Passenger conveyance system, passenger conveyance method, and control device for vehicle

Abstract

The present invention relates to a passenger conveyance system, a passenger conveyance method, and a control device for a vehicle. The passenger conveyance system includes: an abnormality determination unit that determines whether a passenger in the vehicle is unwell; a conveyance plan creation unit that, when it is determined that there is a passenger who is unwell, determines a medical institution to which the unwell passenger is to be sent and a route through which normal passengers get off; and a vehicle control unit that controls the running of the vehicle so as to convey the unwell passenger to the medical institution via the route.

Description

Technical Field

[0001] The present invention relates to a passenger transportation (passenger service) system, a passenger transportation method, and a vehicle control device. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2020-46727 discloses that when it is detected that the driver of a vehicle is unwell (in poor physical condition), the vehicle is made to travel to a medical institution by autonomous driving. Summary of the Invention

[0003] In addition, services for transporting multiple passengers using vehicles capable of autonomous driving are being studied. When providing such a service, if the driving route of the vehicle is changed to transport a passenger in poor physical condition to a medical institution, it may interfere with the schedules (arrangements) of other passengers in the vehicle.

[0004] Therefore, an object of the present invention is to suppress interference with the schedules of other passengers in the vehicle when a passenger in poor physical condition is transported by a vehicle capable of autonomous driving.

[0005] The gist of the present disclosure is as follows.

[0006] (1) A passenger transportation system includes a vehicle and a server. The vehicle is capable of transporting multiple passengers by autonomous driving, and the server is capable of communicating with the vehicle. The passenger transportation system includes: an abnormality determination unit that determines whether a passenger in poor physical condition has appeared in the vehicle; a transportation plan creation unit that, when it is determined that a passenger in poor physical condition has appeared, determines a medical institution to which the passenger in poor physical condition is to be sent and a route through which normal passengers get off; and a vehicle control unit that controls the driving of the vehicle so that the passenger in poor physical condition is transported to the medical institution via the route.

[0007] (2) In the passenger transportation system according to (1) above, the abnormality determination unit monitors the states of the passengers in the vehicle, detects a passenger suspected of being in poor physical condition (suspected of having a poor physical condition) based on the states of the passengers, and requests other passengers to confirm whether the passenger is in poor physical condition.

[0008] (3) In the passenger transportation system according to (1) or (2) above, when the passengers in the vehicle refuse to be transported to the medical institution after it is determined that a passenger in poor physical condition has appeared, the vehicle control unit aborts the transportation to the medical institution.

[0009] (4) The passenger conveyance system according to any one of (1) to (3) above further includes a getting-off location acquisition unit that acquires the desired getting-off location of a passenger in the vehicle. The vehicle is a bus whose running route is predetermined. When the bus stop on the running route closest to the medical institution is located farther than the current position of the vehicle and closer than the desired getting-off location of a normal passenger, the vehicle control unit causes the vehicle to go to the desired getting-off location after the vehicle arrives at the medical institution.

[0010] (5) The passenger conveyance system according to any one of (1) to (4) above further includes a vehicle scheduling unit that performs vehicle scheduling to the transit point.

[0011] (6) In the passenger conveyance system according to any one of (1) to (5) above, the vehicle is a bus whose running route is predetermined, and the conveyance plan creation unit selects a bus stop on the running route of the vehicle as the transit point.

[0012] (7) In the passenger conveyance system according to (6) above, the conveyance plan creation unit selects, as the transit point, the bus stop on the running route that is in front of the current position of the vehicle and closest to the current position of the vehicle.

[0013] (8) The passenger conveyance system according to any one of (1) to (7) above further includes a signal control unit that controls the lighting state of a signal (traffic signal). The signal control unit controls the lighting state of the signal so that the vehicle will not stop due to the signal until the vehicle transports the passenger in a physical discomfort state to the medical institution.

[0014] (9) The passenger conveyance system according to any one of (1) to (8) above further includes a driving instruction unit that gives driving instructions to other vehicles other than the vehicle. The driving instruction unit gives driving instructions to the other vehicles so that the other vehicles will not be in front of the vehicle until the vehicle transports the passenger in a physical discomfort state to the medical institution.

[0015] (10) A passenger conveyance method is a passenger conveyance method using a vehicle capable of autonomously transporting multiple passengers, and includes: determining whether a passenger in a physical discomfort state has appeared in the vehicle; in the case where it is determined that a passenger in a physical discomfort state has appeared, determining the medical institution to which the passenger in a physical discomfort state is to be sent and the transit point at which normal passengers get off; and causing the vehicle to travel to transport the passenger in a physical discomfort state to the medical institution via the transit point.

[0016] (11) A control device for a vehicle, which is provided in a vehicle capable of transporting multiple passengers through autonomous driving, and the control device of the vehicle includes: an abnormality determination unit that determines whether there is a passenger with physical discomfort in the vehicle; a transportation plan creation unit that, when it is determined that there is a passenger with physical discomfort, determines the medical institution to which the passenger with physical discomfort is to be sent and the route through which normal passengers get off; and a vehicle control unit that controls the driving of the vehicle so as to transport the passenger with physical discomfort to the medical institution via the route.

[0017] According to the present invention, it is possible to suppress interference with the schedules of other passengers in the vehicle when a vehicle capable of autonomous driving transports a passenger with physical discomfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Hereinafter, the features, advantages, and technical and industrial significance of the exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same elements, and:

[0019] Figure 1 is a schematic configuration diagram of a passenger transportation system according to a first embodiment of the present invention.

[0020] Figure 2 schematically shows Figure 1 the configuration of the vehicle.

[0021] Figure 3 schematically shows Figure 1 the configuration of the server.

[0022] Figure 4 is a functional block diagram of a processor of an ECU (Electronic Control Unit) in the first embodiment.

[0023] Figure 5 is a functional block diagram of a processor of the server in the first embodiment.

[0024] Figure 6 is a flowchart showing a control routine of an abnormality determination process in the first embodiment of the present invention.

