Information processing method, information processing device, and program

Abstract

An information processing method according to the present disclosure is an information processing method performed by an information processing system that manages the operation of at least one autonomous vehicle traveling in a specific area in which at least one target object exists. In the information processing method, operation information relating to autonomous vehicles in a specific area is acquired, a reference distance that varies based on the operation information is defined for each autonomous vehicle, position information of the autonomous vehicles that are traveling is acquired, and the position information of the autonomous vehicles that are traveling is acquired. When the distance between the autonomous vehicle and the target object is equal to or less than the reference distance, the autonomous vehicle is coordinated with the target object.

Description

Technical Field

[0001] This disclosure relates to an information processing method, an information processing apparatus, and a program. Background Technology

[0002] Previously, fleet management systems (FMS) that managed the operation of autonomous vehicles in specific areas such as highways, factories, airports, and ports generated operation plans that considered task and facility information, and then directed the actions and operations of autonomous vehicles based on these plans. Therefore, there is a need to achieve efficient operation while simultaneously matching multiple autonomous vehicles, infrastructure equipment, and operation plans.

[0003] For example, Patent Document 1 discloses the following technology: by assigning identifiers to multiple autonomous vehicles and acting as intermediaries, they can communicate directly with other autonomous vehicles within a specified geographical proximity, thereby realizing information exchange between autonomous vehicles.

[0004] For example, Patent Document 2 discloses the following technology: determining an infrastructure coordination range for coordinating the operation of the vehicle-mounted device and the infrastructure sensors, and starting or stopping the coordination operation within the determined infrastructure coordination range, thereby achieving vehicle driving assistance corresponding to the setting status of the infrastructure sensors.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent No. 6742224

[0008] Patent Document 2: Japanese Patent Application Publication No. 2020-140531 Summary of the Invention

[0009] The problem the invention aims to solve

[0010] In the case of autonomous vehicles collaborating with infrastructure equipment, from the perspective of adaptability to surrounding conditions and driving conditions, direct communication between them is desirable. However, there are problems such as difficulty in achieving matching with other vehicles traveling in the vicinity and operational plans. On the other hand, when instructions are issued from the FMS to the autonomous vehicles based on information from the infrastructure equipment side, or instructions are issued to the infrastructure equipment based on operational plans, there are problems that compromise adaptability. Therefore, there is room for improvement in the collaboration between autonomous vehicles and infrastructure equipment, as well as target objects such as goods being transported, from the perspective of balancing efficiency and adaptability.

[0011] This disclosure was made in view of the foregoing, and one of its purposes is to provide a solution for the collaboration between autonomous vehicles and target objects, taking into account both efficiency and adaptability.

[0012] Solution for solving the problem

[0013] The information processing method disclosed herein is an information processing method executed by an information processing system that manages the operation of at least one autonomous vehicle traveling in a specific area where at least one target object exists. In the information processing method,

[0014] Obtain operational information related to the autonomous vehicle in the specific area.

[0015] A reference distance, varying based on the operational information, is defined for each of the aforementioned autonomous vehicles.

[0016] Obtain the location information of the autonomous vehicle while it is in motion.

[0017] When the distance between the autonomous vehicle and the target object becomes below the reference distance, the autonomous vehicle coordinates with the target object.

[0018] Invention Effects

[0019] According to this disclosure, the collaboration between autonomous vehicles and target objects can balance efficiency and adaptability. Furthermore, the effects described herein are not necessarily limited and may include any effects described in this specification. Attached Figure Description

[0020] Figure 1 This is a diagram illustrating an example of the outline structure of the integrated management system involved in the implementation method.

[0021] Figure 2 This is a diagram illustrating an example of the hardware structure of an information processing device that shows the functions of each device included in the integrated management system involved in the implementation of the embodiment.

[0022] Figure 3 This is a sequence diagram illustrating an example of the information processing flow performed by the integrated management system involved in the implementation.

