走行能力、センシング能力、処理能力である。車両タイプとしては、セダン、ワゴン等の車両カテゴリ、大きさ、形状等がある。走行能力としては、加速力、最高速度、制動力、最小回転半径等の旋回能力等がある。センシング能力としては、センシング距離、センシング角度、解像度、センシング対象等がある。なお、センシングは、物体又はシーン等の検出を含んでもよい。処理能力としては、処理速度、同時処理タスク数、記憶容量等がある。なお、その他の仕様としては、自動運転車5の、車種、最大乗車人数、座席シートの種類、所有者、排気量、禁煙の有無、燃費、燃料タンク容量、バッテリ容量等がある。なお、「仕様」は、断りがない限り基本的には自動運転に関する仕様を指す。車両管理部23は、マッチング部26の要求に応じて、自動運転車5の仕様を示す車両スペック情報を出力する。
ルート算出部24は、予約制御部21から出発地情報、及び、目的地情報を取得すると、ユーザを配送するためのルートの候補を算出することで取得する。ルート算出部24は、例えば図示しない記憶装置等に格納される地図情報に基づいて、ユーザの出発地から目的地までの1以上のルートを算出する。例えば、ルート算出部24は、ユーザの出発地から目的地までの最短距離となるルート、道路の状況に応じて算出した代替ルート等をマッピングした地図上のルートを算出する。ルート算出部24は、算出したルートの候補(結果)であるルート情報をマッチング部26に出力する。
リスク推定部25は、リスク判定部として、仕様のそれぞれとルート情報が示すルートとに基づいて、自動運転車5を含む自動運転システムが運行設計領域を逸脱する可能性及び逸脱する度合いの少なくとも1つを含む逸脱リスクをそれぞれ推定(言い換えると判定)する。
マッチング部26は、選択部として、自動運転車5の配送を予約するユーザに対して、ルートごとのそれぞれの自動運転車5の逸脱リスク及び運転スキルにしたがって、複数の自動運転車5からユーザの配送に割り当てる1以上の自動運転車5を選択する。つまり、マッチング部26は、ユーザの要望及びユーザの運転スキルに応じた1以上の自動運転車5を選択し、選択した1以上の自動運転車5の候補を予約制御部21に出力する。
配車制御部27は、マッチング部26から決定情報を取得すると、取得した決定情報の車両情報に示される自動運転車5を配車するために、通信部28等を介して、自動運転車5に配車指示コマンドを送信する。つまり、配車制御部27は、出発時刻情報に示される時刻及び出発地情報に示される出発地に、車両情報に示される自動運転車5を配車する。ここで配車指示コマンドは、車両情報、自動運転車5が走行する予定のルート情報、出発地情報、目的地情報、出発時刻情報、到着時刻情報等を含む。
通信部28は、図示しないネットワークを介して、端末装置3及び自動運転車5と、無線又は有線通信可能な通信モジュールである。通信部28は、端末装置3から予約情報を受信したり、端末装置3に候補情報を送信したり、ユーザが決定した自動運転車5等を示す決定情報を受信したりする。また、通信部28は、配車制御部27が配車する自動運転車5を決定すれば、配車指示コマンドを当該自動運転車5に送信したり、予約結果情報を端末装置3に送信したりする。通信部28は、出力部の一例である。
端末装置3は、ネットワーク等を介して、情報処理システム1と通信可能に接続されるパーソナルコンピュータ、スマートフォン又はタブレット端末等である。端末装置3は、ユーザからの自動運転車5の配車の予約入力を受付けることで、予約情報を情報処理システム1に送信したり、マッチング部26が生成した候補情報を受信したりする。また、端末装置3は、通知した候補情報に対して、1以上の自動運転車5の候補から、ユーザが希望する自動運転車5等を示す決定情報を情報処理システム1に送信する。
自動運転車5は、ネットワーク等を介して、情報処理システム1と通信可能に接続される車両である。自動運転車5は、走行する環境に応じて、自動運転状態から手動運転状態に遷移したり、手動運転状態から自動運転状態に遷移したりする。例えば、自動運転車5は、自動運転が困難な環境では、手動運転に切換えるために、ユーザに対して手動運転をするように促したりする。例えば、自動運転車5は、ユーザの運転スキルに応じて、自動運転が困難な環境で、ユーザに対して手動運転するように促す。
以上のように構成される情報処理システム1が行う動作について、図2を用いて説明する。
