Method of operating a vehicle and operating system

Abstract

Provided are a regular operation vehicle capable of running on a single lane to travel in an automatic driving manner, an on-demand vehicle, an operation method of the vehicle, and an operation system that take into account the convenience of both users. In a case where the arrival of the on-demand vehicle (20) at the optimal timing to the user (40) is predicted to be hindered by the regular operation vehicle (10), different processes are performed depending on whether or not a passenger is on board the regular operation vehicle (10). In a case where a passenger (50) is on board the regular operation vehicle (10), the timing of the arrival of the on-demand vehicle (20) at the user (40) is delayed from the optimal timing, and the regular operation vehicle (10) is caused to travel in accordance with a regular operation plan. In a case where no passenger is on board the regular operation vehicle (10), the regular operation vehicle (10) is caused to be delayed from the regular operation plan, and the on-demand vehicle (20) is caused to arrive at the user (40) at the optimal timing.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a method and a system of a regular operation vehicle running on a single lane in a manner of autonomous driving and an on-demand vehicle running in a manner of autonomous driving. BACKGROUND

[0002] Patent Literature 1 discloses a prior art related to operation of two different kinds of vehicles. Patent Literature 1 discloses a system of allocating a commuter vehicle (CV) to a passenger in a multi-modal transport network having the CV and a regular operation vehicle. The system formulates an optimization problem of deciding a group of passengers based on a trip request from the passenger, deciding a departure time of the regular operation vehicle and the CV. Also, the system generates an allocation route of the CV and the like based on a solution prescribed by solving the optimization problem.

[0003] As a document embodying a technical level of the technical field associated with the present disclosure, Patent Literature 2 and Patent Literature 3 can be exemplified in addition to Patent Literature 1.

[0004] Prior Art Documents

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2020-004404

[0006] Patent Literature 2: Japanese Patent Application Publication No. 2004-234469

[0007] Patent Literature 3: Japanese Patent Application Publication No. 2002-208091 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] It is studied to utilize an old site of a single track of a railway as a single lane. However, in an area where land is originally limited, even if a lane is intended to be constructed, only a single lane can be secured. On the other hand, MaaS using a vehicle running in a manner of autonomous driving is currently studied in various aspects. The autonomous driving vehicle for MaaS includes a regular operation vehicle running in accordance with a regular operation plan and an on-demand vehicle running in accordance with a request from a user.

[0010] It is assumed that in a case where Maas is generally carried out by society, the above two kinds of MaaS vehicles will be required to run on a single lane. However, any prior art document including Patent Literature 1 does not disclose a method of a regular operation vehicle running in a manner of autonomous driving and an on-demand vehicle running in a manner of autonomous driving running on a single lane.

[0011] The present disclosure was made in view of the above-described problems. An object of the present disclosure is to provide a technology that enables a regular operation vehicle that runs on a single lane in an automated driving manner and an on-demand vehicle to travel in an automated driving manner to give consideration to the convenience of users of both sides.

[0012] Technical solution for solving the problem

[0013] The present disclosure provides a vehicle operation method and a vehicle operation system as a vehicle operation technology for achieving the above object.

[0014] The vehicle operation method of the present disclosure is a method of a regular operation vehicle that runs on a single lane in an automated driving manner and an on-demand vehicle that travels in an automated driving manner, the single lane having a plurality of pull-over places including a stop station. In the vehicle operation method of the present disclosure, a situation in which arrival of the on-demand vehicle to the user's side at the best time is predicted to be hindered by the regular operation vehicle is accepted, and the following processing is performed depending on the presence or absence of a passenger in the regular operation vehicle. In the case where the passenger is in the regular operation vehicle, the vehicle operation method of the present disclosure delays the arrival time of the on-demand vehicle to the user's side from the best time and causes the regular operation vehicle to travel according to a regular operation plan. In the case where the passenger is not in the regular operation vehicle, the vehicle operation method of the present disclosure delays the regular operation vehicle from the regular operation plan and causes the on-demand vehicle to arrive at the user's side at the best time.

[0015] The vehicle operation system of the present disclosure is a system of a regular operation vehicle that runs on a single lane in an automated driving manner and an on-demand vehicle that travels in an automated driving manner, the single lane having a plurality of pull-over places including a stop station. The vehicle operation system of the present disclosure includes at least one processor and a program storage that stores a plurality of executable instructions in combination with the at least one processor. The plurality of executable instructions accept a situation in which arrival of the on-demand vehicle to the user's side at the best time is predicted to be hindered by the regular operation vehicle, and cause the at least one processor to perform the following processing. The first processing is processing performed in the case where the passenger is in the regular operation vehicle, and is processing that delays the arrival time of the on-demand vehicle to the user's side from the best time and causes the regular operation vehicle to travel according to a regular operation plan. The second processing is processing performed in the case where the passenger is not in the regular operation vehicle, and is processing that delays the regular operation vehicle from the regular operation plan and causes the on-demand vehicle to arrive at the user's side at the best time.

[0016] According to the operation technique of the vehicle of the present disclosure, even if it is predicted that the arrival of the on-demand vehicle to the vicinity of the user at the optimum time is obstructed by the regular operation vehicle, if there is a passenger in the regular operation vehicle, the regular operation vehicle is caused to travel according to the regular operation plan. However, if there is no passenger in the regular operation vehicle, even if the regular operation vehicle is caused to be delayed from the regular operation plan, the on-demand vehicle is caused to arrive at the user's vicinity at the optimum time. By thus changing the regular operation plan of the regular operation vehicle depending on the presence or absence of a passenger in the regular operation vehicle, it is possible to prioritize the passenger of the regular operation vehicle while also improving the convenience for the user of the on-demand vehicle.

