Operation route determination device, automatic driving vehicle, operation route determination method and storage medium

Abstract

The operation itinerary determination device includes: an acquisition unit that acquires itinerary information of multiple users and attribute information representing the relationship between at least some of the multiple users; and a determination unit that determines the operation itinerary of the autonomous driving vehicle based on the information acquired by the acquisition unit.

Description

Technical Field

[0001] The present invention relates to an operation route determination device, an automatic driving vehicle, an operation route determination method and a storage medium.

[0002] This application claims priority based on Japanese Patent Application No. 2017-118914 filed in Japan on June 16, 2017, the contents of which are incorporated herein by reference. Background Art

[0003] In the past, the invention of the following autonomous driving device has been disclosed, which is provided with: a unit for allowing a user to specify a departure point coordinate, a destination point coordinate, and a utilization time; a route planning unit that plans a route from the departure point coordinate to the destination point coordinate; an operation plan information calculation unit that calculates the distance and time when traveling on the route planned by the route planning unit; a reservation management unit that calculates the energy required for traveling based on the information calculated by the operation plan information calculation unit, and determines whether the route can be traveled based on the result, the utilization time, and the estimated remaining energy of the autonomous driving device, and performs travel reservation management of the autonomous driving device; an information input unit that allows the user to specify a place name based on the departure point and the destination point and specify a spare time; a place information database that establishes a correspondence between the place name and the place coordinates; and a place coordinate retrieval unit that retrieves the departure point coordinates and the destination point coordinates from the place information database based on the departure point name and the destination point name specified by the user (for example, refer to Patent Document 1).

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2014 / 024254 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, in the conventional technology, the relationship between the users who ride together is not taken into consideration, and therefore, there are cases where it is impossible to determine a travel itinerary that is in accordance with the relationship between the users.

[0009] The present invention has been completed in consideration of such a situation, and one of its objects is to provide an operation route determination device, an automatic driving vehicle, an operation route determination method, and a storage medium capable of determining an operation route according to the relationship between users.

[0010] Solutions to Solve Problems

[0011] The operation itinerary determination device, the autonomous driving vehicle, the operation itinerary determination method, and the storage medium of the present invention adopt the following structure. (1): The operation itinerary determination device of one embodiment of the present invention is the following operation itinerary determination device (300), which comprises: an acquisition unit (320) that acquires itinerary information of a plurality of users and attribute information indicating the relationship between at least some of the plurality of users; and a determination unit (330) that determines the operation itinerary of the autonomous driving vehicle based on the information acquired by the acquisition unit.

[0012] (2): In the above-mentioned aspect (1), the determination unit refers to the attribute information to determine the operation course in such a manner that the user who needs assistance and the user who provides assistance ride together in the autonomous driving vehicle.

[0013] (3): In the above-mentioned scheme (2), the users who need help include children, and the users who provide help include users who are not children.

[0014] (4): In the above-mentioned scheme (1), the determination unit determines the operation itinerary in such a manner that an item carried by an occupation-permitted user who occupies at least a part of the autonomous driving vehicle and an owner of the item ride in the autonomous driving vehicle together.

[0015] (5): In the aspect of any one of (1) to (4) above, the acquisition unit acquires change information of the itinerary information, and the determination unit dynamically changes the driving itinerary based on the change information.

[0016] (6): In the scheme of any one of (1) to (4) above, the determination unit determines, based on the attributes of the autonomous driving vehicle, an operating itinerary in which a user who needs assistance is allowed to ride alone in the autonomous driving vehicle.

[0017] (7): In the scheme of any one of (1) to (5) above, the determination unit generates one or more candidates for the operation itinerary, calculates a score based on the user's waiting time or arrival delay time for each generated candidate for the operation itinerary, and determines the candidate for the operation itinerary based on the calculated score.

[0018] (8): In the scheme of any one of (1) to (6) above, the operation itinerary determination device further includes a communication unit (310) for communicating with a terminal device of a user, the determination unit generates one or more candidates for the operation itinerary, the communication unit transmits the candidates for the operation itinerary generated by the determination unit to the terminal device, and the determination unit determines the operation itinerary based on the result of the user's selection of the operation itinerary received by the communication unit from the terminal device.

[0019] (9): An autonomous driving vehicle according to one embodiment of the present invention is connected to the following operation itinerary determination device in a manner capable of communicating, the operation itinerary determination device comprising: an acquisition unit, which acquires itinerary information of multiple users and attribute information representing the relationship between at least some of the multiple users; and a determination unit, which determines the operation itinerary of the autonomous driving vehicle based on the information acquired by the acquisition unit, wherein the autonomous driving vehicle comprises: a path generation unit (280), which generates an operation plan including path information based on the operation itinerary determined by the operation itinerary determination device; an autonomous driving control unit (250), which sets an attribute operation plan that establishes a correspondence between the operation plan generated by the path generation unit and the attribute information, and operates along the path of the set attribute operation plan; a sensor, which detects the attribute information; and a comparison unit (284), which compares the attribute information detected by the sensor with the attribute operation plan when operating based on the autonomous driving control unit.

[0020] (10): In the above-mentioned scheme (9), the attribute operation plan includes an occupation plan for each of the plurality of users to occupy a part of the autonomous driving vehicle.

[0021] (11): In the scheme of (10) above, the autonomous driving vehicle further comprises: an authentication unit (286), which obtains key information for occupying a part of the autonomous driving vehicle and uses the obtained key information to authenticate the user; and a vehicle access management unit (288), which permits occupation of at least a part of the autonomous driving vehicle when authentication based on the authentication unit is established, and the vehicle access management unit permits occupation of a part of the autonomous driving vehicle when the access permission information obtained by the decision unit is consistent with the key information, and resets the attribute operation plan when the access permission information is inconsistent with the key information.

[0022] (12): In the scheme of any one of (9) to (11) above, the autonomous driving vehicle also includes a notification unit (290) for notifying the decision unit of a time when the attribute operation plan does not exist, and the path generation unit changes the operation plan based on a new operation itinerary determined according to the notification information notified by the notification unit and the operation permission information set for the autonomous driving vehicle.

[0023] (13): An operation itinerary determination method according to one embodiment of the present invention enables a computer to perform the following processing: obtaining itinerary information of a plurality of users and attribute information representing the mutual relationship between at least a portion of the plurality of users; and determining the operation itinerary of the autonomous driving vehicle based on the obtained itinerary information and the attribute information.