[0025] Figure 7 is a timing diagram showing an example of the operation of a passenger transportation system according to the first embodiment of the present invention.

[0026] Figure 8 is a diagram showing an example of the state of a vehicle traveling along a running route.

[0027] Figure 9 is a flowchart showing a control routine of an abnormality determination process in the second embodiment of the present invention.

[0028] Figure 10 This is a functional block diagram of a processor of a server in the third embodiment.

[0029] Figure 11 This is a functional block diagram of a processor of the ECU in the fourth embodiment.

[0030] Figure 12 This is a timing chart showing an example of the operation of the passenger transportation system according to the fourth embodiment of the present invention.

[0031] Figure 13 This is a diagram schematically showing a communication state of a vehicle using a communication device.

[0032] Figure 14 This is a functional block diagram of a processor of the ECU in the fifth embodiment. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are attached to the same components.

[0034] <First embodiment>

[0035] First, refer to Figures 1 to 8 , a first embodiment of the present invention is described.

[0036] Passenger Transportation System Configuration

[0037] Figure 1 1 is a schematic diagram of a passenger transportation system 1 according to a first embodiment of the present invention. Figure 1 As shown, the passenger transportation system 1 includes a vehicle 2 and a server 3 external to the vehicle 2. The vehicle 2 and the server 3 can communicate with each other via a communication network 4 and a wireless base station 5.

[0038] Vehicle 2 is configured to operate autonomously. Specifically, acceleration, steering, and deceleration (braking) of vehicle 2 are all automatically controlled, eliminating the need for a driver to operate vehicle 2. Autonomous operation is also referred to as automated driving, and vehicle 2 is a so-called automated driving vehicle.

[0039] In addition, the vehicle 2 is provided with a plurality of seats and can transport a plurality of passengers by autonomous driving. In this embodiment, the vehicle 2 is a bus whose route is predetermined. That is, the vehicle 2 stops at each bus stop along the route for passengers to board and alight.

[0040] Figure 2 It roughly indicates Figure 1 FIG. 2 shows the structure of vehicle 2. Figure 2As shown, the vehicle 2 is equipped with an electronic control unit (ECU (Electronic Control Unit)) 40. The ECU 40 includes a communication interface 41, a memory 42, and a processor 43, and executes various controls of the vehicle 2. The communication interface 41 and the memory 42 are connected to the processor 43 via signal lines. The ECU 40 is an example of a control device of the vehicle 2 provided in the vehicle 2. In addition, in the present embodiment, one ECU 40 is provided, but a plurality of ECUs may be provided according to each function.

[0041] The communication interface 41 has an interface circuit for connecting the ECU 40 to an in-vehicle network according to a standard such as CAN (Controller Area Network). The ECU 40 communicates with in-vehicle devices (other ECUs, etc.) connected to the in-vehicle network via the communication interface 41 and the in-vehicle network. The communication interface 41 is an example of a communication unit of the ECU 40.

[0042] The memory 42 has, for example, a volatile semiconductor memory (e.g., RAM) and a non-volatile semiconductor memory (e.g., ROM). The memory 42 stores computer programs executed by the processor 43 and various data used when the processor 43 executes various processes. The memory 42 is an example of a storage unit of the ECU 40.

[0043] The processor 43 has one or more CPUs (Central Processing Unit) and its peripheral circuits, and executes various processes. In addition, the processor 43 may also have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit.

[0044] In addition, as Figure 2 shown, the vehicle 2 is equipped with a surrounding information detection device 21, a vehicle state detection device 22, a passenger state detection device 23, a GNSS receiver 24, a map database 25, an actuator 26, an input / output device 27, and a communication device 28. These in-vehicle devices are electrically connected to the ECU 40 respectively.

[0045] The surrounding information detection device 21 detects the surrounding information of the vehicle 2. The surrounding information includes information such as white lines on the road, other vehicles, pedestrians, bicycles, buildings, signs, traffic lights, and obstacles. For example, the surrounding information detection device 21 includes an external camera, a millimeter-wave radar, a lidar (Laser Imaging Detection And Ranging (LIDAR)), an ultrasonic sensor, etc. The output of the surrounding information detection device 21, that is, the surrounding information of the vehicle 2 detected by the surrounding information detection device 21, is sent to the ECU 40 and input to the processor 43 of the ECU 40 via an input interface of the ECU 40.

[0046] The vehicle state detection device 22 detects the state quantities of the vehicle 2. The state quantities of the vehicle 2 include the speed (vehicle speed), acceleration, steering angle, yaw rate, etc. of the vehicle 2. The vehicle state detection device 22 includes, for example, a vehicle speed sensor, an acceleration sensor, a steering angle sensor, a yaw rate sensor, etc. The output of the vehicle state detection device 22, that is, the state quantities of the vehicle 2 detected by the vehicle state detection device 22, is sent to the ECU 40 and input to the processor 43 of the ECU 40 via the input interface of the ECU 40, etc.

[0047] The passenger state detection device 23 detects the state of the passengers in the vehicle 2. The passenger state detection device 23 includes, for example, an in-vehicle camera that generates images of the passengers, a seat belt sensor that detects whether the seat belt is fastened, a seating sensor that detects whether the passengers are seated, an information reader that reads the information of the passengers, etc. The output of the passenger state detection device 23, that is, the state of the passengers in the vehicle 2 detected by the passenger state detection device 23, is sent to the ECU 40 and input to the processor 43 of the ECU 40 via the input interface of the ECU 40, etc.

[0048] The GNSS receiver 24 detects the current position of the vehicle 2 (for example, the longitude and latitude of the vehicle 2) based on the positioning information obtained from multiple (for example, greater than or equal to 3) positioning satellites. Specifically, the GNSS receiver 24 captures multiple positioning satellites and receives the radio waves emitted from the positioning satellites. Moreover, the GNSS receiver 24 calculates the distance to the positioning satellites based on the difference between the emission time and the reception time of the radio waves, and detects the current position of the vehicle 2 based on the distance to the positioning satellites and the positions (orbital information) of the positioning satellites. The output of the GNSS receiver 24, that is, the current position of the vehicle 2 detected by the GNSS receiver 24, is sent to the ECU 40 and input to the processor 43 of the ECU 40 via the input interface of the ECU 40, etc.