[0017] In the operation technique of the vehicle of the present disclosure, it is also possible to cause the regular operation vehicle to pass through a passenger-free stop station in which there is no passenger among the stop stations at which the regular operation vehicle is scheduled to stop in the regular operation plan, in the case where there is no passenger in the regular operation vehicle. By causing the regular operation vehicle to pass through the passenger-free stop station without stopping at the passenger-free stop station, it is possible to make up for the time corresponding to the delay from the regular operation plan.

[0018] In the operation technique of the vehicle of the present disclosure, it is also possible to cause the on-demand vehicle to travel in a manner of facing the regular operation vehicle. In this case, it is also possible to cause the on-demand vehicle to perform a passing maneuver with the regular operation vehicle at a stop station located rearward of a pickup location at which the on-demand vehicle picks up a user in a direction of travel of the on-demand vehicle, if there is a passenger in the regular operation vehicle. On the other hand, it is also possible to cause the regular operation vehicle to stand by at a passing station located forward of the pickup location in the direction of travel of the on-demand vehicle until the on-demand vehicle passes, if there is no passenger in the regular operation vehicle. The passing station at which the regular operation vehicle stands by also includes a stop station.

[0019] In the operation technique of the vehicle of the present disclosure, it is also possible to cause the on-demand vehicle to travel in a manner of overtaking the regular operation vehicle from behind. In this case, it is also possible to cause the on-demand vehicle to perform an overtaking maneuver with the regular operation vehicle at a stop station located forward of a pickup location at which the on-demand vehicle picks up a user in a direction of travel of the on-demand vehicle, if there is a passenger in the regular operation vehicle. On the other hand, it is also possible to cause the regular operation vehicle to stand by at a passing station located rearward of the pickup location in the direction of travel of the on-demand vehicle until the on-demand vehicle passes, if there is no passenger in the regular operation vehicle. The passing station at which the regular operation vehicle stands by also includes a stop station.

[0020] In the operation technique of the vehicle of the present disclosure, the optimum time at which the on-demand vehicle arrives can be either the earliest time at which the on-demand vehicle can be dispatched to the vicinity of the user assuming that there is no other vehicle on a single lane, or a designated time at which the on-demand vehicle is dispatched to the vicinity of the user.

[0021] Effects of the Invention

[0022] As described above, according to the operation technique of the vehicle of the present disclosure, by changing the operation of the scheduled operation vehicle according to the presence or absence of the passenger of the scheduled operation vehicle, it is possible to prioritize the passenger of the scheduled operation vehicle while also improving the convenience for the user of the on-demand vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a diagram showing an outline of the operation system of the vehicle to which the embodiment of the present disclosure relates.

[0024] Figure 2 is a block diagram showing the configuration of the operation system of the vehicle to which the embodiment of the present disclosure relates.

[0025] Figure 3 is a diagram for explaining the first example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0026] Figure 4 is a diagram for explaining the first example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0027] Figure 5 is a diagram for explaining the second example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0028] Figure 6 is a diagram for explaining the second example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0029] Figure 7 is a diagram for explaining the third example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0030] Figure 8 is a diagram for explaining the third example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0031] Figure 9 is a diagram for explaining the fourth example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0032] Figure 10 is a diagram for explaining the fourth example of the operation method of the vehicle to which the embodiment of the present disclosure relates.

[0033] Explanation of Reference Signs

[0034] 2 Route of a single lane

[0035] 4 Parking station as a merging point

[0036] 6 Waiting room

[0037] 8 camera

[0038] 10 scheduled operation vehicle

[0039] 12 autonomous driving ECU

[0040] 20 on-demand vehicle

[0041] 22 autonomous driving ECU

[0042] 30 user of scheduled operation vehicle

[0043] 40 user of on-demand vehicle

[0044] 42 portable terminal

[0045] 100 operation management server

[0046] 110 processor

[0047] 120 program memory

[0048] 122 instruction

[0049] 130 storage

[0050] 132 scheduled operation plan database DETAILED DESCRIPTION

[0051] Hereinafter, an embodiment of a vehicle operation method and an operation system of the present disclosure will be described with reference to the drawings. However, in the case where a number, a quantity, an amount, a range, and the like of each element are mentioned in the embodiment shown below, the mentioned number is not limited to the idea involved in the present disclosure, except for the case where it is specifically indicated, or the case where it is obviously determined in principle. In addition, the configuration and the like described in the embodiment shown below are not necessarily essential to the idea involved in the present disclosure, except for the case where it is specifically indicated, or the case where it is obviously determined in principle.

[0052] 1. Outline of operation system of vehicle

[0053] Figure 1 is a diagram showing an outline of an operation system of a vehicle involved in the embodiment of the present disclosure. The operation system is a system that operates vehicles 10, 20 on a single-lane route 2. The single-lane route 2 is, for example, a route constructed on the site of a single track of a railway. On the single-lane route 2, the two vehicles 10, 20 cannot travel side by side, nor can they pass each other. Therefore, a plurality of passing points for enabling the passing and the overtaking of the vehicles 10, 20 are provided on the route 2.

[0054] The passing point includes at least one stopping station 4. If the route 2 is constructed on the site of a single track of a railway, the stopping station 4 corresponds to a station of the railway. Even if it is a single track, the station is constructed so that a train traveling in the outbound direction and a train traveling in the inbound direction can pass each other. The stopping station 4, which is converted from the station, makes it possible for the two vehicles 10, 20 to pass each other and to overtake each other. A waiting room 6, which is a waiting place for the users 30, is provided in the stopping station 4. A camera 8 that photographs the situation in the waiting room 6 is provided in the waiting room 6. The passing point other than the stopping station 4 of the route 2 is a place for passing and overtaking of the vehicles 10, 20 only, and the waiting room 6 is not provided.