次に、本実施の形態における情報処理方法及び情報処理システム1の作用効果について説明する。
<構成>
本実施の形態の情報処理方法及び情報処理システム1の構成を、図3を用いて説明する。
マッチング部26は、候補情報の生成の際に、選択された1以上の自動運転車5についての逸脱リスク及び運転スキルにしたがって、選択された1以上の自動運転車5を監視するためのリソースである監視リソースを、それぞれ算出する。監視リソースは、オペレータのリソース(例えば時間、工数)であってもよく、監視処理にかかる計算量又は通信量等の計算リソースであってもよい。
以上のように構成される情報処理システム1が行う動作について、図4を用いて説明する。
次に、本実施の形態における情報処理方法及び情報処理システム1の作用効果について説明する。
<構成>
本実施の形態の情報処理方法及び情報処理システム1の構成を説明する。
マッチング部26は、選択された1以上の自動運転車5の仕様及びルートに対する逸脱リスクにしたがって、選択された1以上の自動運転車5がルート上で停止する可能性である停止リスクを算出し、算出した停止リスクを通知する。例えば、候補情報として、運転スキルに応じたルート及び自動運転車5の候補がユーザ提示される一方で、各候補の逸脱リスクは必ずしも同一とは限らない。逸脱リスクの高い自動運転車5は、ルート上で手動運転状態に切換えられたり、走行停止又は走行中止となったりする可能性がある。他方で、逸脱リスクがそのままユーザに提示されても、ユーザは理解することが困難であるおそれもある。このため、マッチング部26は、候補情報だけでなく、算出した停止リスクを、通信部28等を介して端末装置3に送信する。
以上のように構成される情報処理システム1が行う動作について、図5を用いて説明する。
次に、本実施の形態における情報処理方法及び情報処理システム1の作用効果について説明する。
<構成>
本実施の形態の情報処理方法及び情報処理システム1の構成を説明する。
マッチング部26は、選択された1以上の自動運転車5の仕様及びルートに対する逸脱リスクにしたがって、選択されたそれぞれの自動運転車5が走行するための走行制御を決定し、決定された走行制御に基づき走行計画を生成する。予め走行計画が用意されている場合は、用意されている走行計画が変更されることで走行計画が生成されてもよい。生成された走行計画は、通信部28を介して自動運転車5に通知される。具体的には、マッチング部26は、逸脱リスクに応じて、走行計画に含まれる速度、加速度、減速度、操舵角等を変更する。例えば、逸脱リスクが閾値より低い場合、速度、加速度、減速度、操舵角等の許容範囲が相対的に大きく設定されてもよい。また、逸脱リスクが閾値以上である場合、当該許容範囲が相対的に小さく設定されてもよい。
以上のように構成される情報処理システム1が行う動作について、図6を用いて説明する。
次に、本実施の形態における情報処理方法及び情報処理システム1の作用効果について説明する。
<構成>
本実施の形態の情報処理方法及び情報処理システム1の構成を説明する。
マッチング部26は、運転スキルがない又は運転スキルが閾値よりも低いユーザに対して、逸脱リスクがない又は逸脱リスクが閾値よりも低い1以上の自動運転車5が選択されない場合、取得したルートを別のルートに変更する。別のルートは、取得したルートよりも逸脱リスクが低いルートである。
以上のように構成される情報処理システム1が行う動作について、図7を用いて説明する。
次に、本実施の形態における情報処理方法及び情報処理システム1の作用効果について説明する。
以上、本開示について、実施の形態1~5に基づいて説明したが、本開示は、これら実施の形態1~5等に限定されるものではない。
5 自動運転車
22 ユーザ管理部(運転スキル取得部)
23 車両管理部(仕様取得部)
24 ルート算出部
25 リスク推定部(リスク判定部)
26 マッチング部(選択部)
28 通信部(出力部)
Claims (13)
- コンピュータにより実行される情報処理方法であって、
自動運転車に乗る人が手動運転可能な自動運転車を運転できるか否か及び運転できる度合いの少なくとも1つである運転スキルを取得し、
複数の自動運転車の自動運転に関する仕様をそれぞれ取得し、
前記人を配送するためのルートを取得し、
前記仕様のそれぞれと前記ルートとに基づいて、自動運転車を含む自動運転システムが運行設計領域を逸脱する可能性及び逸脱する度合いの少なくとも1つを含む逸脱リスクをそれぞれ判定し、