[0024] (14): A storage medium of one embodiment of the present invention stores a program, which enables a computer to perform the following processing: obtaining travel information of multiple users and attribute information representing the relationship between at least some of the multiple users; and determining the operating itinerary of the autonomous driving vehicle based on the obtained travel information and the attribute information.

[0025] Effects of the Invention

[0026] According to (1) to (14), the operation course determination device 300 can determine the operation course according to the relationship between users.

[0027] According to (2) and (3), for example, by having the helping user and the user who needs help, such as a child, ride in the same vehicle, it is possible to reduce the anxiety caused by having the user who needs help ride alone.

[0028] According to (5), the operation schedule is also dynamically changed by the user changing the schedule information, so that the convenience for the user can be improved.

[0029] According to (6), the operation course determination device 300 can determine the operation course according to the course of each user based on the attributes of the autonomous driving vehicle.

[0030] According to (8), the operation course determination device 300 displays a plurality of operation course candidates as recommended operation courses on the terminal device 100, and enables the user to determine a preferred operation course. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a configuration diagram of the vehicle system 1 including the driving stroke determination device 300 according to the first embodiment.

[0032] Figure 2 It is a configuration diagram of a vehicle 200 according to the first embodiment.

[0033] Figure 3 This is a diagram for explaining the processing procedure of autonomous driving.

[0034] Figure 4 This is a diagram showing an example of the content of the user itinerary information 352 .

[0035] Figure 5 This is a diagram showing an example of the content of the user attribute information 353.

[0036] Figure 6 This is a diagram for explaining how an operation route is determined from a plurality of operation route candidates.

[0037] Figure 7 It is a diagram showing an example of the content of the driving schedule information 354 .

[0038] Figure 8 This is a diagram for explaining the state of vehicle control in operation trip ID “ D001 ”.

[0039] Fig. 9 This is a diagram for explaining the state of vehicle control in the operation trip ID "D002".

[0040] Fig.10 This is a diagram for explaining the state of vehicle control in the operation trip ID "D003".

[0041] Fig.11 This is a diagram for explaining the state of vehicle control in operation trip ID "D004".

[0042] Fig.12 It is a diagram for explaining the state of vehicle control in the changed driving schedule.

[0043] Fig.13 This is a flowchart showing an example of the flow of processing executed by the driving stroke determination device 300 according to the first embodiment.

[0044] Fig.14 It is a configuration diagram of a vehicle 200A according to the second embodiment.

[0045] Fig.15 It is a configuration diagram of a vehicle 200B according to the third embodiment. DETAILED DESCRIPTION

[0046] Hereinafter, the embodiments of the operation itinerary determination device, the automatic driving vehicle, the operation itinerary determination method, and the storage medium of the present invention will be described with reference to the accompanying drawings. The operation itinerary determination device is a device for allocating a vehicle to a desired user and transporting the user to the destination. The vehicle is, for example, an automatic driving vehicle that basically does not require driving operation. Hereinafter, the description will be made using an automatic driving vehicle, but a manually driven vehicle may also be used.

[0047] <First Embodiment>

[0048] [Overall structure]

[0049] Figure 11 is a structural diagram of a vehicle system 1 including an operation route determination device 300 of the first embodiment. The vehicle system 1 includes one or more terminal devices 100 used by one or more users U, one or more vehicles 200, and an operation route determination device 300. These components can communicate with each other via a network NW. The network NW includes the Internet, WAN (Wide Area Network), LAN (Local Area Network), public lines, provider devices, dedicated lines, wireless base stations, etc. It should be noted that the so-called "used by user U" may include a terminal device in an Internet cafe, etc., which can be used by an unspecified majority of terminal devices and is temporarily used by the user U.

[0050] [Terminal device]

[0051] The terminal device 100 is, for example, a smartphone, a tablet terminal, a personal computer, etc. In the terminal device 100, an application or a browser for using the vehicle system 1 is started to support the operation itinerary determination service described below. In the following description, it is assumed that the terminal device 100 is a smartphone and the application (operation itinerary determination application) is started. The operation itinerary determination application communicates with the operation itinerary determination device 300 according to the operation of the user U, and sends the itinerary information of the user U and the attribute information indicating the relationship between at least some of the users among the multiple users to the operation itinerary determination device 300, or performs a push notification based on the information received from the operation itinerary determination device 300.

[0052] [vehicle]

[0053] The vehicle 200 is, for example, a vehicle having four or more wheels on which a plurality of users U can ride, but may also be another vehicle such as a motorcycle. Figure 2 2 is a structural diagram of a vehicle 200 according to the first embodiment. The vehicle 200 includes, for example, an outside monitoring unit 210, a communication device 220, a navigation device 230, a recommended lane determination device 240, an automatic driving control unit (an example of an automatic driving control unit) 250, a driving force output device 260, a braking device 262, and a steering device 264. The automatic driving control unit 250 includes, for example, a processor such as a CPU (Central Processing Unit) that executes a program (software) stored in a storage unit (not shown) in the vehicle 200.

[0054] The external monitoring unit 210 includes, for example, a camera, a radar, a LIDAR (Light Detection and Ranging), an object recognition device that performs sensor fusion processing based on their outputs, etc. The external monitoring unit 210 estimates the types of objects (especially vehicles, pedestrians, and bicycles) that exist around the vehicle 200, and outputs the information of their positions and speeds to the automatic driving control unit 250.

[0055] The communication device 220 is, for example, a wireless communication module for connecting to the network NW or directly communicating with other vehicles, pedestrians, and other terminal devices. The communication device 220 performs wireless communication based on Wi-Fi, DSRC (Dedicated Short Range Communications), Bluetooth (registered trademark), and other communication standards. As the communication device 220, multiple communication devices corresponding to the purpose can also be prepared.

[0056] The navigation device 230 includes, for example, an HMI (Human machine Interface) 232, a GNSS (Global Navigation Satellite System) receiver 234, and a navigation control device 236. The HMI 232 includes, for example, a touch panel display device, a speaker, a microphone, etc. The GNSS receiver 234 measures the position of the vehicle (the position of the vehicle 200) based on radio waves received from a GNSS satellite (for example, a GPS satellite). The navigation control device 236 includes, for example, a CPU and various storage devices, and controls the entire navigation device 230. The storage device stores map information (navigation map). The navigation map is a map that represents roads with nodes and routes.

[0057] The navigation control device 236 refers to the navigation map to determine a route from the position of the vehicle 200 measured by the GNSS receiver 234 to the destination specified using the HMI 232. Alternatively, the navigation control device 236 may use the communication device 220 to send the position and destination of the vehicle 200 to a navigation server (not shown) and obtain a route replied from the navigation server.