[0049] In addition, GNSS (Global Navigation Satellite System) is the general term for satellite positioning systems such as the GPS of the United States, GLONASS of Russia, Galileo of Europe, QZSS of Japan, BeiDou of China, and IRNSS of India. Therefore, the GNSS receiver 24 includes a GPS receiver.

[0050] The map database 25 stores three-dimensional map information such as road surface information, lane information, and the location information of buildings. The map stored in the map database 25 is a so-called high-precision map. The processor 43 of the ECU 40 acquires the map information from the map database 25. In addition, the map information stored in the map database 25 can also be periodically updated using communication with the outside of the vehicle 2, SLAM (Simultaneous Localization and Mapping) technology, etc. Alternatively, the map database may be provided in the server 3, and the processor 43 of the ECU 40 may acquire the map information from the server 3.

[0051] The actuator 26 causes the vehicle 2 to move. For example, the actuator 26 includes a driving device (at least one of an engine and a motor) for accelerating the vehicle 2, a brake actuator for decelerating (braking) the vehicle 2, a steering motor for steering the vehicle 2, a door actuator for opening and closing the door of the vehicle 2, and the like. The processor 43 of the ECU 40 controls the actuator 26 to perform autonomous driving of the vehicle 2.

[0052] The input / output device 27 performs input / output of information between the vehicle 2 and the passengers. The input / output device 27 includes, for example, a display for displaying information, a speaker for emitting sound, an operation button or an operation switch for the passengers to perform input operations, a microphone for receiving the voices of the passengers, and the like. The input / output device 27 notifies various information output by the processor 43 of the ECU 40 to the passengers of the vehicle 2. In addition, the input / output device 27 sends information input by the passengers, etc. to the processor 43 of the ECU 40. The input / output device 27 is also referred to as a Human Machine Interface (HMI). Alternatively, a portable terminal of the passenger (such as a smartphone, a tablet terminal, etc.) may be connected to the in-vehicle network of the vehicle 2 by wireless or wired means and function as an input / output device.

[0053] The communication device 28 is a device that enables the vehicle 2 to communicate with the outside of the vehicle 2 (such as a Data communication module (DCM)). The communication device 28 accesses (connects to) the wireless base station 5 and is connected to the communication network 4 via the wireless base station 5. The ECU 40 communicates with the server 3 via the communication device 28, the wireless base station 5, and the communication network 4.

[0054] Figure 3 is schematically shown as Figure 1Diagram of the configuration of server 3. Server 3 includes a communication interface 31, a storage device 32, a memory 33, and a processor 34. The communication interface 31, the storage device 32, and the memory 33 are connected to the processor 34 via signal lines. In addition, server 3 may also include input devices such as a keyboard and a mouse, output devices such as a display, etc. Additionally, server 3 may be composed of multiple computers.

[0055] The communication interface 31 has an interface circuit for connecting server 3 to a communication network 4. Server 3 communicates with vehicle 2 via communication network 4 and radio base station 5. The communication interface 31 is an example of the communication section of server 3.

[0056] The storage device 32, for example, has a hard disk drive (HDD), a solid state drive (SDD), or an optical recording medium and its access device. The storage device 32 stores various data, such as vehicle information, passenger information, map information, and computer programs for the processor 34 to execute various processes, etc. The storage device 32 is an example of the storage section of server 3.

[0057] The memory 33 has a non-volatile semiconductor memory (such as RAM). The memory 33 temporarily stores various data used when the processor 34 executes various processes, etc. The memory 33 is an example of the storage section of server 3.

[0058] The processor 34 has one or more CPUs and their peripheral circuits, and executes various processes. In addition, the processor 34 may also have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit.

[0059] <Control of the passenger transportation system>

[0060] Figure 4 It is a functional block diagram of the processor 43 of the ECU 40 in the first embodiment. In this embodiment, the processor 43 has an abnormality determination section 51 and a vehicle control section 52. The abnormality determination section 51 and the vehicle control section 52 are functional modules implemented by the processor 43 of the ECU 40 executing a computer program stored in the memory 42 of the ECU 40. In addition, these functional modules may also be implemented by dedicated arithmetic circuits provided in the processor 43 respectively.

[0061] The abnormality determination section 51 determines whether there is a passenger with physical discomfort in vehicle 2. For example, when the abnormality determination section 51 is notified of the abnormality of the passenger in vehicle 2 via the input / output device 27, it determines that there is a passenger with physical discomfort in vehicle 2. In this case, the input of the abnormality to the input / output device 27 is performed by the passenger with physical discomfort or a passenger around them through the operation of an operation button or an operation switch, voice input, etc.

[0062] The vehicle control unit 52 controls the vehicle 2. For example, the vehicle control unit 52 controls the running of the vehicle 2 using the actuator 26 so that the vehicle 2 runs safely along a predetermined running route.

[0063] Figure 5 is a functional block diagram of the processor 34 of the server 3 in the first embodiment. In the present embodiment, the processor 34 has a transportation plan creation unit 61. The transportation plan creation unit 61 is a functional module implemented by the processor 34 of the server 3 executing a computer program stored in the storage device 32 of the server 3. In addition, the transportation plan creation unit 61 can also be implemented by a dedicated arithmetic circuit provided in the processor 34.

[0064] The transportation plan creation unit 61 creates a transportation plan for transporting a passenger in poor physical condition in the vehicle 2 to a medical institution. Specifically, when the abnormality determination unit 51 of the vehicle 2 determines that there is a passenger in poor physical condition in the vehicle 2, the transportation plan creation unit 61 determines the medical institution to which the passenger in poor physical condition is to be sent and the route through which normal passengers get off.