[0055] The vehicles 10, 20 that run by the running system are a regular running vehicle 10 and an on-demand vehicle 20. The regular running vehicle 10 is a vehicle that runs regularly according to a regular running plan. The on-demand vehicle 20 is a vehicle that runs according to a request from a user without a fixed running plan. In the running system, an autonomous driving vehicle that travels in an autonomous driving manner is used as the regular running vehicle 10 and is also used as the on-demand vehicle 20.

[0056] The running management of the regular running vehicle 10, which is the autonomous driving vehicle, is performed by a running management server 100. In addition, the running management of the on-demand vehicle 20, which is the autonomous driving vehicle, is also performed by the running management server 100. The regular running vehicle 10 and the on-demand vehicle 20 are connected to the running management server 100 through a network 200.

[0057] Either of the regular running vehicle 10 and the on-demand vehicle 20 can be an electric vehicle, an engine vehicle, or a hybrid vehicle. The electric vehicle described herein includes not only a vehicle equipped with a battery or a fuel cell but also a vehicle that obtains power from a pantograph like a trolleybus. Further, neither of the vehicles 10, 20 is limited to a vehicle with tires and can be a vehicle that travels on a track like a trolleybus. In this case, the regular running vehicle 10 can be a trolleybus that travels autonomously like a streetcar in a city, and the on-demand vehicle 20 can be an automobile that travels autonomously.

[0058] The user 30 who uses the regular running vehicle 10 boards the stopping station 4. The regular running vehicle 10 stops at the stopping station 4 according to the regular running plan. The user 30 who waits for the regular running vehicle 10 in the stopping station 4 is photographed by the camera 8. The image photographed by the camera 8 is transmitted to the running management server 100 via the network 200. The running management server 100 detects the user 30 who waits for the regular running vehicle 10 from the image of the camera 8. In addition, in the case where a door using an IC card is provided in the waiting room 6, the user 30 who enters the waiting room 6 can also be detected from the information from the door.

[0059] The user 40 who utilizes the on-demand vehicle 20 is not only at the stop 4, but can call the on-demand vehicle 20 anywhere as long as it is beside the route 2. The user 40 makes a reservation for the deployment of the on-demand vehicle 20 by the portable terminal 42 represented by a smartphone. The deployment reservation of the on-demand vehicle 20 is made to the operation management server 100. The operation management server 100 determines the place where the user 40 waits using the position information of the portable terminal 42.

[0060] 2. Configuration of the operation system of the vehicle

[0061] Figure 2 is a block diagram showing the configuration of the operation system of the vehicle to which the embodiment of the present disclosure relates. The operation system is provided with the operation management server 100. The operation management server 100 is provided with at least one processor (hereinafter only referred to as processor) 110, a program memory 120, and a storage 130. The processor 110 is combined with the program memory 120 and the storage 130. The program memory 120 is a non-transitory memory that stores a plurality of executable instructions 122. The storage 130 is, for example, a flash memory, an SSD, an HDD, and stores a regular operation schedule database 132.

[0062] The operation management server 100 communicates with the autonomous driving ECU 12 of the regular operation vehicle 10 and transmits an instruction including the operation schedule of the regular operation vehicle 10 to the autonomous driving ECU 12. Information related to the presence or absence of passengers who ride on the regular operation vehicle 10 is transmitted from the autonomous driving ECU 12 to the operation management server 100. For the judgment of the presence or absence of passengers, a method of detecting passengers by an in-vehicle camera, a method of counting the number of passengers who get on and the number of passengers who get off respectively by sensors at boarding gates, and the like can be used. For the operation schedule of the regular operation vehicle 10, the regular operation schedule registered in the regular operation schedule database 132 is used as a basis, and the operation schedule is decided based on predetermined reference information. The predetermined reference information includes the deployment request of the user 40 of the on-demand vehicle 20, the presence or absence of passengers in the regular operation vehicle 10, and the presence or absence of the user 30 who waits in the waiting room 6. These processes are executed by the operation management server 100 by executing the predetermined instructions 122 with the processor 110.

[0063] The operation management server 100 communicates with the autonomous driving ECU 22 of the on-demand vehicle 20 and transmits an instruction including the operation schedule of the on-demand vehicle 20 to the autonomous driving ECU 22. The operation schedule of the on-demand vehicle 20 is decided by referring to the regular operation schedule registered in the regular operation schedule database 132 based on the vehicle deployment request of the user 40 of the on-demand vehicle 20. These processes are executed by the operation management server 100 by executing the predetermined instructions 122 with the processor 110.

[0064] The operation management server 100 communicates with the portable terminal 42 of the user 40. The operation management server 100 receives from the portable terminal 42 the user 40's vehicle dispatch request for the on-demand vehicle 20 and the user 40's location information. The operation management server 100 sends a reservation completion notification to the portable terminal 42, indicating that the on-demand vehicle 20's dispatch reservation has been completed, and location information indicating the current driving location of the on-demand vehicle 20. These processes are performed by the operation management server 100 through the execution of predetermined instructions 122 by the processor 110.

[0065] The operation management server 100 communicates with the camera 8 in the waiting room 6. Based on the images captured by the camera 8, the operation management server 100 determines whether there are any users 30 waiting in the waiting room 6. The presence or absence of users 30 waiting in the waiting room 6 is used as information to determine the operation plan for the regularly running vehicle 10. These processes are performed by the operation management server 100 by executing predetermined instructions 122 using the processor 110.

[0066] The following sections will use specific examples to illustrate the operation method of the vehicle executed by the operation management server 100.