[0058] In the case of the first embodiment, the route may also be specified by the operation course determination device 300. In addition, each route may include information (for example, an operation plan) on the places where the vehicle stops for the user to get on or off and the target arrival time.

[0059] The navigation control device 236 outputs information on the route determined by any of the above methods to the recommended lane determination device 240 .

[0060] The recommended lane determination device 240 includes, for example, an MPU (Map Positioning Unit) and various storage devices. The storage device stores high-precision map information that is more detailed than the navigation map. The high-precision map information includes, for example, information such as the road width, slope, curvature, and signal position of each lane. The recommended lane determination device 240 determines a recommended lane that is preferred for driving along the path input from the navigation device 230, and outputs it to the automatic driving control unit 250.

[0061] The automatic driving control unit 250 has one or more processors such as a CPU and an MPU and various storage devices. The automatic driving control unit 250 makes the vehicle 200 automatically drive in a manner that avoids contact with an object whose position and speed are input from the external monitoring unit 210, based on the situation of driving on the recommended lane determined by the recommended lane determination device 240. The automatic driving control unit 250 executes various events in sequence, for example. The events include a constant speed driving event of driving on the same driving lane at a certain speed, a following driving event of following the preceding vehicle, a lane change event, a merging event, a branching event, an emergency stop event, a toll booth event for passing through a toll booth, and a handover event for ending the automatic driving and switching to manual driving. In addition, sometimes, during the execution of these events, based on the surrounding conditions of the vehicle 200 (the presence of surrounding vehicles and pedestrians, the narrow lane caused by road construction, etc.), an action for avoiding is planned.

[0062] The automatic driving control unit 250 generates a target trajectory for the vehicle 200 to travel in the future. The target trajectory includes, for example, a speed element. For example, the target trajectory is represented by a trajectory in which the locations (track points) that the vehicle 200 should arrive at are arranged in sequence. Track points are locations that the vehicle 200 should arrive at every specified driving distance. Different from this, a target speed and a target acceleration at every specified sampling time (for example, a few tenths of a second) are generated as part of the target trajectory. In addition, the track point may also be a location that the vehicle 200 should arrive at at the sampling time every specified sampling time. In this case, the information on the target speed and target acceleration is represented by the intervals between the track points.

[0063] Figure 3This is a diagram for explaining the processing of automatic driving. First, as shown in the upper figure, the navigation device 230 determines a path. This path is, for example, a general path without distinguishing lanes. Next, as shown in the middle figure, the recommended lane determination device 240 determines a recommended lane that is easy to travel along the path. And, as shown in the figure below, the automatic driving control unit 250 generates track points for traveling along the recommended lane as much as possible when avoiding obstacles, etc., and controls part or all of the driving force output device 260, the braking device 262, and the steering device 264 in a manner of traveling along the track points (and the accompanying speed curve). It should be noted that such sharing of functions is only an example after all, and for example, the automatic driving control unit 250 can also perform processing centrally.

[0064] The driving force output device 260 outputs the driving force (torque) for driving the vehicle to the driving wheels. The driving force output device 260 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and a power ECU that controls them. The power ECU controls the above structure according to information input from the automatic driving control unit 250 or information input from a driving operating member not shown in the figure.

[0065] The brake device 262 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the automatic driving control unit 250 or information input from the driving operating member, so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 262 may include a mechanism that transmits the hydraulic pressure generated by the operation of the brake pedal included in the driving operating member to the hydraulic cylinder via the master hydraulic cylinder as a backup. It should be noted that the brake device 262 is not limited to the structure described above, and may also be an electronically controlled hydraulic brake device that controls the actuator according to information input from the automatic driving control unit 250 to transmit the hydraulic pressure of the master hydraulic cylinder to the hydraulic cylinder.

[0066] The steering device 264 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack-and-pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to information input from the automatic driving control unit 250 or information input from the driving operating member, thereby changing the direction of the steering wheel.

[0067] [Operation stroke determination device]

[0068] return Figure 1, the operation stroke determination device 300, for example, includes a communication unit 310, an acquisition unit 320, a determination unit 330, a path indication unit 340 and a storage unit 350. The acquisition unit 320, the determination unit 330 and the path indication unit 340 are implemented, for example, by a processor such as a CPU executing a program (software) stored in the storage unit 350. In addition, part or all of these functional units can be implemented by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or by the coordinated cooperation of software and hardware. The program can be pre-stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory (for example, the storage unit 350), or can be stored in a removable storage medium such as a DVD or CD-ROM and installed in the storage device by assembling the storage medium in a drive device (not shown).

[0069] The communication unit 310 is, for example, a network card for connecting to the network NW. The communication unit 310 communicates with the terminal device 100 and the vehicle 200 via the network NW.

[0070] For example, the acquisition unit 320 acquires the itinerary information and attribute information of a plurality of users who use the driving itinerary determination service based on the vehicle system 1 .

[0071] For example, the acquisition unit 320 acquires the itinerary information and attribute information input by the user through the operation of the itinerary determination application executed by the terminal device 100 connected via the network NW. In addition, the acquisition unit 320 may also acquire the user's itinerary information input to the scheduler application or scheduling website provided by the application server (not shown) or the web server (not shown) connected to the network NW.

[0072] The acquisition unit 320 stores the acquired itinerary information and attribute information in the storage unit 350 as user itinerary information 352 and inter-user attribute information 353 , respectively.

[0073] Figure 4351. The user itinerary information 352 is information in which the usage time information and the usage interval information are associated with the identification information of the user who uses the vehicle 200, that is, the user ID. The usage time information includes the day of the week when the user plans to use the vehicle 200 and the departure time from the boarding point or the desired arrival time at the destination, or both. The usage interval information includes the location of the boarding point and the location of the destination. The locations of the boarding point and the destination are represented by coordinates associated with the map information 351, for example. It should be noted that the user itinerary information 352 may include, in addition to Figure 4 In addition to (or instead of) specific date and time information, the itinerary information shown may also include information identifying the user's free time.

[0074] Figure 5 353 is a diagram showing an example of the content of the inter-user attribute information 353. The inter-user attribute information 353 is an example of attribute information indicating the relationship between users. In the inter-user attribute information 353, a pair of the second user ID and the second user attribute is associated with a pair of the first user ID and the first user attribute. The first user attribute is an attribute of the user identified by the first user ID defined relative to the user identified by the second user ID. The second user attribute is an attribute of the user identified by the second user ID defined relative to the user identified by the first user ID.