[0065] Based on the transportation plan created by the transportation plan creation unit 61, the vehicle 2 transports the passenger in poor physical condition to a medical institution. Specifically, the vehicle 2 allows normal passengers to get off at the route determined in the transportation plan, and then transports the passenger in poor physical condition to the medical institution determined in the transportation plan. That is, the vehicle control unit 52 of the vehicle 2 controls the running of the vehicle 2 to transport the passenger in poor physical condition to a medical institution via the route through which normal passengers get off.

[0066] Accordingly, it is possible to smoothly transport the passenger in poor physical condition and suppress the waste of time for normal passengers due to the movement to the medical institution. Therefore, when the vehicle 2 capable of autonomous driving transports the passenger in poor physical condition, it is possible to suppress the interference with the schedules of other passengers in the vehicle 2.

[0067] Hereinafter, with reference to Figure 6 the flowchart and Figure 7 the timing chart of, the above control will be specifically described.

[0068] Figure 6 is a flowchart showing a control routine of the abnormality determination process in the first embodiment of the present invention. This control routine is repeatedly executed by the processor 43 of the ECU 40 at a predetermined execution interval.

[0069] First, in step S101, the abnormality determination unit 51 determines whether an abnormality of a passenger of the vehicle 2 has been notified via the input / output device 27. If it is determined that no abnormality of the passenger has been notified, this control routine ends. On the other hand, if it is determined that an abnormality of the passenger has been notified, this control routine proceeds to step S102.

[0070] In step S102, the abnormality determination unit 51 determines that there is a passenger in the vehicle 2 who is feeling unwell. After step S102, this control routine ends.

[0071] Figure 7 It is a timing chart showing an example of the operation of the passenger transportation system 1 according to the first embodiment of the present invention. In this timing chart, the communication between the vehicle 2 and the server 3 is performed via the communication network 4 and the radio base station 5.

[0072] When it is determined in the Figure 6 control routine that there is a passenger who is feeling unwell, the abnormality determination unit 51 of the vehicle 2 notifies the server 3 that there is a passenger who is feeling unwell in the vehicle 2 by sending the abnormality information of the passenger to the server 3 (step S1). The abnormality information of the passenger includes the current position of the vehicle 2, that is, the position of the vehicle 2 when the passenger who is feeling unwell appears, the identification information of the vehicle 2 (for example, the identification number of the vehicle 2), and the number of passengers on board, etc.

[0073] The current position of the vehicle 2 is detected by the GNSS receiver 24. The identification information of the vehicle 2 is stored in the memory 42 of the ECU 40 or other storage devices of the vehicle 2. The number of passengers on board is determined based on the output of the passenger status detection device 23.

[0074] When the transportation plan creation unit 61 of the server 3 receives the abnormality information of the passenger from the vehicle 2, it creates a transportation plan for transporting the passenger who is feeling unwell in the vehicle 2 to a medical institution (step S2). Specifically, the transportation plan creation unit 61 determines the medical institution to which the passenger who is feeling unwell is to be sent and the via point at which normal passengers get off. In addition, the transportation plan creation unit 61 generates a driving route for the vehicle 2 to reach the medical institution from the current position via the via point.

[0075] For example, the transportation plan creation unit 61 selects the medical institution closest to the current position of the vehicle 2 from among a plurality of medical institutions previously selected as transportation destinations as the medical institution to which the passenger who is feeling unwell is to be sent. In this case, in the situation as Figure 8 shown, Hospital A, which is the closest to the current position of the vehicle 2, is selected as the medical institution to which the passenger who is feeling unwell is to be sent.

[0076] In addition, the transportation plan creation unit 61 may also select the medical institution closest to the bus stop located ahead of the current position of the vehicle 2 on the driving route of the vehicle 2 as the medical institution to which the passenger feeling unwell is to be transported. In this case, in the situation as shown in Figure 8 , Hospital B, which is the closest to the bus stop BS5 on the driving route of the vehicle 2, is selected as the medical institution to which the passenger feeling unwell is to be transported. Additionally, in this case, the transportation plan creation unit 61 may also generate the driving route to the medical institution in such a way that the driving route from the current position of the vehicle 2 to the bus stop closest to the medical institution is included in the driving route. Accordingly, it is possible to suppress the vehicle 2 from driving on roads other than the driving route, and it is possible to improve the safety of autonomous driving when transporting a passenger feeling unwell.

[0077] In addition, the transportation plan creation unit 61 selects, for example, a bus stop on the driving route of the vehicle 2 as the transit point for normal passengers to get off. In this case, normal passengers can ensure the means of transportation to their destinations by using other vehicles that arrive at the bus stop of the transit point.

[0078] In particular, in the present embodiment, the bus stop located ahead of the current position of the vehicle 2 on the driving route of the vehicle 2 and closest to the current position of the vehicle 2 is selected as the transit point. In this case, in the situation as shown in Figure 8 , the bus stop BS2 where the vehicle 2 will stop next is selected as the transit point. Accordingly, it is possible to prevent the vehicle 2 from moving away from the destination of normal passengers when driving from the current position to the transit point, and it is possible to effectively suppress the waste of time for normal passengers.

[0079] In addition, the transportation plan creation unit 61 may also select a taxi stand or a bus stop on the driving route of other vehicles as the transit point. Accordingly, it is possible to facilitate normal passengers to use other means of transportation. In this case, for example, as the transit point, the taxi stand or bus stop closest to the current position of the vehicle 2, or the taxi stand or bus stop on the driving route from the current position of the vehicle 2 to the medical institution is selected.

[0080] Next, the transportation plan creation unit 61 of the server 3 sends the transportation plan to the vehicle 2 (step S3). The transportation plan includes the location information of the transit point and the medical institution and the driving route of the vehicle 2. In addition, the transportation plan creation unit 61 may also notify the medical institution via the communication network 4 of the fact that a passenger feeling unwell is to be transported and the estimated arrival time of the vehicle 2 at the medical institution, etc.