[0067] 3. Vehicle operation methods

[0068] 3-1. Prerequisites

[0069] Figure 3 and Figure 4 This diagram illustrates the first example of how a vehicle operates. Figure 5 and Figure 6 This is the second illustration of how a vehicle operates. Figure 7 and Figure 8 This diagram illustrates the third example of how a vehicle operates. Furthermore, Figure 9 and Figure 10 This diagram illustrates the fourth example of the vehicle operation method. The left side of each diagram shows the timeline for vehicles 10 and 20, and the right side shows the movement of vehicles 10 and 20 on route 2. The premises for each example will be explained below.

[0070] In each example, Route 2 connects Station A and Station B. On Route 2, there are three stations sequentially located between Station A and Station B: Station X, Station Y, and Station Z. These three stations are the stops 4 on Route 2. For simplicity, the passing points on Route 2 are shown as only three stops 4. Furthermore, in each example, only one scheduled train 10 operates simultaneously between Station A and Station B, and only one on-demand train 20 operates simultaneously between Station A and Station B.

[0071] In each example, the traveling direction of the on-demand vehicle 20 is unidirectional, and is set so as not to make a U-turn in the middle of the route. The on-demand vehicle 20 is set to stop at a pickup location, that is, a place where the on-demand vehicle 20 picks up the user 40, for a predetermined time. Likewise, the regular operation vehicle 10 is set to stop at a stop station 4 for a predetermined time in accordance with a regular operation plan. In addition, in each example, the on-demand vehicle 20 is set to travel at a higher speed than the regular operation vehicle 10.

[0072] 3-2. First Example

[0073] In Figure 3 and Figure 4 In the first example shown in FIG. 1, the regular operation vehicle 10 runs from the B station to the A station. In the regular operation plan, the regular operation vehicle 10 stops at all of the stations that are stop stations 4 in order.

[0074] In the first example, after the regular operation vehicle 10 departs from the B station, a dispatch request is made to the on-demand vehicle 20 from the user 40. The pickup location desired by the user 40 is located between the Y station and the Z station. The user 40 desires to go from the pickup location to the B station. Therefore, the on-demand vehicle 20 that is waiting at the A station is dispatched to the user 40.

[0075] The operation management server 100 that has received the dispatch request from the user 40 makes an operation plan that enables the on-demand vehicle 20 to be dispatched to the vicinity of the user 40 in the shortest manner. In making the operation plan of the on-demand vehicle 20, the regular operation plan of the regular operation vehicle 10 is referred to. This is because, in the single-lane route 2, there are cases where the on-demand vehicle 20 cannot be immediately dispatched due to the regular operation plan of the regular operation vehicle 10. As shown in Figure 3 Even if the on-demand vehicle 20 is immediately made to depart in order to accept the dispatch request, it will meet the regular operation vehicle 10 that is traveling from the Z station side between the Y station and the Z station.

[0076] In the case where the regular operation vehicle 10 and the on-demand vehicle 20 run in the single-lane route 2, the operation of the regular operation vehicle 10, which has a large influence on the user, should be given priority. Thus, there are cases where the arrival of the on-demand vehicle 20 to the user 40 at the best timing is hindered due to the presence of the regular operation vehicle 10 that is traveling on the route 2 at the same timing. Furthermore, the best timing in the first example means the earliest timing at which the on-demand vehicle 20 can be dispatched to the user 40, assuming that there are no other vehicles on the route 2.

[0077] In order to ensure that on-demand vehicle 20 arrives at user 40 at the optimal time, it is necessary to modify the operation plan of scheduled vehicle 10. Although scheduled vehicle 10 takes priority over on-demand vehicle 20, an exception is made when there are no passengers on scheduled vehicle 10. If there are no passengers on scheduled vehicle 10, delays caused by the change in operation plan are permissible.

[0078] Therefore, the operation management server 100 receives the prediction that the arrival time of the on-demand vehicle 20 at the user 40 is hindered by the scheduled vehicle 10, and determines whether the scheduled vehicle 10 has passengers.

[0079] <Situations where passengers are traveling in regularly operating vehicles>

[0080] When the regularly operating vehicle 10 is carrying 50 passengers, the operation management server 100 accesses... Figure 3 The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 3 The operating method shown is as follows: the scheduled vehicle 10 runs from station B to station A according to the scheduled operating plan. The on-demand vehicle 20 does not depart from station A immediately upon receiving a dispatch request, but departs after a delay from the dispatch request.

[0081] The scheduled train 10, operating according to a regular schedule, stops at each station, including a pre-arranged stop at station Y. Station Y is a stop 4 located behind the pick-up point of the on-demand train 20 in the direction of travel of the on-demand train 20, where the on-demand train 20 picks up users 40. At station Y, which serves as stop 4, the two trains can pass each other. The on-demand train 20 is dispatched from station A by passing through station Y while the scheduled train 10 is stopped at station Y. That is, the operation management server 100 enables the on-demand train 20 to pass the scheduled train 10 at station Y.

[0082] After passing the scheduled train 10 at station Y, on-demand vehicle 20 arrives at the pick-up point. After picking up user 40 at the pick-up point, on-demand vehicle 20 departs for station B, its destination. The arrival of user 40 at station B is delayed accordingly, corresponding to the waiting time at station A from the time the dispatch request was received. However, according to the above operating method, the delay in user 40's arrival at the destination can be minimized without hindering the operation of scheduled train 10.

[0083] <Situations where no passengers are riding in the regularly operating vehicles>

[0084] In the event that no passenger 50 is on board in the regularly operating vehicle 10, the operation management server 100... Figure 4The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 4 The operating method shown involves on-demand vehicle 20 receiving a dispatch request and immediately departing from station A to the pick-up point. After picking up user 40 at the pick-up point, on-demand vehicle 20 departs for station B, its destination. By operating on-demand vehicle 20 in this way, user 40 can be transported to their destination in the shortest possible time from receiving the dispatch request.