前記逸脱リスクのそれぞれ及び前記運転スキルにしたがって、前記複数の自動運転車から前記人の配送に割り当てる自動運転車を選択し、
選択した自動運転車を通知する
情報処理方法。 - 運転要求に対する前記人の許容性を取得し、
前記人の配送に割り当てる自動運転車の選択では、前記許容性にも応じて、前記人の配送に割り当てる自動運転車を前記複数の自動運転車から選択する
請求項1に記載の情報処理方法。 - 前記人の体調を取得し、
前記人の配送に割り当てる自動運転車の選択では、前記体調にも応じて、前記人の配送に割り当てる自動運転車を前記複数の自動運転車から選択する
請求項1又は2に記載の情報処理方法。 - 前記人の配送に割り当てる自動運転車の選択では、前記運転スキルがある又は前記運転スキルが閾値以上の場合、前記逸脱リスクがある又は前記逸脱リスクが閾値以上の自動運転車を前記複数の自動運転車から選択する
請求項1~3のいずれか1項に記載の情報処理方法。 - 前記逸脱リスクがある又は前記逸脱リスクが閾値以上の自動運転車は、前記複数の自動運転車のうちの他の自動運転車よりも、前記逸脱リスクが高く、かつ、前記人の受ける利得が高い自動運転車である
請求項4に記載の情報処理方法。 - 前記人の配送に割り当てる自動運転車の選択では、前記運転スキルがない又は前記運転スキルが閾値より低い場合、前記逸脱リスクがない又は前記逸脱リスクが閾値より低い自動運転車を前記複数の自動運転車から選択する
請求項1~5のいずれか1項に記載の情報処理方法。 - 前記逸脱リスクがない又は前記逸脱リスクが閾値より低い自動運転車は、前記複数の自動運転車のうちの他の自動運転車よりも、前記逸脱リスクが低い自動運転車である
請求項6に記載の情報処理方法。 - 前記逸脱リスクがない又は前記逸脱リスクが前記閾値よりも低い自動運転車が選択されない場合、取得した前記ルートを別のルートに変更し、
前記別のルートは、取得した前記ルートよりも前記逸脱リスクが低いルートである
請求項6又は7に記載の情報処理方法。 - 前記逸脱リスクがない又は前記逸脱リスクが前記閾値よりも低い自動運転車が選択されない場合、前記人の前記運転スキルが向上するための提案を通知する
請求項6~8のいずれか1項に記載の情報処理方法。 - 前記選択された自動運転車についての前記逸脱リスク及び前記運転スキルにしたがって、前記選択された自動運転車を監視するためのリソースである監視リソースを算出し、
算出された前記監視リソース、前記選択された自動運転車の前記仕様及び前記ルートにしたがって、前記選択された自動運転車による前記人の配送に関するコストを算出し、
算出された前記コストを通知する
請求項1~9のいずれか1項に記載の情報処理方法。 - 前記選択された自動運転車の前記仕様及び前記ルートに対する前記逸脱リスクにしたがって、前記選択された自動運転車が前記ルート上で停止する可能性である停止リスクを算出し、
算出された前記停止リスクを通知する
請求項1~10のいずれか1項に記載の情報処理方法。 - 前記選択された自動運転車の前記仕様及び前記ルートに対する前記逸脱リスクにしたがって、前記選択された自動運転車の走行制御を決定し、
決定された走行制御に基づき走行計画を生成し、
生成された走行計画を通知する
請求項1~11のいずれか1項に記載の情報処理方法。 - 自動運転車に乗る人が手動運転可能な自動運転車を運転できるか否か及び運転できる度合いの少なくとも1つである運転スキルを取得する運転スキル取得部と、
複数の自動運転車の自動運転に関する仕様をそれぞれ取得する仕様取得部と、
前記人を配送するためのルートを算出するルート算出部と、
前記仕様取得部が取得する前記仕様のそれぞれと前記ルート算出部が算出する前記ルートとに基づいて、前記複数の自動運転車を含む自動運転システムが運行設計領域を逸脱する可能性及び逸脱する度合いの少なくとも1つを含む逸脱リスクをそれぞれ判定するリスク判定部と、
前記リスク判定部が判定する前記逸脱リスクのそれぞれ及び前記運転スキル取得部が取得する前記運転スキルにしたがって、前記複数の自動運転車から前記人の配送に割り当てる自動運転車を選択する選択部と、
前記選択部が選択した自動運転車を通知する出力部と、を備える
情報処理システム。
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