[0075] The user attribute information 353 includes at least information indicating the relationship between the user who needs help and the user who helps the user. The user who needs help includes, for example, children. Children include at least infants. In this case, the user who provides help is, for example, the parent of the infant. Parents are users other than children.

[0076] In addition, the user who needs help may also be an elderly person. In this case, the user who provides help may be, for example, the elderly person's child (adult). In addition, the user who needs help may also be a disabled person with a physical disability, cognitive disability, mental disability, etc. In this case, the user who provides help may be, for example, the disabled person's parents, siblings (adults). It should be noted that Figure 5 The user attribute information 353 shown shows the attributes of users who can ride together, but may also show the attributes of users who are prohibited from riding together. The attributes of users who are prohibited from riding together include, for example, the case where the attributes of the first user and the attributes of the second user are both people who need help.

[0077] In addition, the user attribute information 353 may also include the relationship between the owner who owns or manages the vehicle 200 and the occupation permission user who is allowed to occupy the vehicle 200, and may also include the relationship between the owner and the permitted service. The occupation permission user includes, for example, the owner's friend, acquaintance, business personnel, etc. In addition, the permitted service includes, for example, a delivery service such as a courier, a cleaning service or a maintenance service for the interior of the vehicle 200. In addition, the user of the user attribute information 353 may be the user himself (person) or an article (goods, etc.) placed on the vehicle 200 by the user (occupancy permission user).

[0078] The determination unit 330 determines the travel course of the vehicle 200 based on the map information 351, the user course information 352 acquired by the acquisition unit 320, and the user attribute information 353. The determination unit 330 stores the determined travel course in the storage unit 350 as the travel course information 354. The function of the determination unit 330 will be described in detail later.

[0079] The route instruction unit 340 transmits an instruction of a route based on the travel course determined by the determination unit 330 to the vehicle 200. Details of the function of the route instruction unit 340 will be described later.

[0080] The storage unit 350 is implemented by a HDD, a flash memory, a RAM (Random Access Memory), a ROM (Read Only Memory), etc. The storage unit 350 stores, for example, map information 351 , user itinerary information 352 , user attribute information 353 , driving itinerary information 354 , and other information.

[0081] The map information 351 includes, for example, road information, traffic restriction information, address information (address, zip code), facility information, telephone number information, etc. The road information includes information indicating the type of road such as expressway, toll road, national highway, prefectural road, number of lanes on the road, area of ​​emergency stop lane, width of each lane, slope of the road, location of the road (including three-dimensional coordinates of longitude, latitude, and altitude), curvature of lane curves, location of lane junctions and branch points, signs set on the road, etc. The map information 351 can be updated at any time by accessing other devices using the communication device 220.

[0082] [Operation route determination service based on the first embodiment]

[0083] Next, an example of the operation itinerary determination service based on the first embodiment is described. The so-called operation itinerary determination service is, for example, a service that uses the vehicle 200 to transport one or more users between their homes and destinations. The so-called destination is, for example, a place designated by the user, such as a company, a nursery, a school, a tutoring class, a hospital, etc. In the following description, it is assumed that users U1 to U4 use the operation itinerary determination service of the vehicle 200. In addition, users U1 to U4 are, for example, family members living together.

[0084] First, the users U1 to U4 access the operation itinerary determination device 300 by operating the operation itinerary determination application executed on the terminal device 100, and register the itinerary and attribute information of each user U1 to U4 for receiving the operation itinerary determination service. The itinerary and attribute information of the users U1 to U4 may be registered collectively by a representative user (for example, user U1), or may be registered individually by each user U1 to U4.

[0085] The acquisition unit 320 stores the itinerary and the attribute information between users inputted through the terminal device 100 in the storage unit 350 as the user itinerary information 352 and the attribute information between users 353 .

[0086] The decision unit 330 determines the operation itinerary based on the map information 351 and the user itinerary information 352. For example, when the decision unit 330 transports the user from the departure point to the destination, the decision unit 330 determines the operation itinerary in such a manner that the vehicle arrives at the boarding point at the boarding point departure time and arrives at the destination at the destination arrival desired time. In addition, when the vehicle 200 cannot arrive at the boarding point departure time or the destination arrival desired time, the decision unit 330 determines the operation itinerary in such a manner that, for example, the user's waiting time until the vehicle 200 arrives at the boarding point or the arrival delay time to the destination is less than or minimized by a predetermined time.

[0087] In addition, when the user U3 or U4 is on board, the decision unit 330 determines the operation itinerary in such a manner that at least one of the users U1 and U2 is on board. In addition, the decision unit 330 may determine the operation itinerary in such a manner that the movement of the vehicle 200 is restricted to idle running (driving without anyone on board) when the vehicle 200 is moving. In this case, the decision unit 330 may move the vehicle 200 by towing it with another vehicle, or may determine the operation itinerary in such a manner that a driver other than the user is driving the vehicle. In addition, the decision unit 330 may determine the operation itinerary in such a manner that manual driving is performed in a part of the section. In addition, based on the inter-user attribute information 353, the decision unit 330 may determine the operation itinerary in such a manner that the items placed on the seats or the trunk space in the vehicle 200 by at least a part of the users (users with permission to occupy) who occupy the vehicle 200 and the owners of the items are on board the vehicle 200.

[0088] In addition, when one or more candidates for the operation itinerary satisfying the above-mentioned conditions are generated, the decision unit 330 calculates a score based on the user's waiting time or arrival delay time for each of the generated operation itinerary candidates. For example, the decision unit 330 calculates the score in such a way that the longer the user's waiting time or arrival delay time is relative to a reference value (e.g., 0), the more the score is reduced. Then, the decision unit 330 determines the operation itinerary having a higher calculated score than the other candidates.

[0089] The decision unit 330 may also calculate the cost based on the number of vehicles traveling through the travel route. For example, when a travel route is generated in which a plurality of users are divided into a plurality of vehicles and ride, the point is calculated after the point is reduced based on the number of vehicles.

[0090] Furthermore, for example, when generating one or more candidates of the travel route satisfying the above-mentioned conditions, the determination unit 330 may transmit the generated candidates to the terminal device 100 and determine the travel route by causing the user to select a certain travel route. Figure 6 FIG. 3 is a diagram for explaining a case where an operation course is determined from a plurality of operation course candidates. When the determination unit 330 causes the user to select an operation course, Figure 6 The illustrated operation course selection screen 400 is displayed on the terminal device 100 .

[0091] The operation route selection screen 400 displays information related to one or more operation route candidates generated by the determination unit 330. The information related to the operation route candidates includes, for example, information on the operation time, the user riding, and the cost. The operation route candidates are displayed on the operation route selection screen 400 in a predetermined order such as the operation time order or the cost order.

