Control device and control method for carpooling vehicle

Abstract

The present invention relates to a control device and a control method for a carpool vehicle. The control device includes a memory and a processor. The memory stores unloading data related to a first user getting off the carpool vehicle and pickup data related to a second user getting on the carpool vehicle. The processor is configured to perform vehicle control including at least one of unloading of a first user and picking up of a second user based on at least one of the unloading data and the pickup data. The vehicle control includes: executing at least one of a first interval setting process and a second interval setting process, wherein the first interval setting process is a process for setting a first interval for unloading, and the second interval setting process is a process for setting a second interval for picking up; and when it is determined that the first interval overlaps with the second interval, executing a first interval resetting process to re-set the first interval in a space that does not overlap with the second interval.

Description

Technical Field

[0001] The invention relates to a control device and a method for controlling a vehicle providing a carpooling service. Background Art

[0002] Japanese Patent Table 2020-531337 discloses a method for determining the stop position of a vehicle that provides a user pick-up service. In this method, when the vehicle arrives at the vicinity of the destination, a set of candidates for the stop position is extracted. In addition, based on information related to the user who wants to get on the vehicle, the time required for the user to get on the vehicle is estimated. Alternatively, based on information related to the user who wants to get off the vehicle, the time required for the user to get off the vehicle is estimated. The estimated time is compared with the set of extracted candidates. Based on the result of the comparison, a specific candidate is selected as the stop position.

[0003] Consider a vehicle that provides a carpooling service (hereinafter also referred to as a "carpooling vehicle"). Assume that in the carpooling service, a first user gets off the carpooling vehicle while a second user gets on the carpooling vehicle. Therefore, the above method cannot be directly applied to a method for determining a stop position of a carpooling vehicle. This is because the above method assumes a service based on on-demand pick-up and drop-off of users, and does not assume pick-up and drop-off of many unspecified users.

[0004] When the first user drops off and the second user picks up at the same location using a carpool vehicle, the first user's getting off and the second user's getting on may interfere with each other. Interference between the first and second user's getting on and off actions may result in a decrease in the safety of the first and second users, and is therefore not ideal. In addition, when the getting on action is performed before the getting off action, the completion of the getting off action may be delayed. Such a delay may result in a decrease in the convenience of the carpool service, and is therefore not ideal. Therefore, the development of new technologies that focus on user safety and the convenience of the carpool service is required. Summary of the invention

[0005] The present invention provides a technology that can ensure the safety of a first user getting off a carpooling vehicle and the safety of a second user getting on the carpooling vehicle and improve the convenience of a carpooling service.

[0006] A first aspect of the present invention relates to a control device for a carpool vehicle.

[0007] The control device includes a memory and a processor. The memory stores unloading data related to a first user getting off the carpooling vehicle and pick-up data related to a second user getting on the carpooling vehicle. The unloading data includes data of a first predetermined location for unloading, and the pick-up data includes data of a second predetermined location for picking up. The processor is configured to perform vehicle control including at least one of the unloading of the first user and the picking up of the second user based on at least one of the unloading data and the picking-up data.

[0008] The vehicle control includes executing at least one of a first interval setting process and a second interval setting process based on at least one of the first predetermined position and the second predetermined position, wherein the first interval setting process is a process of setting a first interval for performing the unloading of passengers on the road in front of the carpooling vehicle, and the second interval setting process is a process of setting a second interval for performing the picking up of passengers on the road in front of the carpooling vehicle.

[0009] The vehicle control includes: when both the first interval setting processing and the second interval setting processing are executed, determining whether the first interval and the second interval overlap; when it is determined that the first interval and the second interval do not overlap, setting the first target stopping position of the carpooling vehicle in the first interval, and setting the second target stopping position of the carpooling vehicle in the second interval; and when it is determined that the first interval and the second interval overlap, setting the second target stopping position in the second interval, executing the first interval resetting processing of resetting the first interval in a space that does not overlap with the second interval, and setting the first target stopping position in the re-set first interval.

[0010] In the first aspect of the present invention, the processor may be configured to execute the second section setting process when a second distance from the current position of the carpool vehicle to the second predetermined position is shorter than a second threshold.

[0011] The second interval setting process may also include: in the case where there are multiple second predetermined positions whose second distance is shorter than the second threshold, setting candidates for the second interval according to each second predetermined position; determining whether the candidates for the second interval include the second closest candidate with the shortest second distance and the second other candidate overlapping with the second closest candidate; in the case where it is determined that the candidates for the second interval only include the second closest candidate, setting the second closest candidate as the second interval; and in the case where it is determined that the candidates for the second interval include the second closest candidate and the second other candidate, combining these candidates to set the second interval.

[0012] In the first solution of the present invention, the passenger drop-off data may also include attribute data of the first user.

[0013] The processor may be configured to execute the first section setting process when a first distance from a current position of the carpool vehicle to the first predetermined position is shorter than a first threshold.

[0014] The first interval setting process may also include: in a case where there are multiple first predetermined positions whose first distance is shorter than the first threshold, setting candidates for the first interval according to each first predetermined position; determining whether the candidates for the first interval include a first nearest candidate with the shortest first distance and a first other candidate overlapping with the first nearest candidate; in a case where it is determined that the candidates for the first interval include only the first nearest candidate, setting the first nearest candidate as the first interval; and in a case where it is determined that the candidates for the first interval include the first nearest candidate and the first other candidate, setting the first interval based on data of the attributes included in the unloading data that is the same as the data of the first predetermined position used to set these candidates.

[0015] In the first aspect of the present invention, the ride-sharing vehicle may also include a ramp configured to assist in unloading vulnerable pedestrians.

[0016] The attributes may also include classification of vulnerable walkers.

[0017] The first section setting process may also include: when it is determined that the candidates for the first section include the first nearest candidate and the first other candidate, determining whether the data of the attribute included in the unloading data that is the same as the data of the first predetermined position used for setting these candidates includes data of vulnerable pedestrians; and when it is determined that the data of the attribute includes the data of the vulnerable pedestrians, setting the first section in a space where the ramp can be deployed.

[0018] In the first aspect of the present invention, the attributes may also include classification of quasi-disadvantaged walkers.

[0019] The first interval setting process may also include: if it is determined that the data of the attribute does not include the data of the vulnerable walker, determining whether the data of the attribute includes data of a quasi-vulnerable pedestrian; and if it is determined that the data of the attribute includes the data of the quasi-vulnerable pedestrian, setting the first interval in at least a flat space.