[0023] Figure 4 This is a diagram illustrating an example of the coordination intervals for each vehicle in the integrated management system involved in the implementation.

[0024] Figure 5 This is a flowchart illustrating an example of the process performed by the fleet management system involved in the implementation.

[0025] Figure 6This is a flowchart illustrating an example of the process for creating a coordination zone performed by the fleet management system involved in the implementation.

[0026] Figure 7 This is a diagram illustrating an example of coordination interval size information based on the importance of running tasks involved in the implementation.

[0027] Figure 8 This is a diagram illustrating an example of the connection information involved in the implementation method.

[0028] Figure 9 This is a flowchart illustrating an example of the process of updating a coordination interval performed by the fleet management system involved in the implementation.

[0029] Figure 10 This is a sequence diagram illustrating another example of the information processing flow performed by the fleet management system involved in the implementation.

[0030] Figure 11 This diagram illustrates an example of an application scenario of the integrated management system involved in the implementation method.

[0031] Figure 12 This is a diagram illustrating another example of an application scenario of the integrated management system involved in the implementation method.

[0032] Figure 13 This is a diagram illustrating another example of an application scenario of the integrated management system involved in the implementation method. Detailed Implementation

[0033] Hereinafter, with reference to the accompanying drawings, embodiments of the information processing method, information processing apparatus, information processing system, mobile body, program, and recording medium involved in this disclosure will be described in detail.

[0034] Furthermore, in the description of this disclosure, structural elements that have the same or substantially the same function as the structural elements described in the previously presented figures are sometimes labeled with the same reference numerals and their descriptions are appropriately omitted. Additionally, even when indicating the same or substantially the same parts, they are sometimes shown in different sizes and scales depending on the figures. Furthermore, for example, from the viewpoint of ensuring visual clarity of the figures, sometimes only the main structural elements are labeled with reference numerals in the description of each figure, and even structural elements that have the same or substantially the same function as the structural elements described in the previously presented figures are not labeled with reference numerals.

[0035] Furthermore, in the description of this disclosure, structural elements having the same or substantially the same function are sometimes distinguished by appending alphanumeric characters and / or symbols to the end of the reference numerals. Alternatively, when multiple structural elements having the same or substantially the same function are not distinguished, the alphanumeric characters and / or symbols appended to the end of the reference numerals are sometimes omitted for uniform description.

[0036] Previously, regarding autonomous driving, specific autonomous vehicles were researched and used based on the desired implementation. In specially limited applications such as the promotion of business using autonomous vehicles, the use of a single autonomous vehicle was used, while the goal was to improve the efficiency of operations using multiple autonomous vehicles. In applications using multiple autonomous vehicles, physical cooperation between vehicles is required, and on the other hand, the management of multiple vehicle types and cooperation with different equipment are also sought.

[0037] However, in the context of multi-model autonomous vehicles, it is believed that there is a mix of autonomous vehicles of different models corresponding to different purposes (businesses). Furthermore, it is assumed that the control signals and control methods differ for each model. Additionally, it is believed that the providers (operators) are different. Therefore, in applications using multiple models of autonomous vehicles, there is generally a problem that it is impossible to treat each autonomous vehicle in the same way.

[0038] Therefore, the integrated management system disclosed herein is configured to execute an information processing method in which the operator's business is transformed into mobility tasks for the unified processing of different business operations and vehicle types, and the autonomous driving of different vehicle types is managed. More specifically, the integrated management system disclosed herein is configured to execute an information processing method in which the operation of autonomous vehicles is appropriately managed in cooperation with infrastructure equipment such as signal devices and external target objects such as goods being transported.

[0039] (First Implementation)

[0040] Figure 1 This is a diagram illustrating an example of the outline structure of the integrated management system 1 according to the embodiment. (See diagram for example.) Figure 1 As shown, the integrated management system 1 includes at least one vehicle 2, at least one device 3, a business system 4, and a fleet management system (FMS) 5.