[0092] In addition, a display button for displaying each candidate operation course, a decision button for deciding the operation course, and the like are shown on the operation course selection screen 400. When receiving the user's selection of the display button, the decision unit 330 displays the candidate operation course corresponding to the screen of the terminal device 100. In addition, when receiving the user's selection of the decision button, the decision unit 330 decides the selected candidate as the operation course.

[0093] In this way, the decision unit 330 displays a plurality of travel course candidates as recommended travel courses on the terminal device 100 and allows the user to select a travel course using the travel course selection screen 400 , thereby making it possible to decide a travel course desired by the user.

[0094] The determination unit 330 stores the determined course in the storage unit 350 as the driving course information 354 . Figure 7354 is a diagram showing an example of the content of the operation itinerary information 354. The operation itinerary information 354 is information that establishes a correspondence between the parking location (coordinates), the virtual arrival time, the users who boarded the vehicle, and the users who got off the vehicle, and the operation itinerary ID. The parking location includes information on the departure point, the passing point, and the arrival point. Figure 7 In the example of , the departure point and arrival point of the vehicle 200 are the position of the home (x0, y0), and the hypothetical arrival time relative to the departure point is the departure time of the vehicle 200.

[0095] exist Figure 7 In the example of , the operation itinerary information 354 for one day on April 24, 2017 (Monday) determines the operation itinerary of D001 to D004. The route indicating unit 340 transmits the operation itinerary information 354 to the vehicle 200. In addition, the determining unit 330 may transmit the access permission information of the user for each section to the vehicle 200 or a terminal held by the user at the same time as or at a different time from the time when the operation itinerary information 354 is transmitted to the vehicle 200 by the route indicating unit 340. The vehicle 200 performs driving under automatic driving based on the received operation itinerary information 354.

[0096] Figure 8 This is a diagram for explaining the situation of vehicle control of the operation trip ID "D001". In the vehicle control of the operation trip ID "D001", the vehicle 200 departs from the home (x0, y0) at the departure time with the users U2 and U3 on board, and stops at the destination c (x3, y3) where the nursery school A is located. After the user U3 gets off at the destination c, the vehicle 200 stops at the destination b (x2, y2) where the company B is located. After the user U2 gets off at the destination b, the vehicle 200 drives to the home and stops after arriving at the home.

[0097] Fig. 9 This is a diagram for explaining the state of vehicle control in the operation trip ID "D002". Fig. 9 The operation itinerary shown is an itinerary executed after the operation of the operation itinerary ID "D001" is completed. In the vehicle control of the operation itinerary ID "D002", the vehicle 200 departs from the home (x0, y0) at the departure time with users U1 and U4 on board, and stops at the destination d (x4, y4) where the nursery school B is located. After the user U4 gets off at the destination d, the vehicle 200 stops at the destination a (xl, y1) where the company A is located. After the user U1 gets off at the destination a, the vehicle 200 drives to the home and stops in the garage of the home. The vehicle 200 can pick up and drop off users U1 to U4 from their homes to each destination by driving on the paths corresponding to the operation itinerary IDs "D001" and "D002".

[0098] Fig.10 This is a diagram for explaining the situation of vehicle control for the operation trip ID "D003". In the vehicle control for the operation trip ID "D003", the vehicle 200 departs from the home without a user at the departure time and stops at the destination b where the company B is located. After the user U2 gets on the vehicle at the destination b, the vehicle 200 travels to the destination d and stops. After the user U4 gets on the vehicle at the destination d, the vehicle 200 travels to the destination c and stops. After the user U3 gets on the vehicle at the destination c, the vehicle 200 travels to the home and stops after arriving at the home.

[0099] Fig.11 This is a diagram for explaining the situation of vehicle control for the operation trip ID "D004". In the vehicle control for the operation trip ID "D004", the vehicle 200 departs from the home without a user at the departure time and stops at the destination a where the company A is located. After the user U1 gets on at the destination a, the vehicle 200 travels to the home and stops in the garage of the home. The vehicle 200 can pick up and drop off users U1 to U4 from various locations to their homes by traveling on the routes corresponding to the operation trip IDs "D003" and "D004".

[0100] In addition, in the above-mentioned operation itinerary, when the users U3 and U4, who are infants and young children, ride in the vehicle 200, at least one of the parents U1 and U2 rides together, so the parents can see the situation of the children in the vehicle 200. Therefore, it is possible to reduce the anxiety caused by the users U1 and U2 making the users U3 and U4 ride alone. In addition, since the operation itinerary is determined in a way that parents and children ride together, it is possible to increase the time that parents and children spend together.

[0101] In addition, when the acquisition unit 320 acquires the change information of the user's itinerary, the decision unit 330 dynamically changes the operation itinerary based on the change information. For example, the user U1 can leave the company A earlier than scheduled, so the departure time of the boarding point of his own itinerary is changed from "19:30" to "16:00" through the terminal device 100. In this case, the acquisition unit 320 acquires the change information of today's date and the departure time of the boarding point of the user U1. Then, the decision unit 330 re-determines the operation itinerary based on the user itinerary information 352 of the users U1 to U4, the attribute information 353 between users, and the change information. The route indication unit 340 sends the re-determined operation itinerary to the vehicle 200.

[0102] The vehicle 200 generates a driving plan including route information based on the re-determined driving course, and executes driving under automatic driving based on the generated driving plan.

[0103] Fig.12 FIG. 2 is a diagram for explaining the vehicle control under the changed running schedule. Fig.12 In the example, the operation itinerary is executed after the operation itinerary IDs "D003" and "D004" are changed. The vehicle 200 departs from the home without a user at the departure time and stops at the destination a where the company A is located. After the user U1 gets on the vehicle at the destination a, the vehicle 200 stops at the destination b where the company B is located. After the user U2 gets on the vehicle at the destination b, the vehicle 200 travels to the destination d and stops. After the user U4 gets on the vehicle at the destination d, the vehicle 200 travels to the destination c and stops. After the user U3 gets on the vehicle at the destination c, the vehicle 200 travels to the home and stops after arriving at the home.

[0104] In this way, the operation route determination device 300 can quickly change the operation route based on the change information of the user's itinerary. Therefore, for example, when a user who is a parent receives a notification from a nursery that his child has suddenly developed a fever, the parent can change the departure time of his own boarding place to pick up the child, or add a destination so that he can go directly to the hospital after picking up the child, and the operation route can be changed to the change information. Therefore, the convenience for the user can be improved.