[0020] In the first aspect of the present invention, the first interval resetting process may also include the following process: resetting the first interval based on the attribute data included in the unloading data that is the same as the data of the first predetermined position used for setting the first nearest candidate or the first other candidate in the setting process of the first interval.

[0021] In the first aspect of the present invention, the memory may also store driving environment data of the carpooling vehicle.

[0022] The attributes may also include a classification of vulnerable walkers and semi-vulnerable walkers.

[0023] The first interval resetting process may also include: determining whether the data of the attribute included in the unloading data that is the same as the data of the first predetermined position used for setting the first nearest candidate or the first other candidate in the setting process of the first interval includes data of vulnerable pedestrians or quasi-vulnerable pedestrians; and setting the first interval based on the driving environment data when it is determined that the data of the attribute does not include data of the vulnerable pedestrians or quasi-vulnerable pedestrians.

[0024] A second aspect of the present invention relates to a control method implemented by a control device of a carpool vehicle.

[0025] The control device includes a memory and a processor. The memory stores unloading data related to a first user getting off the carpooling vehicle and pick-up data related to a second user getting on the carpooling vehicle. The unloading data includes data of a first predetermined location for unloading, and the pick-up data includes data of a second predetermined location for picking up.

[0026] The processor is configured to perform vehicle control including at least one of dropping off a passenger of the first user and picking up a passenger of the second user based on at least one of the dropping off data and the picking up data.

[0027] The control method includes: based on at least one of the first predetermined position and the second predetermined position, setting at least one of a first section for unloading passengers and a second section for picking up passengers on a road in front of the carpooling vehicle; when both the first section and the second section are set, determining whether the first section overlaps with the second section; when it is determined that the first section does not overlap with the second section, setting a first target stopping position of the carpooling vehicle in the first section, and setting a second target stopping position of the carpooling vehicle in the second section; and when it is determined that the first section overlaps with the second section, setting the second target stopping position in the second section, resetting the first section in a space that does not overlap with the second section, and setting the first target stopping position in the re-set first section.

[0028] According to the scheme of the present invention, when both the first section and the second section are set, it is determined whether the first section overlaps with the second section. Then, when it is determined that the first section overlaps with the second section, the first section is set again in a space that does not overlap with the second section. If the first section is set in a space that does not overlap with the second section, the second section is separated from the first section in position, and the getting-off action and the getting-on action are separated in time. Therefore, the safety of the first user and the second user can be ensured. In addition, the decrease in the convenience of the carpooling service can be suppressed.

[0029] According to the first aspect of the present invention, when the distance from the current position of the carpool vehicle to the scheduled position for picking up the passenger is shorter than a threshold, a process of setting the second interval is performed. When there are multiple candidates for the second interval in the process of setting the second interval, it is determined whether there are other candidates overlapping with the nearest candidate. Then, when it is determined that there are other candidates, the second interval is set by combining these candidates with the nearest candidate. Therefore, in the case where the second user is waiting in a queue for the carpool vehicle, the first interval can be set to avoid the queue.

[0030] According to the first aspect of the present invention, when the distance from the current position of the carpool vehicle to the scheduled position for unloading is shorter than a threshold value, a process of setting the first interval is performed. When there are multiple candidates for the first interval in the process of setting the first interval, it is determined whether there are other candidates overlapping with the nearest candidate. Then, when it is determined that there are other candidates, the first interval is set based on the data of the attributes included in the unloading data that are the same as the data of the scheduled positions set for these candidates. Therefore, even when the attributes of the first user involve multiple divisions, the first interval can be appropriately set.

[0031] According to the first aspect of the present invention, when the attribute data included in the same passenger disembarkation data as the data of the scheduled position used for setting the nearest candidate and other candidates includes data of a disadvantaged pedestrian, the first section can be set with priority given to the disadvantaged pedestrian.

[0032] According to the first aspect of the present invention, when the attribute data does not include data of a disadvantaged pedestrian but includes data of a semi-disadvantaged pedestrian, the first section can be set with priority given to the semi-disadvantaged pedestrian.

[0033] According to the first aspect of the present invention, when resetting the first interval, the first interval can be appropriately set based on the attribute of the first user.

[0034] According to the first aspect of the present invention, when the first interval is reset, when the first user does not correspond to a vulnerable pedestrian or a quasi-vulnerable pedestrian, that is, when the first user corresponds to a normal pedestrian, the first interval can be set based on the driving environment data. Therefore, the decrease in convenience of the first user who is adversely affected by the reset of the first interval can be compensated. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0036] Figure 1 This is a diagram for explaining the outline of the carpooling service (passenger unloading).

[0037] Figure 2 This is a diagram for explaining the outline of the carpooling service (passenger unloading).

[0038] Figure 3 This is a diagram for explaining the outline of a carpooling service (pick-up).

[0039] Figure 4 This diagram explains the problems of carpooling services.

[0040] Figure 5 It is a diagram for explaining the characteristics of the vehicle control according to the embodiment.

[0041] Figure 6 It is a diagram for explaining the characteristics of the vehicle control according to the embodiment.

[0042] Figure 7 This is a block diagram showing an example of the configuration of a carpooling vehicle.

[0043] Figure 8 This is a block diagram showing an example of data stored in the memory of the control device according to the embodiment.

[0044] Fig. 9This is a flowchart showing the flow of vehicle control executed by the control device (processor) according to the embodiment.

[0045] Fig.10 It means in Fig. 9 Flow chart of the process of setting the second section performed in step S3.

[0046] Fig.11 Yes Description Fig.10 FIG. 5 is a diagram of the process of step S35.

[0047] Fig.12 It means in Fig. 9 Flow chart of the process of setting the first section performed in step S5.

[0048] Fig.13 It means in Fig. 9 Flow chart of the process of setting the target stop position performed in step S7.

[0049] Fig.14 This is a diagram showing a first example of resetting the first section when the first user corresponds to a normal pedestrian.

[0050] Fig.15 This is a diagram showing a second example of resetting the first section when the first user corresponds to a normal pedestrian.

[0051] Fig.16 This is a diagram showing a third example of resetting the first section when the first user corresponds to a normal pedestrian. DETAILED DESCRIPTION

[0052] Hereinafter, a control device for a carpool vehicle according to an embodiment of the present invention (hereinafter also referred to as "control device") is described with reference to the accompanying drawings. It should be noted that the control method for a carpool vehicle according to the embodiment is implemented by computer processing performed in the control device of the embodiment. In addition, in each figure, the same reference numerals are given to the same or corresponding parts, and their descriptions are simplified or omitted.