[0081] When the vehicle 2 receives a transportation plan from the server 3, it travels towards the waypoint (step S4). Specifically, the vehicle control unit 52 of the vehicle 2 causes the vehicle 2 to travel along the travel route sent from the server 3 to the waypoint. In addition, at this time, the vehicle control unit 52 may also notify the passengers in the vehicle 2 via the input / output device 27 of the situation of stopping the normal operation of the vehicle 2 and the position information of the waypoint, etc.

[0082] After that, when the vehicle 2 arrives at the waypoint, it allows the normal passengers to get off the vehicle 2 (step S5). For example, the vehicle control unit 52 of the vehicle 2 causes the vehicle 2 to stop at the waypoint and uses the door actuator of the actuator 26 to open the door of the vehicle 2 for a predetermined time. In addition, at this time, the vehicle control unit 52 may also determine whether the passengers have gotten off based on the output of the passenger state detection device 23. In addition, the vehicle control unit 52 may also use the input / output device 27 to prompt the passengers to get off by voice or display.

[0083] After the normal passengers get off the vehicle 2, it travels towards the medical institution (step S6). Specifically, the vehicle control unit 52 of the vehicle 2 causes the vehicle 2 to travel from the waypoint to the medical institution along the travel route sent from the server 3.

[0084] After that, when the vehicle 2 arrives at the medical institution, it allows the passengers feeling unwell to get off the vehicle 2 (step S7). For example, the vehicle control unit 52 of the vehicle 2 causes the vehicle 2 to stop at the medical institution and uses the door actuator of the actuator 26 to open the door of the vehicle 2 for a predetermined time. At this time, for example, the passengers feeling unwell get off the vehicle 2 with the help of the staff of the medical institution. In addition, the vehicle control unit 52 may also notify the medical institution that the vehicle 2 has arrived at the medical institution via the wireless base station 5 and the communication network 4, or through the short-range wireless communication between the vehicle 2 and the medical institution. In addition, the vehicle control unit 52 may also notify the medical institution that the vehicle 2 has arrived at the medical institution through the sound of the horn of the vehicle 2, etc.

[0085] In addition, the travel route of the vehicle 2 from the current position via the waypoint to the medical institution may also be generated by the vehicle control unit 52 of the vehicle 2 instead of the transportation plan creation unit 61 of the server 3. In this case, the position information of the waypoint and the medical institution is sent to the vehicle 2 as a transportation plan from the server 3.

[0086] In addition, when the passengers in the vehicle 2 refuse to be transported to the medical institution after the vehicle control unit 52 determines that there are passengers feeling unwell by the abnormality determination unit 51, it may also abort the transportation to the medical institution and restore the vehicle 2 to normal operation. Accordingly, it is possible to avoid the transportation to the medical institution due to misoperations of the input / output device 27, etc.

[0087] Alternatively, the processor 34 of the server 3 may have an abnormality determination unit instead of the processor 43 of the ECU 40. In this case, the abnormality determination unit of the server 3 determines whether a passenger with physical discomfort has appeared in the vehicle 2 based on the output of the input / output device 27 sent from the vehicle 2.

[0088] Alternatively, the processor 34 of the server 3 may have a vehicle control unit instead of the processor 43 of the ECU 40. In this case, the vehicle control unit of the server 3 remotely controls the vehicle 2 using the actuator 26 through communication with the vehicle 2.

[0089] Alternatively, the processor 43 of the ECU 40 may have a delivery schedule creation unit instead of the processor 34 of the server 3.

[0090] <Second Embodiment>

[0091] The passenger transportation system according to the second embodiment is basically the same in configuration and control as the passenger transportation system according to the first embodiment except for the points described below. Therefore, hereinafter, the second embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0092] In the second embodiment, the abnormality determination unit 51 monitors the state of the passengers in the vehicle 2 and determines whether a passenger with physical discomfort has appeared in the vehicle 2 based on the state of the passengers. Accordingly, it is possible to detect a passenger with physical discomfort without relying on the notification sent by the passengers in the vehicle 2. However, in this case, there is a risk of erroneously detecting an abnormality of a passenger when the passenger is asleep or the like.

[0093] Then, the abnormality determination unit 51 monitors the state of the passengers in the vehicle 2 based on the output of the passenger state detection device 23, detects a passenger suspected of having physical discomfort based on the state of the passengers, and requests other passengers to confirm whether the passenger is physically uncomfortable. Accordingly, it is possible to suppress the erroneous detection of passenger abnormalities.

[0094] Figure 9 It is a flowchart showing a control routine of the abnormality determination process in the second embodiment of the present invention. This control routine is repeatedly executed by the processor 43 of the ECU 40 at a predetermined execution interval.

[0095] First, in step S201, the abnormality determination unit 51 acquires the output of the passenger state detection device 23.

[0096] Next, in step S202, the abnormality determination unit 51 determines whether there is a passenger with a suspicion of physical discomfort in the vehicle 2 based on the output of the passenger state detection device 23. For example, when the abnormality determination unit 51 detects an abnormality (collapse, coma, etc.) of a passenger in the image of the passenger generated by the in-vehicle camera of the passenger state detection device 23, it determines that there is a passenger with a suspicion of physical discomfort. For example, the abnormality detection of the passenger based on the image of the passenger is performed using a machine learning model such as a neural network model.

[0097] When it is determined in step S202 that there is no passenger with a suspicion of physical discomfort, this control routine ends. On the other hand, when it is determined in step S202 that there is a passenger with a suspicion of physical discomfort, this control routine proceeds to step S203.

[0098] In step S203, the abnormality determination unit 51 requests other passengers to confirm whether the passenger with a suspicion of physical discomfort is physically uncomfortable via the input / output device 27. At this time, the abnormality determination unit 51 may also notify other passengers of the position information (seat number, etc.) of the passenger with a suspicion of physical discomfort.

[0099] Next, in step S204, the abnormality determination unit 51 determines whether other passengers have confirmed that the passenger with a suspicion of physical discomfort is physically uncomfortable. Other passengers input the confirmation result to the input / output device 27, and the abnormality determination unit 51 obtains the confirmation result from the input / output device 27.