[0041] At least one vehicle 2 is an example of a mobile body that performs various tasks related to services such as delivery, security, cleaning, childcare, nursing, sales, agricultural work, manufacturing, cargo loading and unloading, transportation, and engineering, including autonomous driving (automatic driving). For example, vehicle 2 is configured to move autonomously to perform a prescribed task. Furthermore, vehicle 2 may also be configured to move according to remote instructions, remote operation, or direct operation by an operator monitoring multiple vehicles 2, a management system, or a driver to perform a prescribed task.

[0042] Furthermore, each of the at least one vehicle 2 can be either a four-wheeled vehicle or a two-wheeled vehicle. Additionally, each vehicle 2 can be, for example, an automated guided vehicle (AGV), or various mobile bodies such as construction machinery, agricultural machinery, or drones. Moreover, these mobile bodies are not limited to those transporting people; they can also be those transporting objects other than people, or they can be mobile bodies providing specific services rather than just transportation.

[0043] At least one device 3 is a type of device existing in a specific area where at least one vehicle 2 travels. Here, a specific area refers to a designated area such as a highway, factory, airport, or port where at least one target object exists. Furthermore, a specific area refers to a designated area that serves as the object for managing the operation of the vehicle 2 (autonomous vehicle) traveling within that area. Each of the at least one device 3 can also be infrastructure equipment such as a traffic signal, automatic door, or gate, a cargo management system, or an emergency vehicle-side terminal. In this embodiment, a traffic signal (infrastructure equipment) at an intersection along the travel path of the vehicle 2 (autonomous vehicle) in a specific area (e.g., an airport) is primarily illustrated.

[0044] Business system 4 is an information processing system used by operators of services provided by the movement of at least one vehicle 2, such as the transport of goods and people. Business system 4 sends managed business information to fleet management system 5. This business information may include, for example, requests for the transport of goods. As an example, the business information includes information indicating the goods to be transported, as well as information indicating the source and destination of each piece of goods.

[0045] The fleet management system 5 is an information processing system used by operators to manage autonomous vehicles of different models. The fleet management system 5 is communicatively connected to the business system 4 via any electrical communication line (network). Furthermore, the fleet management system 5 is communicatively connected to each of at least one vehicle 2 via any electrical communication line (network). Additionally, the fleet management system 5 is communicatively connected to each of at least one device 3 via any electrical communication line (network).

[0046] The fleet management system 5 includes an operations management department 51, a vehicle management department 52, a map information management department 53, map data 54, infrastructure information 55, a coordination interval management department 56, a coordination interval determination department 57, and a connection information generation department 58.

[0047] The Operations Management Department 51 acquires business information from the Business System 4, map information from the Map Information Management Department 53, and vehicle information from the Vehicle Management Department 52. The map information from the Map Information Management Department 53 may also be route candidate information. Furthermore, based on the business information, map information, and vehicle information, the Operations Management Department 51 transforms the operator's business into a mobility task and formulates an operation plan for vehicle 2. Additionally, the Operations Management Department 51 provides the Vehicle Management Department 52 with operation instructions according to the formulated operation plan. Finally, the Operations Management Department 51 provides operation information according to the formulated operation plan to the Coordination Section Management Department 56.

[0048] The vehicle management unit 52 acquires operation instructions from the operation management unit 51, map / coordinate definition information from the map information management unit 53, and vehicle information and vehicle location information from at least one vehicle 2. Based on the operation instructions, map / coordinate definition information, vehicle information, and vehicle location information, the vehicle management unit 52 manages the operation of at least one vehicle 2 in a specific area. The vehicle management unit 52 supplies the vehicle information of each vehicle 2 in the at least one vehicle 2 to the operation management unit 51. Additionally, the vehicle management unit 52 supplies the vehicle location information of each vehicle 2 in the at least one vehicle 2 to the coordination interval determination unit 57.