[0053] 1. Overview of implementation methods

[0054] 1-1. Carpooling service

[0055] The ride-sharing service is a service that transports a large number of unspecified users (pedestrians) while picking up and dropping off passengers in one ride-sharing vehicle. Figure 1 to Figure 3 is a diagram illustrating an overview of a carpooling service. Figure 1 to Figure 3A carpooling vehicle VH (hereinafter also simply referred to as “vehicle VH”) traveling on the road RD is drawn in FIG. The vehicle VH is, for example, an autonomous driving vehicle capable of unmanned driving. A driver may also ride in the vehicle VH.

[0056] exist Figure 1 and Figure 2 Draw the user U1 of the carpooling service in Figure 1 As shown, the user U1 gets off the vehicle VH near the landmark LM1. The landmark LM1 is a stationary object for determining the location where the user U1 wants to get off the vehicle VH. As the landmark LM1, a sign set adjacent to the road RD, a building around the road RD (commercial facilities, a train station, the user U1's own home, school, and workplace, etc.), and an attachment to a sign or building are exemplified.

[0057] The unloading of the user U1 by the vehicle VH is performed by the control device of the embodiment executing "vehicle control". The section Z1 is set in the vehicle control for unloading. The section Z1 is virtually set on the road RD in front of the vehicle VH. The section Z1 has a predetermined size larger than the size of the vehicle VH, for example.

[0058] In the vehicle control for unloading passengers, a target track TT1 is generated that connects the current position of the vehicle VH to the target stop position TP1 in the zone Z1. In the vehicle control, the vehicle VH is further controlled so that the vehicle VH travels along the target track TT1. In the vehicle control, the vehicle VH is further controlled so that the door 11 provided on the side of the vehicle VH is opened after the vehicle VH stops. After the door 11 is opened, the user U1 gets off the vehicle VH.

[0059] like Figure 2 As shown, the user U1 includes a vulnerable pedestrian U11, a semi-vulnerable pedestrian U12, and a normal pedestrian U13. The vulnerable pedestrian U11 is a user who gets off the vehicle VH using the ramp 12 deployed on the side of the vehicle VH. As the vulnerable pedestrian U11, a wheelchair user can be cited. When the vulnerable pedestrian U11 gets off the vehicle VH, the zone Z1 is set near the landmark LM1 and is set in a space where the ramp 12 can be deployed.

[0060] The semi-disabled pedestrian U12 is a user who can get off the vehicle VH without using the ramp 12, but has limited mobility and has difficulty moving quickly in an emergency. Examples of the semi-disabled pedestrian U12 include the elderly, crutches users, guardians holding infants, stroller users, and people carrying luggage such as suitcases. When the semi-disabled pedestrian U12 gets off the vehicle VH, the zone Z1 is set near the landmark LM1 and is set in at least a flat space.

[0061] The normal pedestrian U13 is a user who can get off the vehicle VH without using the ramp 12 and has no restrictions on movement. The normal pedestrian U13 is also a user who does not correspond to either the vulnerable pedestrian U11 or the semi-vulnerable pedestrian U12. When the normal pedestrian U13 gets off the vehicle VH, the zone Z1 is set to an arbitrary space near the landmark LM1.

[0062] exist Figure 3 Draw the user U2 of the carpooling service in Figure 3 As shown in FIG. 1 , the user U2 gets on the vehicle VH near the landmark LM2. The landmark LM2 is an object that determines the location where the user U2 wants to get on the vehicle VH. The example of the landmark LM2 is the same as the example of the landmark LM1. Figure 3 As shown, the user U2 includes a vulnerable pedestrian U21, a semi-vulnerable pedestrian U22, and a normal pedestrian U23. Examples of the vulnerable pedestrian U21 and the like are the same as the examples of the vulnerable pedestrian U11 and the like.

[0063] Picking up the user U2 by the vehicle VH is also performed by the control device of the embodiment executing "vehicle control". The section Z2 is set in the vehicle control for picking up the user U2. The concept of the section Z2 is basically the same as that of the section Z1.

[0064] In the vehicle control for picking up passengers, a target track TT2 is generated that connects the current position to the target stop position TP2 in the zone Z2. As the target stop position TP2, a position where the door 11 is parked in front of the waiting position of the user U2 is given as an example. In the vehicle control, the vehicle VH is further controlled in such a way that the vehicle VH travels along the target track TT2. In the vehicle control, the vehicle VH is further controlled in such a way that the door 11 is opened after the vehicle VH stops. After the door 11 is opened, the user U2 gets on the vehicle VH.

[0065] It should be noted that, although user U1 and user U2 are distinguished for the sake of convenience, when user U2 gets off vehicle VH, user U2 will be described as user U1. In this specification, "first" is added to the content related to the unloading of users by vehicle VH. In addition, "second" is added to the content related to the picking up of users by vehicle VH. For example, user U1 is the "first user", section Z1 is the "first section", and target stop position TP1 is the "first target stop position". User U2 is the "second user", section Z2 is the "second section", and target stop position TP2 is the "second target stop position".

[0066] 1-2. Problems with carpooling services

[0067] In a carpooling service, many unspecified users use one vehicle VH at the same time. Therefore, the position of the landmark LM1 coincides with the position of the landmark LM2, or the distance between these positions is short. In this way, since the sections Z1 and Z2 partially or completely overlap, the following problems may occur.

[0068] Figure 4 This is a diagram that illustrates the problems with carpooling services. Figure 4 Draw out in Figure 1 and Figure 2 The user U1 described in Figure 3 User U2 is described in . Figure 4 In the example shown, the position of the landmark LM1 is close to the position of the landmark LM2, and the area OL of a part of the section Z1 overlaps with the section Z2. In this case, if the vehicle VH running along the target track TT1 opens the door 11 at the target stop position TP1, the getting-off action of the user U1 and the getting-on action of the user U2 will interfere with each other. The interference of the getting-on and getting-off actions of the user U1 and the user U2 will reduce the safety of the user U1 and the user U2.

[0069] The above-mentioned safety problem is particularly significant when one of the user U1 and the user U2 is a vulnerable pedestrian or a quasi-vulnerable pedestrian. In addition, if the boarding action is performed before the getting-off action, the completion of the getting-off action may be delayed. Such a delay will reduce the convenience of the carpooling service. Therefore, in the embodiment, in the vehicle control for at least one of unloading and picking up passengers, it is determined whether the interval Z1 overlaps with the interval Z2. Then, when it is determined that the interval Z1 overlaps with the interval Z2, the interval Z1 is reset.