[0100] In step S204, when it is determined that other passengers have confirmed that the passenger with a suspicion of physical discomfort is not physically uncomfortable, this control routine ends. On the other hand, in step S204, when it is determined that other passengers have confirmed that the passenger with a suspicion of physical discomfort is physically uncomfortable, this control routine proceeds to step S205.

[0101] In step S205, the abnormality determination unit 51 determines that a passenger with physical discomfort has appeared in the vehicle 2. After step S205, this control routine ends.

[0102] In addition, it may be that the abnormality determination unit 51 sends an image (still image or moving image) of the passenger with a suspicion of physical discomfort to the server 3, and an operator of the server 3 confirms whether the passenger with a suspicion of physical discomfort is physically uncomfortable. At this time, a voice call may also be made between the operator of the server 3 and the passengers in the vehicle 2 via the input / output device 27.

[0103] Alternatively, the processor 34 of the server 3 may have an abnormality determination unit instead of the processor 43 of the ECU 40. In this case, the abnormality determination unit of the server 3 determines whether there is a passenger with a suspicion of physical discomfort in the vehicle 2 based on the output of the passenger state detection device 23 sent from the vehicle 2, and requests other passengers to confirm whether the passenger with a suspicion of physical discomfort is actually physically discomforted via the input / output device 27.

[0104] <Third Embodiment>

[0105] The passenger transportation system according to the third embodiment is basically the same as the configuration and control of the passenger transportation system according to the first embodiment except for the points described below. Therefore, hereinafter, the third embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0106] Figure 10 It is a functional block diagram of the processor 34 of the server 3 in the third embodiment. In the third embodiment, the processor 34 further has a vehicle scheduling unit 62 in addition to the transportation plan creation unit 61. The transportation plan creation unit 61 and the vehicle scheduling unit 62 are functional modules implemented by the processor 34 of the server 3 executing a computer program stored in the storage device 32 of the server 3. In addition, the transportation plan creation unit 61 and the vehicle scheduling unit 62 may also be implemented by a dedicated arithmetic circuit provided in the processor 34.

[0107] The vehicle scheduling unit 62 performs vehicle scheduling to the waypoints determined by the transportation plan creation unit 61. That is, in order to transport normal passengers to their destinations, the vehicle scheduling unit 62 causes other vehicles other than the vehicle 2 to go to the waypoints. Thereby, the transportation means for normal passengers can be ensured. In addition, any place other than a bus stop and a taxi stand can be selected as the waypoint.

[0108] For example, the vehicle scheduling unit 62 communicates with other vehicles waiting in the garage via the communication network 4, and sends vehicle scheduling information to the other vehicles. The vehicle scheduling information includes the position information of the waypoint and the like. In addition, the other vehicles that pick up normal passengers can be either autonomous driving vehicles that perform autonomous driving or manually driven vehicles.

[0109] Alternatively, the vehicle 2 can communicate with other vehicles via the communication network 4 and the wireless base station 5, and the processor 43 of the ECU may have a vehicle scheduling unit instead of the processor 34 of the server 3.

[0110] <Fourth Embodiment>

[0111] The passenger conveyance system according to the fourth embodiment is substantially the same in configuration and control as the passenger conveyance system according to the first embodiment except for the points described below. Therefore, the fourth embodiment of the present invention will be described below centering on the parts different from the first embodiment.

[0112] Figure 11 It is a functional block diagram of the processor 43 of the ECU 40 in the fourth embodiment. In the fourth embodiment, the processor 43 further has a getting-off location acquisition unit 53 in addition to the abnormality determination unit 51 and the vehicle control unit 52. The abnormality determination unit 51, the vehicle control unit 52, and the getting-off location acquisition unit 53 are functional modules implemented by the processor 43 of the ECU 40 executing a computer program stored in the memory 42 of the ECU 40. In addition, these functional modules may also be implemented by dedicated arithmetic circuits provided in the processor 43.

[0113] The getting-off location acquisition unit 53 acquires the desired getting-off location of the passengers in the vehicle 2. For example, the passengers input the desired getting-off location to the input / output device 27, and the getting-off location acquisition unit 53 acquires the desired getting-off location of the passengers via the input / output device 27. The input of the desired getting-off location to the input / output device 27 is performed, for example, by text input, voice input, selection of a bus stop on the running route, or the like.

[0114] As described above, in the case where there is a passenger with physical discomfort, the normal passengers get off at the via location, and then the passenger with physical discomfort is conveyed to a medical institution. However, when the desired getting-off location of the normal passengers is farther than the medical institution, getting off at the via location may not be a convenient option for the normal passengers.

[0115] Then, in the fourth embodiment, when the bus stop on the running route closest to the medical institution is farther than the current position of the vehicle 2 and closer than the desired getting-off location of the normal passengers, the vehicle control unit 52 of the vehicle 2 makes the vehicle 2 go to the desired getting-off location of the normal passengers after the vehicle 2 arrives at the medical institution. Accordingly, efficient conveyance considering the desired getting-off location of the normal passengers can be performed. For example, in Figure 8 In the situation shown, when selecting B Hospital, which is the closest to the bus stop BS5, as the medical institution and the desired getting-off location of the normal passengers is the bus stop BS6 in front of the bus stop BS5, the vehicle control unit 52 makes the vehicle 2 go to the bus stop BS6 after the vehicle 2 arrives at B Hospital.

[0116] Figure 12 It is a timing chart showing an example of the operation of the passenger conveyance system 1 according to the fourth embodiment of the present invention. In this timing chart, the communication between the vehicle 2 and the server 3 is performed via the communication network 4 and the radio base station 5.

[0117] In the fourth embodiment, when it is determined in the control routine of Figure 6 that a passenger with physical discomfort has appeared, the alighting location acquisition unit 53 of the vehicle 2 acquires the desired alighting location of a normal passenger (S11). For example, when it is determined that a passenger with physical discomfort has appeared, the alighting location acquisition unit 53 prompts a normal passenger to input the desired alighting location via the input / output device 27 by voice or the like, and acquires the desired alighting location input by the normal passenger to the input / output device 27.