[0085] On the other hand, the scheduled vehicle 10 operates not according to the scheduled operation plan, but according to a temporary operation plan created to match the operation plan of the on-demand vehicle 20. According to the scheduled operation plan, the stopping time at all stations, including station Z, is set to a certain time. However, according to the temporary operation plan, after stopping at station Z, the on-demand vehicle 20 continues to stop beyond the predetermined stopping time determined by the scheduled operation plan. Station Z is a stop 4 located ahead of the on-demand vehicle 20 in the direction of travel of the on-demand vehicle 20, at the pick-up point where the on-demand vehicle 20 picks up user 40. At station Z, which serves as stop 4, the two vehicles can pass each other. After the on-demand vehicle 20, having picked up user 40 at the pick-up point, passes through station Z, the scheduled vehicle 10 departs from station Z. By delaying the scheduled vehicle 10 from the scheduled operation plan in this way, the on-demand vehicle 20 can arrive at user 40 at the optimal time.

[0086] The operation plan of the scheduled train 10 after departing from station Z varies depending on whether there are passengers waiting at stations Y and X. At stations where passengers are waiting, the scheduled train 10 needs to stop. However, if there are no passengers waiting at a station, the scheduled train 10 does not need to stop at that station. The operation management server 100 ensures that the scheduled train 10 does not stop at stations where no passengers are waiting (passenger-free stops), allowing the scheduled train 10 to pass through passenger-free stops. Figure 4 In the example shown, stations Y and X are passengerless stops without waiting for users. Therefore, the operation management server 100 causes the scheduled train 10 to pass through stations Y and X. By operating the scheduled train 10 in this way, the time corresponding to the delay from the scheduled operation plan can be made up.

[0087] 3-3.Example 2

[0088] exist Figure 5 and Figure 6 In the second example shown, the scheduled train 10 runs from station B to station A. The scheduled operation plan specifies that the scheduled train 10 stops sequentially at all stations designated as stop 4.

[0089] In the second example, after the scheduled vehicle 10 departs from station B, user 40 submits a dispatch request to on-demand vehicle 20 specifying the dispatch time. User 40's desired pick-up location is between stations Y and Z. User 40 wants to travel from the pick-up location to station B. Therefore, on-demand vehicle 20, which is waiting at station A, is dispatched to user 40.

[0090] Upon receiving a dispatch request from user 40 for a specified time, the operation management server 100 creates an operation plan to dispatch the on-demand vehicle 20 to user 40 at a time as close as possible to the optimal time. In the second example, the optimal time refers to the specified time for dispatching the on-demand vehicle 20 to user 40.

[0091] When creating the operation plans for each of the vehicles 10 and 20, the operation management server 100, in the same manner as in the first example, determines whether the arrival time of the on-demand vehicle 20 at the user's location is hindered by the scheduled vehicle 10. Furthermore, accepting the prediction that the arrival time of the on-demand vehicle 20 at the user's location is hindered by the scheduled vehicle 10, the operation management server 100 determines whether the scheduled vehicle 10 has passengers.

[0092] <Situations where passengers are traveling in regularly operating vehicles>

[0093] When there are passengers 50 in the regularly operating vehicle 10, the operation management server 100 accesses... Figure 5 The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 5 The operation method shown is that the regularly operating vehicle 10 runs from station B to station A according to the regular operation plan.

[0094] Scheduled train 10, operating according to a regular schedule, stops at each station, including station Y, for a predetermined time. On-demand train 20 departs from station A via station Y while scheduled train 10 is stopped at station Y. In other words, the operations management server 100 enables on-demand train 20 to pass through scheduled train 10 at station Y.

[0095] On-demand vehicle 20 passes by scheduled vehicle 10 at station Y before arriving at the pick-up point. After picking up user 40 at the pick-up point, on-demand vehicle 20 departs for its destination, station B. Figure 5 In the example shown, the on-demand vehicle 20 arrives at the user 40 later than the designated time.

[0096] The arrival of the on-demand vehicle 20 at the pick-up location is, of course, better the closer to the specified time. However, it is not meaningful to arrive at the pick-up location early because of an inability to arrive at the specified time. This is because the regular operation vehicle 10 is coming, and thus the time during which the on-demand vehicle 20 can stop on the route 2 is limited. Thus, in a case where the on-demand vehicle 20 is unable to arrive at the specified time, it is required to control the delay from the specified time to be the minimum while the user 40 continues to wait for the arrival of the on-demand vehicle 20. According to the operation method described above, it is possible to control the delay from the specified time specified by the user 40 to be the minimum without hindering the operation of the regular operation vehicle 10.

[0097] <Passenger not boarded in regular operation vehicle>

[0098] In a case where no passenger 50 is boarded in the regular operation vehicle 10, the operation management server 100 operates the regular operation vehicle 10 and the on-demand vehicle 20 by the operation method shown in FIG. 6. According to the operation method shown in FIG. 6, the on-demand vehicle 20 departs from the A station in such a manner that it arrives at the pick-up location just at the specified time. And, after picking up the user 40 at the pick-up location, the on-demand vehicle 20 departs toward the B station as the destination. Figure 6 Figure 6 According to the operation method shown in FIG. 6, the on-demand vehicle 20 departs from the A station in such a manner that it arrives at the pick-up location just at the specified time. And, after picking up the user 40 at the pick-up location, the on-demand vehicle 20 departs toward the B station as the destination.