[0070] 1-3. Characteristics of vehicle control

[0071] Figure 5 and Figure 6 It is a diagram for explaining the characteristics of the vehicle control according to the embodiment. Figure 5 and Figure 6 The illustrated section Z1 is an example of the reset section Z1. Figure 5 and Figure 6 The section Z1 shown is set, for example, near the landmark LM1 and in a space that does not overlap with the section Z2. Figure 5 In the example shown, section Z1 is set in the space before section Z2. Figure 6 In the example shown, the zone Z1 is set in the space behind the zone Z2.

[0072] After the zone Z1 is reset, a target track TT1 is generated that connects the target stop position TP1 in the zone Z1 to the current position. The contents of the vehicle control after the target track TT1 is generated are the same as those in Figure 1 and Figure 2 The contents described in are the same.

[0073] exist Figure 5 and Figure 6 In the example shown, after reaching the target stop position TP1, the target trajectory TT2 is generated. The target trajectory TT2 is a target trajectory connecting the target stop position TP1 and the target stop position TP2. The content of the vehicle control after the generation of the target trajectory TT2 is the same as that in Figure 3 It should be noted that, compared with Figure 5 In the example shown, the vehicle VH moves forward. Figure 6 In the example shown, the vehicle VH is moving backward.

[0074] exist Figure 5 and Figure 6 In the example shown, a message MSG (e.g., "Please wait if you wish to board") may be notified to pedestrians outside the vehicle (e.g., waiting user U2). The message MSG is displayed on a display provided on the side, front, or back of the vehicle VH.

[0075] Thus, according to the vehicle control of the embodiment, when it is determined that the section Z1 overlaps with the section Z2, the section Z1 is set in a space that does not overlap with the section Z2. If the section Z1 is set in a space that does not overlap with the section Z2, the section Z2 is separated from the section Z1 in position, and the getting-off action and the getting-on action are separated in time. Therefore, the safety of the user U1 and the user U2 can be ensured. In addition, since the getting-off action is performed before the getting-on action, the deterioration of the convenience of the carpooling service can also be suppressed.

[0076] Hereinafter, the control device according to the embodiment will be described in detail.

[0077] 2. Control device for carpooling vehicles

[0078] 2-1. Example of overall structure of carpooling vehicles

[0079] Figure 7 FIG. 2 is a block diagram showing an example of the configuration of a vehicle VH. Figure 7As shown, the vehicle VH includes a door 11, a ramp 12, a GNSS (Global Navigation Satellite System) device 13, a sensor group 14, a communication device 15, a map database (map DB) 16, a driving device 17, a display 18, and a control device 19. The door 11 and other components are connected to the control device 19, for example, via an in-vehicle network (such as CAN (Controller Area Network)).

[0080] The door 11 is provided at the entrance of the vehicle VH. The entrance is provided, for example, on the left side of the vehicle VH. However, the location and total number of the entrances are not limited thereto, but may be appropriately changed according to the road environment on which the vehicle VH is running. The door 11 includes an actuator for opening and closing the door 11. The actuator is driven based on a control signal from the control device 19.

[0081] The ramp 12 assists the user U1 (disadvantaged pedestrian U11 ) in getting off the vehicle and the user U2 (disadvantaged pedestrian U21 ) in getting on the vehicle. The ramp 12 includes an actuator for deploying and retracting the ramp 12 . The actuator is driven based on a control signal from the control device 19 .

[0082] The GNSS (Global Navigation Satellite System) device 13 is a device that receives signals from three or more artificial satellites. The GNSS device 13 obtains data (latitude and longitude data) of the position of the vehicle VH. The GNSS device 13 calculates the current position and posture (orientation) of the vehicle VH based on the received signals. The GNSS device 13 sends the data of the current position and posture of the vehicle VH to the control device 19.

[0083] The sensor group 14 includes internal sensors and external sensors. The internal sensors acquire data related to the driving conditions of the vehicle VH. As internal sensors, wheel speed sensors, acceleration sensors, yaw rate sensors, and steering angle sensors are exemplified. The external sensors acquire data related to the surrounding environment of the vehicle VH. As external sensors, cameras, millimeter wave radars, and LIDAR (Laser Imaging Detection and Ranging) are exemplified. The camera at least captures the front of the vehicle VH. The camera can also capture the interior of the vehicle VH. The sensor group 14 sends the acquired data to the control device 19.

[0084] It should be noted that the detection of objects existing around the vehicle VH, the measurement of the relative position and relative speed of the detected objects relative to the vehicle VH, and the recognition of the detected objects are performed based on the data obtained by the external sensor. The recognition process of the user U2 can also be performed based on the data obtained by the external sensor. In this case, if the user U2 is recognized, the waiting position of the user U2 is determined.

[0085] The communication device 15 receives data provided by an external server from the wireless communication network. As the data provided by the external server, data related to the user's pick-up and drop-off are exemplified. As the communication standard of the wireless communication, a mobile communication standard such as 4G, LTE or 5G is exemplified.

[0086] The map database 16 stores map data. Examples of map data include data showing the location and shape of roads (e.g., types of curves and straight lines), intersections, and locations of structures. The map data also includes data related to traffic control. The map database 16 is formed in a storage device (e.g., a hard disk or a flash memory) mounted on the vehicle. The map database 16 may also be formed in an external server.

[0087] The travel device 17 includes a steering device, a drive device, and a brake device. The steering device steers the tires of the vehicle VH. The steering device includes, for example, a power steering (EPS: Electric Power Steering) device. The drive device is a power source that generates a driving force. As examples of the drive device, an electric motor and an internal combustion engine are shown. The brake device applies a braking force to the vehicle VH.

[0088] The display 18 is provided, for example, inside or outside the vehicle VH. Data related to the operating status of the vehicle VH is output to the display 18. Data of a message MSG directed to the outside of the vehicle may be output to the display 18 provided outside the vehicle VH.

[0089] The control device 19 is an example of a control device of the embodiment. The control device 19 is composed of a computer having at least one processor 19a and at least one memory 19b. The processor 19a includes a CPU (Central Processing Unit). The memory 19b is a volatile memory such as a DDR (Double Data Rate) memory, and the processor 19a performs expansion of the used program and temporary storage of various data. The program stored in the memory 19b is read out and executed by the processor 19a, thereby realizing various functions of the control device 19.