[0118] In addition, a passenger can also input the desired alighting location to the input / output device 27 when boarding the vehicle 2. Additionally, a passenger can input the desired alighting location to the passenger's portable terminal before boarding the vehicle 2. In this case, when it is determined that a passenger with physical discomfort has appeared, the alighting location acquisition unit 53 acquires the desired alighting location from the portable terminal of the normal passenger.

[0119] Similar to Figure 7 step S1 of

[0120] the abnormal determination unit 51 of the vehicle 2 sends the abnormal information of the passenger to the server 3, and in addition, the alighting location acquisition unit 53 of the vehicle 2 sends the desired alighting location of the normal passenger to the server 3 (step S12). Figure 7 When the transportation plan creation unit 61 of the server 3 receives the abnormal information and the desired alighting location from the vehicle 2, it creates a transportation plan for transporting the passenger with physical discomfort in the vehicle 2 to a medical institution (step S13). At this time, similar to

[0121] step S2 of Figure 7 the transportation plan creation unit 61 determines the medical institution and the route to pass through, and generates a driving route for the vehicle 2 to reach the medical institution from the current location via the route to pass through. In addition, when the bus stop on the driving route closest to the medical institution is located farther than the current location of the vehicle 2 and closer than the desired alighting location of the normal passenger, the transportation plan creation unit 61 also generates a driving route from the medical institution to the desired alighting location.

[0122] After that, when the vehicle 2 arrives at the desired alighting location, the normal passengers are alighted from the vehicle 2 (step S20). For example, the vehicle control unit 52 of the vehicle 2 stops the vehicle 2 at the desired alighting location and uses the door actuator of the actuator 26 to open the door of the vehicle 2 for a predetermined time. In addition, at this time, the vehicle control unit 52 can also determine whether the passengers have alighted based on the output of the passenger state detection device 23. In addition, the vehicle control unit 52 can also use the input / output device 27 to prompt the passengers to alight through voice or display.

[0123] After the normal passengers alight, the vehicle 2 resumes normal operation and travels along the operation route to the end point or travels from the desired alighting location to the garage, etc. In addition, when the desired alighting locations of all passengers other than the passengers in poor health are located farther than the bus stop closest to the medical institution, the vehicle 2 can also travel to the medical institution without passing through the via point and then travel from the medical institution to the desired alighting location.

[0124] Alternatively, the processor 34 of the server 3 may have an alighting location acquisition unit instead of the processor 43 of the ECU 40. In this case, the alighting location acquisition unit of the server 3 acquires the desired alighting location of the normal passengers based on the output of the input / output device 27 transmitted from the vehicle 2.

[0125] <Fifth Embodiment>

[0126] The passenger conveyance system according to the fifth embodiment is basically the same in configuration and control as the passenger conveyance system according to the first embodiment except for the points described below. Therefore, hereinafter, the fifth embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0127] In the fifth embodiment, as Figure 13 shown, the vehicle 2 can communicate with the traffic signal 100 and other vehicles 200. For example, the vehicle 2 communicates with the traffic signal 100 by using short-range wireless communication of the communication device 28 of the vehicle 2, and communicates with other vehicles 200 by using vehicle-to-vehicle communication of the communication device 28 of the vehicle 2.

[0128] Figure 14 is a functional block diagram of the processor 43 of the ECU 40 in the fifth embodiment. In the fifth embodiment, the processor 43 has a signal control unit 54 and a travel instruction unit 55 in addition to the abnormality determination unit 51 and the vehicle control unit 52. The abnormality determination unit 51, the vehicle control unit 52, the signal control unit 54, and the travel instruction unit 55 are functional modules implemented by the processor 43 of the ECU 40 executing a computer program stored in the memory 42 of the ECU 40. In addition, these functional modules can also be implemented by dedicated arithmetic circuits provided in the processor 43.

[0129] The signal control unit 54 controls the lighting state of the signal device 100. For example, the signal control unit 54 controls the lighting state of the signal device 100 by sending a control signal to the signal device 100 using short-range wireless communication. The driving instruction unit 55 sends driving instructions to other vehicles 200 other than the vehicle 2 through vehicle-to-vehicle communication between the vehicle 2 and other vehicles 200.

[0130] As described above, in the case where a passenger with physical discomfort appears, the vehicle 2 transports the passenger with physical discomfort to a medical institution. At this time, it is desired to transport the passenger with physical discomfort quickly without being affected by the traffic conditions.

[0131] Therefore, the signal control unit 54 controls the lighting state of the signal device 100 so that the vehicle 2 does not stop due to the signal device 100 until the vehicle 2 transports the passenger with physical discomfort to a medical institution. Accordingly, the required time until the medical institution can be shortened. For example, the signal control unit 54 sends a control signal to the signal device 100 in front of the vehicle 2 so that the lighting state of the signal device 100 is green when the vehicle 2 passes, and the signal device 100 controls the lighting timing of the signal device 100 according to the control signal.

[0132] In addition, the driving instruction unit 55 sends driving instructions to other vehicles 200 so that other vehicles 200 are not located in front of the vehicle 2 until the vehicle 2 transports the passenger with physical discomfort to a medical institution. Accordingly, the required time until the medical institution can be shortened. For example, the driving instruction unit 55 sends the driving route of the vehicle 2 to other vehicles 200 around the vehicle 2 and instructs the other vehicles 200 not to drive on the driving route of the vehicle 2. In the case where the other vehicle 200 is an autonomous driving vehicle, the other vehicle 200 re-sets the driving route of the other vehicle 200 so as not to drive on the driving route of the vehicle 2.