[0049] Here, vehicle information refers to, for example, images from cameras mounted on vehicle 2 and vehicle body information. This vehicle body information may include sensor information from GNSS (Global Navigation Satellite System) systems such as LiDAR (Light Detection and Ranging), radar, sonar, and GPS (Global Positioning System) attached to the vehicle body of vehicle 2, as well as sensor information such as target information, location information, and map information obtained by processing these sensor information.

[0050] The Map Information Management Department 53 manages the map data 54 and infrastructure information 55. The Map Information Management Department 53 acquires the map / coordinate definition information stored in the map data 54 and the infrastructure information stored in the infrastructure information 55. The Map Information Management Department 53 supplies the map / coordinate definition information, or map information based on the map / coordinate definition information, to the Operations Management Department 51. Additionally, the Map Information Management Department 53 supplies the map / coordinate definition information to the Vehicle Management Department 52. Furthermore, the Map Information Management Department 53 supplies the infrastructure information to the Coordination Section Management Department 56.

[0051] Map data 54 is a database that stores map / coordinate definition information. Map / coordinate definition information can also be coordinate information that defines driving routes or the location of structures in a specific area.

[0052] Infrastructure information 55 is a database that stores location information and function information of each device in at least one device. Infrastructure information 55 is connected to each device 3 in at least one device 3 in a communicative manner via any electrical communication line (network). In addition, infrastructure information 55 obtains the status of each device 3 and updates the infrastructure information by communicating with each device 3 in at least one device 3.

[0053] The Coordination Section Management Unit 56 obtains operational information according to the operational plan from the Operation Management Unit 51 and infrastructure information from the Map Information Management Unit 53. Based on the operational information and infrastructure information, the Coordination Section Management Unit 56 generates a coordination section for each vehicle 2, specifying the range between the vehicle 2 and the equipment 3 (target object) below a reference distance, thus ensuring their coordination. This reference distance varies based on the operational information and is defined for each vehicle 2. As an example, the Coordination Section Management Unit 56 generates a coordination section based on the coordination section size information (see reference...). Figure 7 The coordination interval is defined by its size. Furthermore, the size information of the coordination interval is predetermined and can be maintained by the coordination interval management unit 56 or stored in the internal memory of the fleet management system 5. The coordination interval management unit 56 supplies the interval information representing the coordination interval to the coordination interval determination unit 57.

[0054] Here, the operational information supplied from the Operations Management Department 51 to the Coordination Section Management Department 56 refers to information including business task information, operational plan information, and authentication information. Business task information includes information about the purpose of tasks such as flight arrival, flight departure, pick-up, drop-off, and return. Additionally, business task information includes information on the priority, urgency, and task importance of the objects being transported. Operational plan information includes route information, destination, and distance to the destination. Furthermore, operational plan information includes object-side location information and object function information. Authentication information includes vehicle category and vehicle access rights information. Additionally, authentication information includes object identification information. Furthermore, this information is just one example and can be modified appropriately.

[0055] The coordination interval determination unit 57 acquires interval information from the coordination interval management unit 56 and vehicle position information of each vehicle 2 among at least one vehicle 2 that is the object of the operation instruction from the vehicle management unit 52. Based on the interval information and vehicle position information, the coordination interval determination unit 57 determines whether a vehicle 2 has entered the coordination interval. The coordination interval determination unit 57 supplies the determination result to the connection information generation unit 58.

[0056] The connection information generation unit 58 obtains the determination result from the coordination interval determination unit 57 regarding whether vehicle 2 has entered the coordination interval. If vehicle 2 has entered the coordination interval, the connection information generation unit 58 generates connection information related to the corresponding vehicle 2 and device 3 (see reference). Figure 8 This connection information is used to determine the matching of the connection request. The connection information generation unit 58 supplies the connection information to the corresponding vehicle 2 and equipment 3 respectively.