[0090] It should be noted that the control device 19 may also be a collection of multiple computers. In addition, the control device 19 may not be mounted on the vehicle VH. For example, the control device 19 may also be an external server. In this case, the server as the control device 19 obtains various data via the communication device 15 and generates data required for vehicle control of the vehicle VH. Then, the server as the control device 19 sends the generated data to the communication device 15.

[0091] 2-2. Examples of various data

[0092] Here, refer to Figure 8 A configuration example of data related to vehicle control of vehicle VH will be described. Figure 8 1 is a block diagram showing an example of data stored in the memory 19b. Figure 8 As shown, the memory 19b stores the drop-off data DRP, the pick-up data PIC, and the driving environment data ENV.

[0093] The unloading data DRP is data related to the unloading of the user U1. The unloading data DRP includes data of the attribute IND_U1 and data of the scheduled location LOC_U1 for unloading. The attribute IND_U1 includes the classification of vulnerable pedestrians, semi-vulnerable pedestrians, and ordinary pedestrians. The attribute IND_U1 is registered in advance, for example. The scheduled location LOC_U1 (first scheduled location) is the location where the user U1 wants to get off the vehicle VH. A typical scheduled location LOC_U1 is the location of the landmark LM1. The scheduled location LOC_U1 is set by the user U1 before getting on the vehicle VH. The scheduled location LOC_U1 can also be set by the user U1 after getting on the vehicle VH.

[0094] The pick-up data PIC is data related to the pick-up of the user U2. The pick-up data PIC includes data of the attribute IND_U2 and data of the scheduled location LOC_U2 for picking up the passenger. The division of the attribute IND_U2 is the same as the division of the attribute IND_U1. The scheduled location LOC_U2 (second scheduled location) is the location where the user U2 wants to get on the vehicle VH. A typical scheduled location LOC_U2 is the location of the landmark LM2. The scheduled location LOC_U2 is set by the user U2 before getting on the vehicle VH. The scheduled location LOC_U2 may also be the waiting location of the user U2 determined by the recognition process.

[0095] The driving environment data ENV is data related to the driving environment of the vehicle VH. As examples of the driving environment data ENV, data on the weather (sunny, cloudy, rainy, and snowy) in the operating area of ​​the vehicle VH, data on the road surface conditions of the road RD on which the vehicle VH is traveling, and data on the locations of buildings around the road RD are shown. The weather data is acquired, for example, by the communication device 15. The road surface conditions data is acquired, for example, by recognition processing using a camera. The location data of the building is acquired from the map database 16.

[0096] 2-3. Processing example implemented by the control device

[0097] Fig. 9 1 is a flowchart showing the process of vehicle control performed by the control device 19 (processor 19a). Fig. 9 The routine shown is repeatedly executed in a predetermined control cycle.

[0098] exist Fig. 9 In the routine shown, data of the current position LOC_VH is first acquired (step S1 ). The current position LOC_VH is the current position of the vehicle VH calculated by the GNSS device 13 .

[0099] Following the processing of step S1, it is determined whether there is a predetermined position LOC_U2 near the current position LOC_VH (step S2). As described above, the predetermined position LOC_U2 is the position where the user U2 wishes to board the vehicle VH. When the distance D_U2 (second distance) from the current position LOC_VH to the predetermined position LOC_U2 is shorter than the second threshold, it is determined that there is a predetermined position LOC_U2 near the current position LOC_VH. When the determination result of step S2 is affirmative, the setting process of the interval Z2 is performed (step S3). The details of the processing of step S3 will be described later.

[0100] Following the processing of step S3, it is determined whether there is a predetermined position LOC_U1 near the current position LOC_VH (step S4). The processing of step S4 is also performed when the determination result of step S2 is negative. As described above, the predetermined position LOC_U1 is the position where the user U1 wishes to get off the vehicle VH. When the distance D_U1 (first distance) from the current position LOC_VH to the predetermined position LOC_U1 is shorter than the first threshold, it is determined that there is a predetermined position LOC_U1 near the current position LOC_VH. When the determination result of step S4 is affirmative, the setting processing of the interval Z1 is performed (step S5). The details of the processing of step S5 will be described later.

[0101] Following the processing of step S5, it is determined whether section Z1 or Z2 has been set (step S6). The processing of step S6 is also performed when the determination result of step S4 is negative. When the processing of step S3 is performed, section Z2 is set. When the processing of step S5 is performed, section Z1 is set. Therefore, in the processing of step S6, when it is determined that neither section Z1 nor section Z2 is set, the processing of vehicle control ends. On the other hand, when it is determined that at least one of section Z1 and section Z2 is set, the target stop position TP is set (step S7). The details of the processing of step S7 will be described later.

[0102] Following the processing of step S7, at least one of unloading and picking up passengers is performed (step S8). For example, when the section Z1 is set, the target stop position TP1 is set in the processing of step S7. In this case, the target track TT1 connecting the current position LOC_VH and the target stop position TP1 is generated in the processing of step S8. On the other hand, when only the section Z2 is set, only the target stop position TP2 is set in the processing of step S7. In this case, the target track TT2 connecting the current position LOC_VH and the target stop position TP2 is generated.

[0103] In the process of step S8, the travel device 17 is controlled (for example, at least one of the steering control and the deceleration control) so as to follow the generated target trajectory TT1 or TT2. After stopping at the target stop position TP1 or TP2, the door 11 is controlled to be opened and closed. At this time, the ramp 12 is also controlled to be deployed and retracted based on the attribute IND_U1 or IND_U2.

[0104] When both the interval Z1 and the interval Z2 are set, during or after the unloading, a target track TT2 is generated that connects the current position LOC_VH and the target stop position TP2. Then, the travel device 17 is controlled (for example, at least one of the steering control and the deceleration control) in a manner that follows the generated target track TT2. After stopping at the target stop position TP2, the door 11 is controlled to open and close. At this time, the ramp 12 is also controlled to be deployed and retracted based on the attribute IND_U2.

[0105] 2-4. Example of setting process for section Z2

[0106] Fig.10 It means in Fig. 9 Flowchart of the flow of the setting process of the zone Z2 (second zone) performed in step S3 of FIG.

[0107] exist Fig.10In the routine shown in FIG. 1 , the customer reception data PIC is first extracted (step S31). The extracted customer reception data PIC is included in Fig. 9 The data of the predetermined position LOC_U2 determined to be shorter than the second threshold value in the process of step S2.