[0105] [Processing Flow]

[0106] Fig.13 1 is a flowchart showing an example of the process flow executed by the operation route determination device 300 of the first embodiment. First, the acquisition unit 320 acquires the route information of a plurality of users and the attribute information indicating the relationship between at least some of the plurality of users (step S100). Next, the determination unit 330 determines the operation route based on the acquired route information and attribute information (step S102).

[0107] Next, the route instruction unit 340 transmits the determined travel route to the vehicle 200 , and transmits an instruction for causing the vehicle 200 to travel on the route along the travel route (step S104 ).

[0108] Next, the acquisition unit 320 determines whether the change information of the user's itinerary is obtained (step S106). If the change information of the user's itinerary is obtained, the operation itinerary is re-determined based on the changed itinerary (step S108). Next, the route instruction unit 340 sends the re-determined operation itinerary to the vehicle 200, and sends an instruction for causing the vehicle 200 to travel on the route along the operation itinerary (step S110). Thus, the processing of this flowchart ends.

[0109] As described above, the operation route determination device 300 of the first embodiment can determine the operation route according to the relationship between users. Therefore, the operation route determination device 300 can provide an operation route determination service suitable for a group of users such as a family.

[0110] <Second Embodiment>

[0111] Next, the second embodiment is described. In the second embodiment, the driving itinerary that allows the user who needs help to ride alone is determined based on the attributes of the vehicle 200. The attributes of the vehicle 200 include, for example, the presence or absence of a monitoring device for monitoring the interior of the vehicle 200, the presence or absence of a notification device for notifying a predetermined server device, a terminal of an administrator, etc., whether the user of the vehicle 200 holds an operating license, whether the user holds a driving permit, etc. The following describes an example in which a monitoring device is mounted on the vehicle 200.

[0112] Fig.14 2 is a block diagram of a vehicle 200A according to the second embodiment. The vehicle 200A includes a monitoring device 270. The functions of the other components are the same as those of the vehicle system 1 according to the first embodiment.

[0113] Monitoring device 270 includes, for example, an in-cabin camera 272 and a state monitoring unit 274. In-cabin camera 272 captures an image of the upper body of a user seated in a seat of vehicle 200, with the face of the user as the center. The captured image of in-cabin camera 272 is output to state monitoring unit 274.

[0114] The state monitoring unit 274 transmits, for example, an image of a user in the vehicle interior captured by the vehicle interior camera 272 to the terminal device 100 at a predetermined period through the communication device 220. In addition, the state monitoring unit 274 analyzes the image captured by the vehicle interior camera 272 to determine whether the user is in an abnormal state. In addition, when the user is in an abnormal state, the state monitoring unit 274 transmits information indicating this to the terminal device 100.

[0115] The state monitoring unit 274 compares the shape of the characteristic parts (e.g., eyes and mouth) of the user's face contained in the captured image with the shape of the characteristic parts of the pre-set crying face, and determines that the user is in a crying state when the similarity is above a threshold. In addition, the state monitoring unit 274 may also use machine learning such as deep learning to learn the facial features of the user and recognize and classify the user's expression to determine whether the user contained in the captured image is in a crying state. In the case where it is determined that the user is in a crying state, the state monitoring unit 274 determines that the user is in an abnormal state. In addition, the state monitoring unit 274 may also determine that the user is in an abnormal state when it is determined that the user is in a noisy state or has not moved for more than a specified time.

[0116] For example, when the predetermined vehicle 200A that sends the operation itinerary information is equipped with a monitoring device 270, the decision unit 330 of the operation itinerary decision device 300 allows the users U3 and U4, who are infants, to ride alone and determines the operation itinerary. In addition, a partition (partition) or the like for dividing the interior of the vehicle into sections to form a private space for each passenger may be provided in the vehicle 200A. In this way, the sight of other passengers can be blocked and contact with other passengers can be suppressed. The decision unit 330 may also allow the users U3 and U4 to ride alone and determine the operation itinerary when a partition is provided in addition to (or instead of) the vehicle 200 being equipped with the monitoring device 270.

[0117] In addition, the monitoring device 270 may also authenticate a companion (e.g., a child attending a nursery school) when a user (e.g., a child attending a nursery school) gets on or off the bus, and may allow the user to board the bus based on the authentication result. In this case, the monitoring device 270 recognizes the face of the companion from an image captured by the in-vehicle camera 272 or a camera capturing images outside the vehicle, and if the recognized face is a pre-registered face, the user or the user and the companion may be allowed to board the bus.

[0118] In addition, the monitoring device 270 may also prohibit riding together based on the relationship between users. For example, if a child is already riding, the monitoring device 270 prohibits other children from riding, or prohibits others (adults) from riding. In addition, the monitoring device 270 may also prohibit riding together if there are more than two people from different families riding. In the case of prohibiting riding together, the monitoring device 270 notifies the prohibition of riding together, for example, through the display device, speaker, etc. of the HMI232, and outputs an instruction to the automatic driving control unit 250 that the vehicle 200 is not moving.

[0119] As described above, according to the second embodiment, in addition to achieving the same effects as the first embodiment, the travel itinerary can be determined regardless of whether the user on board needs assistance. Therefore, when using a vehicle equipped with the monitoring device 270, the travel itinerary determination device 300 can determine the travel itinerary according to the itinerary of each user.

[0120] In addition, according to the second embodiment, even a user who needs help can be allowed to ride alone based on the attributes of the vehicle 200A, so the convenience for the user can be further improved. For example, when the vehicle 200A is equipped with the monitoring device 270, even if the user who provides help does not ride in the vehicle 200, the image of the user who needs help and the information indicating that the user who needs help is in an abnormal state can be easily confirmed from the terminal device 100.

[0121] <Third Embodiment>

[0122] Next, a third embodiment will be described. In the third embodiment, functions such as user authentication and vehicle access management are provided on the vehicle 200. The configuration of the vehicle in the third embodiment will be described below in comparison with the configuration of the vehicle 200 in the first embodiment.

[0123] Fig.15 2 is a structural diagram of a vehicle 200B according to a third embodiment. The vehicle 200B according to the third embodiment is different from the vehicle 200 according to the first embodiment in that it is equipped with a path generation unit 280, a sensor 282, a comparison unit 284, an authentication unit 286, a vehicle access management unit 288, and a notification unit 290. Therefore, the following mainly describes the path generation unit 280, the sensor 282, the comparison unit 284, the authentication unit 286, the vehicle access management unit 288, and the notification unit 290. It should be noted that the above-mentioned functional units are implemented by executing a program (software) stored in a storage device by a processor such as a CPU, for example. In addition, some or all of these functional units can be implemented by hardware such as LSI, ASIC, FPGA, etc., or by the cooperation of software and hardware. The program can be pre-stored in a storage device such as an HDD or flash memory of the vehicle 200B (not shown), or can be stored in a removable storage medium such as a DVD or CD-ROM and installed in the storage device by assembling the storage medium in a drive device (not shown).