[0133] In addition, either the signal control unit 54 or the driving instruction unit 55 may be omitted. Further, it may be that the server 3 can communicate with the signal device 100 via the communication network 4, and the processor 34 of the server 3 has a signal control unit instead of the processor 43 of the ECU 40. In this case, the signal control unit of the server 3 receives the current position of the vehicle 2 from the vehicle 2 at a predetermined interval and sends a control signal to the signal device 100 in front of the vehicle 2. In addition, the signal control unit of the server 3 may also control the lighting state of the signal device 100 via a traffic management center that sends a control signal to the signal device 100.

[0134] Alternatively, it may be that the server 3 can communicate with other vehicles 200 via the communication network 4 and the radio base station 5, and the processor 34 of the server 3 has a driving instruction unit instead of the processor 43 of the ECU 40. In this case, the driving instruction unit of the server 3 receives the current position of the vehicle 2 from the vehicle 2 at a predetermined interval, and sends the driving route of the vehicle 2 to other vehicles 200 around the vehicle 2. In addition, when the other vehicle 200 is an autonomous vehicle, the driving instruction unit of the server 3 may also create the driving route of the other vehicle 200 in a manner that does not include the driving route of the vehicle 2, and send the driving route of the other vehicle 200 to the other vehicle 200.

[0135] <Other Embodiments>

[0136] As described above, the preferred embodiments of the present invention have been described, but the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. For example, the vehicle 2 may also be an on-demand bus, an autonomous taxi, etc. that operates according to the user's usage request.

[0137] In addition, a computer program for causing a computer to implement the functions of each part of the processor 43 of the ECU 40 or the processor 34 of the server 3 may also be provided in the form of being stored in a computer-readable recording medium. A computer-readable recording medium is, for example, a magnetic recording medium, an optical recording medium, or a semiconductor memory.

[0138] In addition, the above-described embodiments can be implemented in any combination. For example, when the second embodiment is combined with the third embodiment, the fourth embodiment, or the fifth embodiment, as the abnormality determination process, the control routine to be executed Figure 9 is used instead of Figure 6 the control routine.

Claims

1. A passenger transportation system includes a vehicle and a server. The vehicle can transport multiple passengers through autonomous driving, and the server can communicate with the vehicle. The passenger transportation system includes: An abnormality determination unit that determines whether there is a passenger with physical discomfort in the vehicle; A transportation plan creation unit that, when it is determined that there is a passenger with physical discomfort, determines the medical institution to which the passenger with physical discomfort is to be sent and the route through which normal passengers get off; A vehicle control unit that controls the driving of the vehicle so as to transport the passenger with physical discomfort to the medical institution via the route; and A getting-off location acquisition unit that acquires the desired getting-off locations of the passengers in the vehicle, The vehicle is a bus whose operation route is predetermined, When the bus stop on the operation route closest to the medical institution is located farther than the current position of the vehicle and closer than the desired getting-off location of a normal passenger, the vehicle control unit causes the vehicle to go to the desired getting-off location after the vehicle arrives at the medical institution.

2. The passenger transportation system according to claim 1, The abnormality determination unit monitors the states of the passengers in the vehicle, detects a passenger suspected of having physical discomfort based on the states of the passengers, and requests other passengers to confirm whether the passenger is physically uncomfortable.

3. The passenger transportation system according to claim 1, When the passengers in the vehicle refuse to be transported to the medical institution after it is determined that there is a passenger with physical discomfort, the vehicle control unit aborts the transportation to the medical institution.

4. The passenger transportation system according to any one of claims 1 to 3, Further includes a vehicle dispatching unit that performs vehicle dispatching to the route.

5. The passenger transportation system according to any one of claims 1 to 3, The vehicle is a bus whose operation route is predetermined, The transportation plan creation unit selects a bus stop on the operation route of the vehicle as the route.

6. The passenger transportation system according to claim 5, The transportation plan creation unit selects the bus stop on the operation route that is in front of the current position of the vehicle and closest to the current position of the vehicle as the route.

7. The passenger transportation system according to any one of claims 1 to 3, Further includes a signal control unit that controls the lighting state of traffic signals, The signal control unit controls the lighting state of traffic signals so that the vehicle will not stop due to traffic signals until the vehicle transports the passenger with physical discomfort to the medical institution.

8. The passenger transportation system according to any one of claims 1 to 3, Further includes a driving instruction unit that gives driving instructions to other vehicles other than the vehicle, The driving instruction unit gives driving instructions to the other vehicles so that the other vehicles will not be in front of the vehicle until the vehicle transports the passenger with physical discomfort to the medical institution.

9. A passenger transportation method is a passenger transportation method using a vehicle that can transport multiple passengers through autonomous driving, and includes: Determine whether there is a passenger feeling unwell in the vehicle; In the case where it is determined that there is a passenger feeling unwell, determine the medical institution to which the unwell passenger will be sent and the route through which normal passengers will get off; Drive the vehicle to transport the unwell passenger to the medical institution via the route; Obtain the desired getting-off locations of the passengers in the vehicle, where the vehicle is a bus with a pre-determined operating route; And In the case where the bus stop on the operating route closest to the medical institution is located farther from the current position of the vehicle and closer to the desired getting-off location of the normal passenger, after the vehicle arrives at the medical institution, make the vehicle go to the desired getting-off location.

10. A control device for a vehicle, which is provided in a vehicle capable of autonomously transporting multiple passengers, and the control device for the vehicle includes: An abnormality determination unit that determines whether there is a passenger feeling unwell in the vehicle; A transportation plan creation unit that, in the case where it is determined that there is a passenger feeling unwell, determines the medical institution to which the unwell passenger will be sent and the route through which normal passengers will get off; A vehicle control unit that controls the driving of the vehicle so as to transport the unwell passenger to the medical institution via the route; and A getting-off location acquisition unit that obtains the desired getting-off locations of the passengers in the vehicle, The vehicle is a bus with a pre-determined operating route, The vehicle control unit, in the case where the bus stop on the operating route closest to the medical institution is located farther from the current position of the vehicle and closer to the desired getting-off location of the normal passenger, after the vehicle arrives at the medical institution, makes the vehicle go to the desired getting-off location.

Images