[0108] Following the process of step S31, the candidate Z2 of the interval Z2 is set. * (Step S32). Candidate Z2 * For example, the candidate Z2 is set along the roadside of the road RD in front of the vehicle VH with the predetermined position LOC_U2 as the center. If there is data of a plurality of predetermined positions LOC_U2, the candidate Z2 is set for each predetermined position LOC_U2. * .

[0109] Next, the process of step S32 is to determine whether there is a candidate Z2 * Overlapping candidate Z2 * (Step S33). The nearest candidate Z2 * (Second closest candidate) refers to the candidate Z2 set based on the predetermined position LOC_U2 with the shortest distance D_U2 among the predetermined positions LOC_U2 extracted in the process of step S31. * As described above, the intervals Z1 and Z2 have predetermined sizes. Therefore, when there are multiple data of the predetermined position LOC_U2, the nearest candidate Z2 * With other candidate Z2 * (Second other candidate) may overlap.

[0110] If the result of the determination in step S33 is negative, the nearest candidate Z2 * Set as interval Z2 (step S34). For example, when there is only one data of the predetermined position LOC_U2, the nearest candidate Z2 * In addition, even if there are multiple data at the predetermined position LOC_U2, if the nearest candidate Z2 * With other candidate Z2 * Separation, then the nearest candidate Z2 * With other candidate Z2 * In this case, the nearest candidate Z2 * Set to interval Z2.

[0111] If the result of step S33 is positive, the nearest candidate Z2 * and the nearest candidate Z2 * Overlapping other candidates Z2 * The interval Z2 is set in combination (step S35). Fig.113 is a diagram for explaining the processing of step S35. Fig.11 In the example shown, user U2a and user U2b are waiting in line near landmark LM2. In this case, the nearest candidate Z2 * (Z2 * _U2b) part of the region OL and other candidates Z2 * (Z2 * Therefore, in the process of step S35, the above candidate Z2 * As a result, the length LZ2 of the section Z2 in the vehicle length direction after the connection is increased compared to the length of the section Z2 before the connection.

[0112] 2-5. Example of setting process for section Z1

[0113] Fig.12 It means in Fig. 9 Flowchart of the flow of the setting process of the zone Z1 (first zone) performed in step S5 of FIG.

[0114] exist Fig.12 In the routine shown, the unloading data DRP is first extracted (step S51). The extracted unloading data DRP includes Fig. 9 The data of the predetermined position LOC_U1 determined to be shorter than the first threshold value in the process of step S4.

[0115] Following the process of step S51, the candidate Z1 of the interval Z1 is set. * (Step S52). Candidate Z1 * For example, the candidate Z1 is set along the roadside of the road RD in front of the vehicle VH with the predetermined position LOC_U1 as the center. If there is data of a plurality of predetermined positions LOC_U1, the candidate Z1 is set for each predetermined position LOC_U1. * .

[0116] Next, the process of step S52 is to determine whether there is a candidate Z1 * Overlapping other candidates Z1 * (Step S53). The nearest candidate Z1 * (First nearest candidate) refers to the candidate Z1 set based on the predetermined position LOC_U1 with the shortest distance D_U1 among the predetermined positions LOC_U1 extracted in the process of step S51. * .

[0117] If the result of the determination in step S53 is negative, the nearest candidate Z1 * Set as interval Z1 (step S54). For example, when there is one data of the predetermined position LOC_U1, the nearest candidate Z1* In addition, even if there are multiple data at the predetermined position LOC_U1, if the nearest candidate Z1 * With other candidate Z1 * (First other candidate) separation, then the closest candidate Z1 * With other candidate Z1 * In this case, the nearest candidate Z1 * Set to interval Z1.

[0118] If the result of the determination in step S53 is positive, it is determined whether the data of the attribute IND_U1 includes the data of the user U1 (the vulnerable pedestrian U11) (step S55). The data of the attribute IND_U1 is data included in the same unloading data DRP as the data of the scheduled location LOC_U1 extracted in the process of step S51. If the result of the determination in step S55 is positive, the candidate Z1 set based on the scheduled location LOC_U1 of the user U1 (the vulnerable pedestrian U11) is selected. * Set to section Z1 (step S56).

[0119] If the result of the determination in step S55 is negative, it is determined whether the attribute IND_U1 data includes the data of the user U1 (quasi-disadvantaged pedestrian U12) (step S57). The content of the processing in step S57 is basically the same as the content of the processing in step S55. If the result of the determination in step S57 is positive, the candidate Z1 set based on the predetermined position LOC_U1 of the user U1 (quasi-disadvantaged pedestrian U12) is * Set to zone Z1 (step S58).

[0120] Thus, according to the processing of steps S53 to S58, when there is a candidate Z1 closest to the candidate * Overlapping candidate Z1 * In the case of , the zone Z1 is set based on the attribute of the user U1. In addition, when the attribute of the user U1 involves multiple divisions, the zone Z1 is set in the order of priority of the vulnerable pedestrian U11, the semi-vulnerable pedestrian U12, and the normal pedestrian U13.

[0121] 2-6. Example of setting process of target stop position TP

[0122] Fig.13 It means in Fig. 9 Flow chart of the process of setting the target stop position TP performed in step S7.

[0123] exist Fig.13In the routine shown, it is first determined whether the zone Z2 is set (step S71). If the determination result of step S71 is negative, the process proceeds to step S77.

[0124] If the result of the determination in step S71 is positive, it is determined whether the data of the attribute IND_U2 includes the data of the user U2 (the weak pedestrian U21) (step S72). Fig.10 The data of the planned position LOC_U2 extracted in the process of step S31 is the same as the data included in the passenger pickup data PIC. If the result of the determination in step S72 is affirmative, the target stop position TP2 is set in the zone Z2_U21 (step S73).

[0125] Here, the section Z2_U21 refers to a candidate Z2_U21 set based on the estimated position LOC_U2 of the user U2 (the disadvantaged pedestrian U21). * The target stop position TP2 is set, for example, at the center of the section Z2_U21. When the waiting position of the user U2 (disadvantaged walker U21) is determined, the target stop position TP2 is set in front of the waiting position.

[0126] If the determination result of step S72 is negative, it is determined whether the data of the attribute IND_U2 includes the data of the user U2 (semi-disadvantaged walker U22) (step S74). The processing content of step S74 is basically the same as the processing content of step S72. If the determination result of step S74 is positive, the target stop position TP2 is set in the zone Z2_U22 (step S75).