[0124] The route generation unit 280 generates a travel plan of the vehicle 200B including route information, etc., based on the travel itinerary acquired by communicating with the travel itinerary determination device 300. The travel plan may include information on vehicle speed, driving lane, temporary parking location, parking time, and the number of users in a predetermined section in addition to the route information.

[0125] The automatic driving control unit 250 sets an attribute operation plan that establishes a correspondence between the operation plan generated by the path generation unit 280 and the attribute information 353 between users, so that the vehicle 200 runs along the path of the set attribute operation plan. The so-called attribute operation plan is an operation plan that also includes information on the order in which users are to board based on the attributes of users (including items), services, etc. It should be noted that the attribute operation plan, for example, includes an occupation plan that allows multiple users to occupy a part of the vehicle 200B respectively. As a result, the vehicle 200 can be operated for ride-sharing services, etc. Therefore, for example, the vehicle 200 can be used for ride services, transportation services, etc. during its idle time, and the vehicle 200 can be effectively utilized.

[0126] The sensor 282 is, for example, a camera sensor or a reading sensor that reads information stored in a memory of an IC (Integrated Circuit) card. The sensor 282 detects information related to the user of the vehicle 200 as sensor information. The information related to the user is, for example, information determined based on feature information of the face or the object obtained by analyzing the image captured by the camera sensor taking a picture of the face or the object of the riding user. In addition, the information related to the user may also be the user's operating license or operating permission information read from the camera sensor or the memory of the IC card.

[0127] When operating based on the attribute operation plan of the automatic driving control unit 250, the comparison unit 284 compares the attribute information of the user based on the sensor information obtained from the sensor 282 with the attribute operation plan to determine whether the operation is being performed correctly along the attribute operation plan. For example, when it is determined that the attribute information of the user based on the sensor information is inconsistent with the attribute operation plan, the notification unit 290 notifies the inconsistency to a terminal such as a predetermined server device or an administrator via the communication device 220. In addition, when it is determined that the attribute information of the user based on the sensor information is inconsistent with the attribute operation plan, the automatic driving control unit 250 may terminate the operation based on the attribute operation plan or change the attribute operation plan.

[0128] The authentication unit 286 acquires key information for occupying a part of the vehicle 200B, and determines whether the authentication of the user corresponding to the key information is established based on the acquired key information. The key information is, for example, the operating license and operating permission information of the user acquired by the sensor 282. For example, the authentication unit 286 determines that the authentication is established when the operating license of the user is a license that allows the vehicle 200B to be operated, and determines that the authentication is not established when the operating license of the user is not a license that allows the vehicle 200B to be operated.

[0129] The vehicle access management unit 288 manages the access rights of the user with respect to the vehicle 200B. For example, when the authentication of the user is established by the authentication unit 286, the vehicle access management unit 288 permits the user to occupy at least a part of the vehicle 200B. For example, the vehicle access management unit 288 compares the access permission information issued by the determination unit 330 of the operation schedule determination device 300 with the key information obtained by the authentication unit 286, and permits the user to occupy a part of the vehicle 200B when the key information and the access permission information are consistent. In addition, when the key information and the access permission information are inconsistent, the vehicle access management unit 288 resets the attribute operation plan.

[0130] The notification unit 290 notifies the operation schedule determination device 300 of information (notification information) related to the time (free time) when the attribute operation plan does not exist, for example, via the communication device 220, and receives the operation schedule using the free time from the operation schedule determination device 300. Thus, the route generation unit 280 changes the operation plan based on the new operation schedule determined by the operation schedule determination device 300 according to the notification information notified by the notification unit 290 and the operation permission information set for the vehicle 200. The so-called operation permission information is, for example, information indicating that the owner is allowed to accept orders for services, etc. from a third party during the free time. In addition, the operation permission information may also include information related to the free time including the margin for running according to the original operation plan. When it is assumed that the time when the new operation schedule for accepting orders for services, etc. from a third party is executed is shorter than the free time including the margin indicated by the operation permission information, the route generation unit 280 adds the new operation schedule to the free time of the original operation plan and changes the operation plan. Thus, it is possible to judge whether to accept orders from a third party on the vehicle 200B side and generate a new operation plan. It should be noted that the vehicle 200B in the third embodiment can also be applied to the vehicles 200 and 200A in the first to second embodiments.

[0131] As described above, according to the third embodiment, in addition to achieving the same effects as the first embodiment, the vehicle 200B can generate an operation plan based on the occupancy state of the vehicle cabin and reset the attribute operation plan based on the authentication result of the vehicle 200B.

[0132] <Application Examples>

[0133] Next, application examples of the vehicle system 1 in the first to third embodiments will be described. The vehicle 200 of the vehicle system 1 may be a user's own car, a vehicle provided by a service provider, or a combination thereof.

[0134] For example, when the vehicle 200 is provided by a service provider, the operation itinerary determining device 300 transmits the operation itinerary to the vehicle of the service provider. When the user uses the vehicle of the service provider, the user pays the service provider a fee calculated based on the number of vehicles used, the travel distance, the travel time, the number of passengers, the number of times the operation itinerary is used, the change of the operation itinerary, etc. In addition, the service provider may provide users with discount services based on the number of times the use is used, the use time, etc.

[0135] In addition, the service provider may receive advertising fees from other service providers by displaying their advertisements on the vehicle used by the user, etc. In addition, the service provider may receive an amount corresponding to the actual effect from other service providers when other service providers receive orders based on the advertisements displayed on the vehicle 200.

[0136] Although specific embodiments of the present invention have been described above using the embodiments, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention.

[0137] For example, the driving stroke determination device 300 may be mounted on the vehicle 200 .

[0138] Furthermore, when the vehicle 200 is a manually driven vehicle, the communication unit 310 may communicate with the terminal device of the driver of the vehicle 200 via the network NW.