[0099] On the other hand, the regular operation vehicle 10 is not operated according to the regular operation plan, but according to a temporary operation plan made so as to match the operation plan of the on-demand vehicle 20. According to the temporary operation plan, the on-demand vehicle 20 continues to stop after stopping at the Z station beyond a predetermined stop time determined by the regular operation plan. The regular operation vehicle 10 departs from the Z station after the on-demand vehicle 20 that has picked up the user 40 at the pick-up location passes through the Z station. By thus delaying the regular operation vehicle 10 from the regular operation plan, it is possible to make the on-demand vehicle 20 arrive at the user 40's side at the specified time specified by the user 40.

[0100] As with the first example, the operation plan of the regular operation vehicle 10 after departing from the Z station differs depending on the presence or absence of users waiting at the Y station and the X station. In the example shown in FIG. 7, the Y station and the X station are no-passenger stations where no users are waiting, and thus the operation management server 100 makes the regular operation vehicle 10 pass through the Y station and the X station. By thus operating the regular operation vehicle 10, it is possible to make up for the time corresponding to the delay from the regular operation plan. Figure 6

[0101] 3-4. Third Example

[0102] In the example shown in FIG. 8, the Y station and the X station are no-passenger stations where no users are waiting, and thus the operation management server 100 makes the regular operation vehicle 10 pass through the Y station and the X station. By thus operating the regular operation vehicle 10, it is possible to make up for the time corresponding to the delay from the regular operation plan. Figure 7 Figure 8 ​​​In the third example shown, the regular operation vehicle 10 runs from the B station to the A station on a regular operation schedule. The regular operation vehicle 10 is scheduled to stop at all stations as stop stations 4 in the regular operation schedule.

[0103] In the third example, after the regular operation vehicle 10 departs from the B station, the on-demand vehicle 20 is dispatched to the user 40 from the B station. The user 40 wishes to be picked up between the Y station and the Z station. The user 40 wishes to go to the A station from the pickup location. Therefore, the on-demand vehicle 20 waiting at the B station is dispatched to the user 40. However, as shown in Figure 7 Even if the on-demand vehicle 20 departs immediately in response to the dispatch request, the on-demand vehicle 20 overtakes the preceding regular operation vehicle 10 between the Y station and the Z station. In the case where the on-demand vehicle 20 overtakes the regular operation vehicle 10, the on-demand vehicle 20 has to follow the regular operation vehicle 10 until a passing point where the on-demand vehicle 20 can overtake the regular operation vehicle 10.

[0104] Therefore, the operation management server 100 that has received the dispatch request from the user 40 creates an operation schedule for dispatching the on-demand vehicle 20 to the user 40 at a time as close to the best time as possible. The best time in the third example means the earliest time at which the on-demand vehicle 20 can be dispatched to the user 40 if there is no other vehicle on the route 2.

[0105] When creating the operation schedule of each vehicle 10, 20, the operation management server 100 determines whether the arrival of the on-demand vehicle 20 to the user 40 at the best time is obstructed by the regular operation vehicle 10 as in the first example. Further, in the case where it is predicted that the arrival of the on-demand vehicle 20 to the user 40 at the best time is obstructed by the regular operation vehicle 10, the operation management server 100 determines whether the regular operation vehicle 10 has passengers.

[0106] <Case where there are passengers in the regular operation vehicle>

[0107] In the case where there are passengers 50 in the regular operation vehicle 10, the operation management server 100 operates the regular operation vehicle 10 and the on-demand vehicle 20 by the operation method shown in Figure 7 In the operation method shown in Figure 7 In the operation method shown in, the regular operation vehicle 10 runs from the B station to the A station according to the regular operation schedule. The on-demand vehicle 20 does not depart from the B station immediately in response to the dispatch request, but departs after a time delay from the dispatch request.

[0108] The scheduled train 10, operating according to a regular schedule, stops at each station, including a pre-arranged stop at station X. Station X is a stop 4 located ahead of the pick-up point of the on-demand train 20 in the direction of travel of the on-demand train 20. Overtaking is possible between trains at station X, which serves as stop 4. The on-demand train 20 departs from station B via station X after picking up the user 40 at the pick-up point, while the scheduled train 10 is stopped at station X. In other words, the operation management server 100 enables the on-demand train 20 to overtake the scheduled train 10 at station X.

[0109] On-demand vehicle 20 overtakes scheduled vehicle 10 at station X, arriving at station A earlier than scheduled vehicle 10. The arrival of on-demand vehicle 20 at user 40's station A is correspondingly delayed by the waiting time at station B from the time the dispatch request is received. However, according to the above-described operating method, the delay in user 40's arrival at their destination can be minimized without hindering the operation of scheduled vehicle 10.

[0110] <Situations where no passengers are riding in the regularly operating vehicles>

[0111] In the event that no passenger 50 is on board in the regularly operating vehicle 10, the operation management server 100... Figure 8 The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 8 The operating method shown involves on-demand vehicle 20 receiving a dispatch request and immediately departing from station B to the pick-up location. After picking up user 40 at the pick-up location, on-demand vehicle 20 departs for station A, its destination. By operating on-demand vehicle 20 in this way, user 40 can be transported to their destination in the shortest possible time from receiving the dispatch request.

[0112] On the other hand, the scheduled vehicle 10 operates not according to the scheduled operation plan, but according to a temporary operation plan that matches the operation plan of the on-demand vehicle 20. According to the temporary operation plan, after stopping at station Z, the on-demand vehicle 20 continues to stop beyond the predetermined stopping time determined by the scheduled operation plan. Station Z is a stop 4 located behind the pick-up point of the on-demand vehicle 20 for users 40 in the direction of travel of the on-demand vehicle 20.

[0113] The delay time with respect to the departure time at the Z station includes a time required for the on-demand vehicle 20 that has passed through the Z station to pick up the user 40 at the pick-up location. Further, the delay time with respect to the departure time at the Z station includes a time from the departure of the on-demand vehicle 20 at the pick-up location to the passage of the regular operation vehicle 10 through the pick-up location, i.e., a margin time for safety. By thus delaying the regular operation vehicle 10 from the regular operation schedule, the on-demand vehicle 20 can be made to arrive at the side of the user 40 at the optimum time.