[0127] Here, the interval Z2_U22 refers to a candidate Z2 interval set based on the estimated position LOC_U2 of the user U2 (semi-disadvantaged pedestrian U22). * The target stop position TP2 is set, for example, at the center of the section Z2_U22. When the waiting position of the user U2 (semi-disadvantaged walker U22) is determined, the target stop position TP2 is set in front of the waiting position.

[0128] If the result of the determination in step S74 is negative, the target stop position TP2 is set at an arbitrary position in the section Z2 (step S76). The result of the determination in step S74 is negative, which means that the data of the attribute IND_U2 is only the data of the ordinary pedestrian U23. If the waiting position of the user U2 (ordinary pedestrian U23) is determined, the target stop position TP2 is set in front of the waiting position. If the waiting position of the user U2 (ordinary pedestrian U23) waiting at the head of the queue is determined, the target stop position TP2 is set in front of the waiting position.

[0129] Thus, according to the processing of step S71 to step S76, when the zone Z2 is set, the target stop position TP2 is set based on the attribute of the user U2. In addition, when the attribute of the user U2 involves multiple types, the target stop position TP2 is set in the order of priority of the disadvantaged pedestrian U21, the semi-disadvantaged pedestrian U22, and the normal pedestrian U23.

[0130] In the process of step S77, it is determined whether the interval Z1 and the interval Z2 are set. Fig. 9 The processing of step S3 (that is, Fig.10 In the process of step S31 to step S35), the interval Z2 is set. Fig. 9 The processing of step S5 (that is, Fig.12 In the case of the processing of step S51 to step S58), the interval Z1 is set. If the determination result of step S77 is negative, the process ends. Fig.13 The routine shown in the figure is processed and Fig. 9 The process of step S8.

[0131] If the result of determination in step S77 is positive, it is determined whether the interval Z2 overlaps with the interval Z1 (step S78). The process in step S78 is performed, for example, by Fig.10 The predetermined position LOC_U2 used in the process of step S34 is the same as that in Fig.12 The comparison is performed by comparing the predetermined position LOC_U1 used in the processing of step S54, step S56 or step S58. * When setting interval Z2 by combining * The preset position LOC_U2 is the same as Fig.12 The predetermined position LOC_U1 used in the processing of step S54, step S56 or step S58 is compared.

[0132] If the result of determination in step S78 is negative, the target stop position TP1 is set in the zone Z1 (step S79). Fig. 9 The processing of step S5 (that is, Fig.12 The target stop position TP1 is set, for example, at Fig.12 The position of the center of the interval Z1 set in the processing of step S54, step S56 or step S58.

[0133] If the determination result of step S78 is affirmative, the zone Z1 is reset (step S80 ). In the process of step S80 , the zone Z1 is set in consideration of the following conditions.

[0134] (1) The reset interval Z1 does not overlap with the interval Z2

[0135] (2) The reset section Z1 is located in the space near the landmark LM1

[0136] (3) The interval Z1 after resetting satisfies the same attribute condition as the attribute condition of the user U1 before setting.

[0137] Condition (3) is supplemented. When the zone Z1 is set based on the planned position LOC_U1 of the user U1 (the weak walker U11) (refer to Fig.12 In step S56), condition (3) includes that there is a space for the ramp 12 to be deployed. When the zone Z1 is set based on the predetermined position LOC_U1 of the user U1 (quasi-disadvantaged pedestrian U12) (refer to Fig.12 In step S58), condition (3) includes at least a flat space.

[0138] When the zone Z1 is set based on the estimated position LOC_U1 of the user U1 (generally the pedestrian U13) (refer to Fig.12 In step S54), condition (3) is not particularly limited. However, in this case, driving environment data ENV may be added to the reset zone Z1 instead of condition (3).

[0139] Figure 14 to Figure 16 1 is a diagram showing an example of resetting the section Z1 when the user U1 corresponds to a normal pedestrian U13. Fig.14 In the example shown, weather data of the operating area is combined with position data of a roof RF installed on the roadside of the road RD. For example, if the driving environment data ENV indicates that the weather in the operating area is bad and there is a roof RF near the landmark LM1, a zone Z1 is set in the space near the roof RF.

[0140] exist Fig.15 In the example shown, the section Z1 is set based on the data of the road surface condition of the road RD. For example, when a puddle HZ is recognized between the section Z2 and the vehicle VH based on the driving environment data ENV, the section Z1 is set in a space avoiding the puddle HZ.

[0141] exist Fig.16In the example shown, the section Z1 is set based on the data of the position of the ticket gate EG of the train station around the road RD. For example, when the ticket gate EG is identified as being located near the landmark LM1 based on the driving environment data ENV, it is predicted that the user U1 is heading to the train station. Therefore, in this case, the section Z1 is set in a space closer to the ticket gate EG.

[0142] return Fig.13 , the description of the setting process of the target stop position TP continues. Following the process of step S80, the target stop position TP1 is set in the re-set zone Z1 (step S81). The target stop position TP1 is set, for example, at the center of the zone Z1 set in the process of step S80.

[0143] 3. Effect

[0144] According to the embodiment, when both the interval Z1 and the interval Z2 are set, it is determined whether the interval Z1 overlaps with the interval Z2. Then, when it is determined that the interval Z1 overlaps with the interval Z2, the interval Z1 is set again in a space that does not overlap with the interval Z2. If the interval Z1 is set in a space that does not overlap with the interval Z2, the interval Z2 is separated from the interval Z1 in position, and the getting-off action and the getting-on action are separated in time. Therefore, the safety of the user U1 and the user U2 can be ensured. In addition, the deterioration of the convenience of the carpooling service can be suppressed.

[0145] In addition, according to the embodiment, when there are multiple candidates Z2 for interval Z2 * In the case of Z2, determine whether there is a candidate Z2 * Overlapping other candidates Z2 * Then, if it is determined that there are other candidates Z2 * In the case of * and the closest candidate Z2 * Therefore, in a case where the user U2 is waiting in a queue for the vehicle VH, the section Z1 can be set to avoid the queue.

[0146] In addition, according to the embodiment, when there are multiple candidate Z1 intervals Z1 * In the case of Z1, determine whether there is a candidate Z1 * Overlapping other candidates Z1 * Then, if it is determined that there are other candidates Z1 * In the case of *The zone Z1 is set based on the data of the attribute IND_U1 included in the unloading data DRP which is the same as the data of the set scheduled position LOC_U1. Therefore, even when the attribute IND_U1 relates to a plurality of divisions, the zone Z1 can be set appropriately.