Claims

1. A running stroke determination device, wherein: The operation stroke determination device comprises: an acquisition unit that acquires itinerary information of a plurality of users and attribute information indicating a relationship between at least a part of the plurality of users; as well as a determination unit that determines an operation itinerary of the autonomous driving vehicle based on the itinerary information of the plurality of users acquired by the acquisition unit and the attribute information so that a path is associated with the attribute information. In a case where a monitoring device for determining whether a user is in an abnormal state based on an image of the user in the vehicle interior captured by an in-vehicle camera is not provided in the autonomous driving vehicle, the decision unit refers to the attribute information to determine the operation itinerary in such a manner that a user who needs help and a user who provides help ride in the autonomous driving vehicle together. When the monitoring device is installed in the autonomous driving vehicle, the decision unit refers to the attribute information and determines a travel itinerary that allows the user who needs assistance to ride alone. Furthermore, when a partition is provided for partitioning the vehicle interior to form a private space for each user, the determination unit determines an operation course that allows a plurality of users who need assistance to board the vehicle alone.

2. The operation stroke determination device according to claim 1, wherein: The users who need help include children, and the users who provide help include users who are not children.

3. The operation stroke determination device according to claim 1, wherein: The determination unit determines the travel course so that an article carried by an occupation-permitted user who occupies at least a part of the autonomous driving vehicle and an owner of the article ride in the autonomous driving vehicle together.

4. The operation stroke determination device according to any one of claims 1 to 3, wherein: The acquiring unit acquires the change information of the itinerary information, The determination unit dynamically changes the operation schedule based on the change information.

5. The operation stroke determination device according to any one of claims 1 to 3, wherein: The determination unit generates one or more candidates for the operation route, calculates a score based on a waiting time or an arrival delay time of a user for each of the generated candidates for the operation route, and determines the candidate for the operation route based on the calculated score.

6. The operation stroke determination device according to any one of claims 1 to 3, wherein: The operation schedule determination device further includes a communication unit for communicating with a user's terminal device. The determination unit generates one or more candidates for the operation route. the communication unit transmits the candidate of the operation route generated by the determination unit to the terminal device, The determination unit determines the operation course based on a selection result of the operation course by the user received from the terminal device by the communication unit.

7. An autonomous driving vehicle connected to a running itinerary determining device in a communicable manner, the running itinerary determining device comprising: an acquisition unit that acquires itinerary information of a plurality of users and first attribute information indicating a relationship between at least a portion of the plurality of users; and a determination unit that determines the running itinerary of the autonomous driving vehicle based on the information acquired by the acquisition unit, wherein: The autonomous driving vehicle has: a route generating unit for generating a travel plan including route information based on the travel itinerary determined by the travel itinerary determining device; an automatic driving control unit configured to set an attribute operation plan in which the operation plan generated by the path generation unit is associated with the first attribute information, and to operate the vehicle along a path of the set attribute operation plan; A sensor that detects information related to a user riding in the autonomous vehicle; as well as a comparing unit that compares second attribute information of the user based on information related to the user riding in the autonomous driving vehicle detected by the sensor with the first attribute information included in the attribute operation plan to determine whether the autonomous driving vehicle is operating correctly according to the attribute operation plan when operating based on the autonomous driving control unit; In a case where a monitoring device for determining whether a user is in an abnormal state based on an image of the user in the vehicle interior captured by an in-vehicle camera is not provided in the autonomous driving vehicle, the decision unit refers to the attribute information to determine the operation itinerary in such a manner that a user who needs help and a user who provides help ride in the autonomous driving vehicle together. When the monitoring device is installed in the autonomous driving vehicle, the decision unit refers to the attribute information and determines a travel itinerary that allows the user who needs assistance to ride alone. Furthermore, when a partition is provided for partitioning the vehicle interior to form a private space for each user, the determination unit determines an operation course that allows a plurality of users who need assistance to board the vehicle alone.

8. The autonomous driving vehicle according to claim 7, wherein: The attribute operation plan includes an occupation plan for causing each of the plurality of users to occupy a portion of the autonomous driving vehicle.

9. The autonomous driving vehicle according to claim 8, wherein: The autonomous driving vehicle also has: an authentication unit that acquires key information for occupying a portion of the autonomous driving vehicle and authenticates a user using the acquired key information; and a vehicle access management unit that permits the user to occupy at least a portion of the autonomous driving vehicle when the authentication by the authentication unit is established, The vehicle access management unit permits occupation of a portion of the autonomous driving vehicle when the access permission information obtained by the decision unit is consistent with the key information, and resets the attribute operation plan when the access permission information is inconsistent with the key information.

10. The autonomous driving vehicle according to any one of claims 7 to 9, wherein: The autonomous driving vehicle further comprises a notification unit for notifying the decision unit of a time when the attribute operation plan does not exist. The route generation unit changes the operation plan based on a new operation route determined according to the notification information notified by the notification unit and the operation permission information set for the autonomous driving vehicle.

11. A method for determining an operation schedule, wherein: The operation stroke determination method enables the computer to perform the following processing: Acquiring itinerary information of a plurality of users and attribute information indicating a relationship between at least some of the plurality of users; determining an operation itinerary of the autonomous driving vehicle based on the acquired itinerary information of the plurality of users and the attribute information in such a manner that a path is associated with the attribute information; In a case where a monitoring device for determining whether the user is in an abnormal state based on an image of the user in the vehicle interior captured by a vehicle interior camera is not provided in the autonomous driving vehicle, the operating route is determined by referring to the attribute information so that the user who needs assistance and the user who provides assistance can ride in the autonomous driving vehicle together; When the monitoring device is installed in the autonomous driving vehicle, the monitoring device refers to the attribute information to determine a travel itinerary that allows the user who needs assistance to ride alone. as well as When a partition is provided for partitioning the vehicle interior to form a private space for each user, a travel course is determined that allows a plurality of users who need assistance to board the vehicle alone.

12. A storage medium storing a program, wherein: The program causes the computer to execute the following processing: Acquiring itinerary information of a plurality of users and attribute information indicating a relationship between at least some of the plurality of users; determining an operation itinerary of the autonomous driving vehicle based on the acquired itinerary information of the plurality of users and the attribute information in such a manner that a path is associated with the attribute information; In a case where a monitoring device for determining whether the user is in an abnormal state based on an image of the user in the vehicle interior captured by a vehicle interior camera is not provided in the autonomous driving vehicle, the operating route is determined by referring to the attribute information so that the user who needs assistance and the user who provides assistance can ride in the autonomous driving vehicle together; When the monitoring device is installed in the autonomous driving vehicle, the monitoring device refers to the attribute information to determine a travel itinerary that allows the user who needs assistance to ride alone. as well as When a partition is provided for partitioning the vehicle interior to form a private space for each user, a travel course is determined that allows a plurality of users who need assistance to board the vehicle alone.

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