[0114] As with the first example, the operation schedule of the regular operation vehicle 10 after the departure from the Z station differs depending on the presence or absence of the user waiting at the Y station and the X station. In the example shown in FIG. 4, the Y station and the X station are non-passenger stations where no user is waiting, and therefore the operation management server 100 makes the regular operation vehicle 10 pass through the Y station and the X station. By thus operating the regular operation vehicle 10, a time corresponding to the delay from the regular operation schedule can be recovered. Figure 8

[0115] 3-5. Fourth Example

[0116] In the fourth example shown in FIG. 4, the regular operation vehicle 10 is operated from the B station to the A station. In the regular operation schedule, the regular operation vehicle 10 is caused to stop at all of the stations, which are stop stations 4, in order. Figure 9 Figure 10 In the fourth example, after the departure of the regular operation vehicle 10 from the B station, a dispatch request with a specified dispatch time is made to the on-demand vehicle 20 from the user 40. The pick-up location desired by the user 40 is located between the Y station and the Z station. The user 40 desires to go to the A station from the pick-up location. Therefore, the on-demand vehicle 20 waiting at the B station is dispatched to the user 40.

[0117] The operation management server 100 that has received the dispatch request with the specified time from the user 40 creates an operation schedule for dispatching the on-demand vehicle 20 to the side of the user 40 at a time as close to the optimum time as possible. The optimum time in the fourth example means the specified time of dispatching the on-demand vehicle 20 to the side of the user 40.

[0118] In creating the operation schedule of each vehicle 10, 20, the operation management server 100 determines, as with the first example, whether the arrival of the on-demand vehicle 20 at the optimum time at the side of the user 40 is obstructed by the regular operation vehicle 10. Further, accepting the situation that the arrival of the on-demand vehicle 20 at the optimum time at the side of the user 40 is predicted to be obstructed by the regular operation vehicle 10, the operation management server 100 determines whether the regular operation vehicle 10 has passengers.

[0119]

[0120] ​​​<Situations where passengers are traveling in regularly operating vehicles>

[0121] When there are passengers 50 in the regularly operating vehicle 10, the operation management server 100 accesses... Figure 9 The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 9 The operation method shown is that the regularly operating vehicle 10 runs from station B to station A according to the regular operation plan.

[0122] Scheduled train 10, operating according to a regular schedule, stops at each station, including station X, for a predetermined time. On-demand train 20, after picking up users 40 at the pick-up point, departs from station B via station X while scheduled train 10 is stopped at station X. In other words, the operation management server 100 enables on-demand train 20 to overtake scheduled train 10 at station X.

[0123] exist Figure 9 In the example shown, the arrival time of the on-demand vehicle 20 to user 40 is later than the designated time. This is because overtaking the scheduled vehicle 10, which is parked at station X, becomes a constraint on the operation plan of the on-demand vehicle 20. However, according to the operation method described above, the delay from the designated time specified by user 40 can be minimized without hindering the operation of the scheduled vehicle 10.

[0124] <Situations where no passengers are riding in the regularly operating vehicles>

[0125] When the regularly operating vehicle 10 is not carrying passenger 50, the operation management server 100 accesses... Figure 10 The operating method shown operates regularly scheduled vehicle 10 and on-demand vehicle 20. According to... Figure 10 The operating method shown involves on-demand vehicle 20 departing from station B in a manner that ensures it arrives at the pick-up location at exactly the designated time. After picking up user 40 at the pick-up location, on-demand vehicle 20 departs for station A, which is its destination.

[0126] On the other hand, the regular operation vehicle 10 is not operated according to the regular operation plan, but according to a temporary operation plan made to match the operation plan of the on-demand vehicle 20. According to the temporary operation plan, the on-demand vehicle 20 continues to stop at the Z station beyond a predetermined stop time determined by the regular operation plan after stopping at the Z station. The delay time from the departure time of the Z station determined by the regular operation plan includes a time required for the on-demand vehicle 20 that has passed through the Z station to pick up the user 40 at the pick-up location. Further, the delay time from the departure time of the Z station includes a margin time from the departure of the on-demand vehicle 20 at the pick-up location to the passage of the regular operation vehicle 10 through the pick-up location. By thus delaying the regular operation vehicle 10 from the regular operation plan, it is possible to cause the on-demand vehicle 20 to arrive at the user 40's side at the designated time designated by the user 40.

[0127] As with the first example, the operation plan of the regular operation vehicle 10 after departure from the Z station differs depending on the presence or absence of users waiting at the Y station and the X station. In the example shown in FIG. 6, the Y station and the X station are non-passenger stations where no users are waiting, and therefore the operation management server 100 causes the regular operation vehicle 10 to pass through the Y station and the X station. By thus operating the regular operation vehicle 10, it is possible to recover the time corresponding to the delay from the regular operation plan. Figure 10

[0128] 3-6. Effects

[0129] In the above four specific examples, in the case where it is predicted that the arrival of the on-demand vehicle 20 at the user 40's side at the optimal time is hindered by the regular operation vehicle 10, different processing is performed depending on whether or not there are passengers on board the regular operation vehicle 10. If there are passengers on board the regular operation vehicle 10, the arrival time of the on-demand vehicle 20 at the user 40's side is delayed from the optimal time, and the regular operation vehicle 10 is caused to travel according to the regular operation plan. However, if there are no passengers on board the regular operation vehicle 10, even if the regular operation vehicle 10 is delayed from the regular operation plan, the on-demand vehicle 20 is caused to arrive at the user 40's side at the optimal time. By thus changing the operation plan of the regular operation vehicle 10 depending on the presence or absence of passengers on board the regular operation vehicle 10, it is possible to prioritize the passengers of the regular operation vehicle 10 while also improving the convenience for the user 40 of the on-demand vehicle 20.