[0147] Furthermore, according to the embodiment, when the attribute IND_U1 covers a plurality of divisions, the section Z1 can be set in the order of priority of the disadvantaged pedestrian U11 , the semi-disadvantaged pedestrian U12 , and the normal pedestrian U13 .

[0148] Furthermore, according to the embodiment, not only when setting the section Z1 but also when resetting the section Z1, the section Z1 can be set based on the data of the attribute IND_U1.

[0149] Furthermore, according to the embodiment, when resetting the zone Z1, the zone Z1 can be set based on the driving environment data ENV when the user U1 corresponds to the ordinary pedestrian U13. Therefore, the decrease in convenience of the user U1 adversely affected by the resetting of the zone Z1 can be compensated.

Claims

1. A control device for a carpool vehicle, the control device comprising: a memory storing unloading data associated with a first user getting off the carpooling vehicle and picking-up data associated with a second user getting on the carpooling vehicle, wherein the unloading data includes data of a first predetermined location for unloading the passenger, and the picking-up data includes data of a second predetermined location for picking up the passenger; as well as a processor configured to perform vehicle control including at least one of the dropping off of the first user and the picking up of the second user based on at least one of the dropping off data and the picking up data, The vehicle control includes the following processing: performing at least one of a first section setting process and a second section setting process based on at least one of the first predetermined position and the second predetermined position, the first section setting process being a process of setting a first section for performing the unloading process on a road ahead of the carpool vehicle, and the second section setting process being a process of setting a second section for performing the picking up process on a road ahead of the carpool vehicle; When both the first section setting process and the second section setting process are executed, determining whether the first section and the second section overlap; If it is determined that the first section and the second section do not overlap, setting a first target stopping position of the carpool vehicle in the first section and setting a second target stopping position of the carpool vehicle in the second section; and When it is determined that the first section overlaps with the second section, the second target stop position is set in the second section, a first section resetting process is performed to re-set the first section in a space that does not overlap with the second section, and the first target stop position is set in the re-set first section.

2. The control device according to claim 1, characterized in that: The processor is configured to execute the second section setting process when a second distance from the current position of the carpool vehicle to the second predetermined position is shorter than a second threshold value, The second interval setting process includes the following processes: When there are a plurality of second predetermined positions where the second distance is shorter than the second threshold, setting a candidate for the second section for each of the second predetermined positions; determining whether the candidates for the second interval include a second closest candidate having the shortest second distance and a second other candidate that is another candidate overlapping with the second closest candidate; If it is determined that the candidates for the second interval include only the second closest candidate, setting the second closest candidate as the second interval; as well as When it is determined that the candidates for the second section include the second closest candidate and the second other candidate, the second closest candidate is combined with the second other candidate to set the second section.

3. The control device according to claim 1 or 2, characterized in that: The unloading data includes data of attributes of the first user, The processor is configured to execute the first section setting process when a first distance from a current position of the carpool vehicle to the first predetermined position is shorter than a first threshold value, The first interval setting process includes the following processes: When there are a plurality of first predetermined positions where the first distance is shorter than the first threshold, setting a candidate for the first section for each of the first predetermined positions; determining whether the candidates for the first interval include a first nearest candidate having the shortest first distance and a first other candidate that is another candidate overlapping with the first nearest candidate; If it is determined that the candidates for the first interval only include the first closest candidate, setting the first closest candidate as the first interval; as well as When it is determined that the candidates for the first section include the first nearest candidate and the first other candidate, the first section is set based on the attribute data included in the same passenger drop-off data as the data of the first scheduled position used for setting the first nearest candidate and the first other candidate.

4. The control device according to claim 3, characterized in that: The rideshare vehicle includes a ramp configured to assist in unloading a vulnerable pedestrian, The properties include the classification of vulnerable walkers, The first interval setting process includes the following processes: If it is determined that the candidates for the first section include the first nearest candidate and the first other candidate, determining whether the data of the attribute included in the same unloading data as the data of the first predetermined location set for the first nearest candidate and the first other candidate includes data of a vulnerable pedestrian; as well as If it is determined that the attribute data includes data of the vulnerable pedestrian, the first section is set in a space where the ramp can be deployed.

5. The control device according to claim 4, characterized in that: The properties also include the classification of quasi-weak walkers, The first interval setting process includes the following processes: In the case where it is determined that the data of the attribute does not include the data of the vulnerable pedestrian, determining whether the data of the attribute includes the data of a quasi-vulnerable pedestrian; as well as If it is determined that the attribute data includes data of the semi-disadvantaged walker, the first section is set in at least a flat space.

6. The control device according to any one of claims 3 to 5, characterized in that: The first section resetting process includes a process of resetting the first section based on the data of the attribute included in the same passenger drop-off data as the data of the first scheduled position used for setting of the first nearest candidate or the first other candidate in the first section setting process.

7. The control device according to claim 6, characterized in that: The memory also stores the driving environment data of the carpooling vehicle. The properties include the classification of vulnerable walkers and semi-vulnerable walkers, The first interval resetting process includes the following processes: determining whether the data of the attribute included in the same unloading data as the data of the first predetermined position used for setting the first nearest candidate or the first other candidate in the setting process of the first section includes data of a vulnerable pedestrian or a semi-vulnerable pedestrian; as well as If it is determined that the attribute data does not include data of the vulnerable pedestrian or the semi-vulnerable pedestrian, the first section is set based on the driving environment data.

8. A control method implemented by a control device of a carpool vehicle, the control device comprising a memory and a processor, the memory storing unloading data related to a first user getting off the carpool vehicle and picking-up data related to a second user getting on the carpool vehicle, the unloading data comprising data of a first predetermined location for unloading, the picking-up data comprising data of a second predetermined location for picking up, the processor being configured to perform vehicle control including at least one of the unloading of the first user and the picking-up of the second user based on at least one of the unloading data and the picking-up data, the control method being characterized by comprising: Based on at least one of the first predetermined position and the second predetermined position, at least one of a first section for performing the unloading and a second section for performing the picking up is set on a road ahead of the carpooling vehicle; When both the first interval and the second interval are set, determining whether the first interval overlaps with the second interval; If it is determined that the first section and the second section do not overlap, setting a first target stopping position of the carpool vehicle in the first section and setting a second target stopping position of the carpool vehicle in the second section; and When it is determined that the first section overlaps with the second section, the second target stop position is set in the second section, the first section is reset in a space not overlapping with the second section, and the first target stop position is set in the reset first section.

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