[0130] 4. Other

[0131] ​In the four specific examples of the above-described embodiments, all of the passing places are parking stations, but passing places other than parking stations can also be included. However, as a place where the regular operation vehicle 10 waits for the on-demand vehicle 20 to pass, a parking station is preferable. This is because there is a possibility that a passenger will board the regular operation vehicle 10 that is parked. On the other hand, in a case where the on-demand vehicle 20 waits for the regular operation vehicle 10 to pass, the on standby can also be performed at any passing place including a parking station.

[0132] In each of the first to fourth examples, in a case where no passenger is on board the regular operation vehicle 10, the regular operation vehicle 10 can be operated at a speed faster than the travel speed specified by the regular operation plan after the regular operation vehicle 10 has stopped at a passing place to wait for the on-demand vehicle 20 to pass. In addition, it can be configured such that, in conjunction with the increase in the travel speed of the regular operation vehicle 10, the regular operation vehicle 10 is caused to pass a passenger-free parking station, which is a parking station in the regular operation plan where the regular operation vehicle 10 is to stop, without stopping at the passenger-free parking station.

[0133] The on-demand vehicle 20 is not used only by the user 40 who has made a reservation, and can be used as a vehicle for carpooling.

[0134] It can be configured such that at least one of the automatic driving ECU 12 of the regular operation vehicle 10 and the automatic driving ECU 22 of the on-demand vehicle 20 is included in the constituent elements of the operation system. In this case, the at least one processor means the processor 110 of the operation management server 100 and the processor of the automatic driving ECU 12 or the automatic driving ECU 22. In addition, in this case, the plurality of instructions means the instructions stored in the program memory 120 of the operation management server 100 and the instructions stored in the program memory of the automatic driving ECU 12 or the automatic driving ECU 22.

Claims

1. A method of operating vehicles, comprising operating scheduled vehicles and on-demand vehicles in an automated driving mode in a single lane, said single lane having multiple passing bays including parking areas, the method characterized in that, Accepting the situation where the predicted optimal arrival time of the on-demand vehicle is hindered by the scheduled vehicle operation, When there are passengers in the regularly operating vehicles. The arrival time of the on-demand vehicle to the user is delayed from the optimal time, so that the scheduled vehicle operates according to the scheduled operation plan. When there are no passengers on the regularly operating vehicles. The scheduled vehicle operation is delayed from the scheduled operation plan, so that the on-demand vehicle arrives at the user at the optimal time.

2. The method for operating a vehicle according to claim 1, characterized in that, If there are no passengers on the scheduled vehicle, after delaying the scheduled vehicle from the scheduled operation plan, the scheduled vehicle will not stop at a passengerless stop among the stops where the scheduled vehicle would stop in the scheduled operation plan, and the scheduled vehicle will pass through the passengerless stop.

3. The method for operating a vehicle according to claim 1, characterized in that, If there are no passengers in the scheduled vehicle, after delaying the scheduled operation from the scheduled operation plan, the scheduled vehicle is operated at a speed faster than the speed specified by the scheduled operation plan, so as to make up for the delay from the scheduled operation plan.

4. The method for operating a vehicle according to any one of claims 1 to 3, characterized in that, The on-demand vehicle is driven in a manner opposite to the regularly operating vehicle. When there are passengers in the regularly operating vehicles. The on-demand vehicle will pass the scheduled vehicle at a parking station located behind the pick-up point of the on-demand vehicle in the direction of travel of the on-demand vehicle. When there are no passengers on the regularly operating vehicles. The scheduled vehicle is positioned at a passing point ahead of the on-demand vehicle in the direction of travel, which is closer to the pick-up location than the pick-up point, until the on-demand vehicle passes.

5. The method for operating a vehicle according to any one of claims 1 to 3, characterized in that, The on-demand vehicle is configured to overtake the scheduled vehicle from behind. When there are passengers in the regularly operating vehicles. The on-demand vehicle overtakes the scheduled vehicle at a stop located ahead of the on-demand vehicle's direction of travel, in a location that is further ahead of the on-demand vehicle's pick-up point than the pick-up point where the on-demand vehicle picks up the user. When there are no passengers on the regularly operating vehicles. The scheduled vehicle is placed at a passing position located behind the on-demand vehicle's direction of travel, which is further back than the pick-up point, until the on-demand vehicle passes.

6. The method for operating a vehicle according to any one of claims 1 to 3, characterized in that, The optimal time is the earliest time when the on-demand vehicle can be dispatched to the user, assuming there are no other vehicles on the single lane.

7. The method for operating a vehicle according to any one of claims 1 to 3, characterized in that, The optimal time is the designated time when the on-demand vehicle is dispatched to the user.

8. A vehicle operation system comprising a system for operating scheduled vehicles and on-demand vehicles in an automated driving mode in a single lane, said single lane having multiple passing bays including parking stops, the operation system being characterized by having: At least one processor; and A program memory, which is combined with the at least one processor, stores a plurality of executable instructions. The plurality of executable instructions are configured to cause the at least one processor to execute: Accepting the situation where the predicted optimal arrival time of the on-demand vehicle is hindered by the scheduled vehicle operation, When there are passengers in the regularly operating vehicles. The arrival time of the on-demand vehicle to the user is delayed from the optimal time, so that the scheduled vehicle operates according to the scheduled operation plan. When there are no passengers on the regularly operating vehicles. The scheduled vehicle operation is delayed from the scheduled operation plan, so that the on-demand vehicle arrives at the user at the optimal time.

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