[0057] Figure 2 This diagram illustrates an example of the hardware structure of an information processing device that implements the functions of each device included in the integrated management system 1 according to the embodiment. The information processing device 8 is a computer that uniformly controls the operation of the entire device system included in the integrated management system 1.

[0058] In addition, the information processing device 8 that realizes the various functions of vehicle 2 can also be a computer such as an ECU (Electronic Control Unit) installed inside vehicle 2, a DCU (Domain Control Unit) that integrates multiple ECUs into a CDC (Cockpit Domain Controller), or an OBU (On Board Unit).

[0059] like Figure 2As shown, the information processing device 8 includes a processor 81, a ROM (Read Only Memory) 82, a RAM (Random Access Memory) 83, and a device I / F (interface) unit 84.

[0060] The processor 81 is, for example, a CPU (Central Processing Unit), but in addition to or as a replacement for a CPU, at least one of various processors such as a GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array) can be appropriately utilized. Here, the processor 81 involved in the embodiment is an example of at least one processor in the information processing apparatus 8.

[0061] As an example, the processor 81 of the fleet management system 5 implements, for instance, by executing a program stored in ROM 82. Figure 1 The functions of the illustrated Operations Management Department 51, Vehicle Management Department 52, Map Information Management Department 53, Coordination Section Management Department 56, Coordination Section Determination Department 57, and Connection Information Generation Department 58 are as follows. Furthermore, in Figure 1 In the example, only the functions required to illustrate the main parts of the implementation are shown, but the functions of each device included in the integrated management system 1 are not limited to these.

[0062] In this implementation, the processor 81 executes a program stored in the ROM 82 to implement the functions of each device that includes the functions of the aforementioned parts. However, this is not a limitation; some or all of these functions may also be implemented by dedicated hardware circuitry. Furthermore, in each device of the integrated management system 1, two or more functions may be integrated into one function. Similarly, in each device of the integrated management system 1, one function may be divided into two or more functions. Additionally, in the integrated management system 1, the functions of two or more devices may be integrated into at least one function of any one device. Similarly, in the integrated management system 1, the function of one device may be divided into two or more functions of two or more devices.

[0063] ROM 82 is a non-volatile memory, an auxiliary storage device for storing various information, including programs executed by processor 81. The memory of the information processing device 8 is not limited to ROM 82; various recording media and recording devices such as HDD (Hard Disk Drive), SSD (Solid State Drive), and flash memory can be appropriately utilized. RAM 83 is a volatile memory having the operating area of ​​processor 81 and is the main storage device. Here, ROM 82 and RAM 83 according to the embodiment are examples of at least one memory in the information processing device 8. Device I / F section 84 is an interface for connecting to other devices of the information processing device 8 in various devices included in the integrated management system 1, such as communication devices (not shown), display devices (not shown), and input devices (not shown).

[0064] Next, referring to the accompanying drawings, an example of the operation of the integrated management system 1 configured as described above will be explained. Furthermore, the operation process and processing flow described below are just one example; the order of steps can be arbitrarily changed, some steps can be deleted, and other steps can be added.

[0065] Figure 3 This is a sequence diagram illustrating an example of the information processing flow performed by the integrated management system 1 according to the embodiment.

[0066] The fleet management system 5 acquires infrastructure information related to at least one device 3 and operational information related to at least one vehicle 2 (S101). Based on the acquired operational and infrastructure information, the fleet management system 5 generates a coordination interval for each vehicle 2 within the at least one vehicle 2 included in the operational information (S102). Furthermore, each vehicle 2 within the at least one vehicle 2 sends vehicle information to the fleet management system 5 at a predetermined period when driving begins (S103) (S104). The fleet management system 5 acquires the vehicle information from each vehicle 2 (S105) and determines whether each vehicle 2 has entered the coordination interval based on interval information representing the coordination interval of each vehicle 2 and vehicle position information of each vehicle 2 (S106). Then, if it is determined that a vehicle 2 has entered the coordination interval, the fleet management system 5 generates connection information (S107) and sends the generated connection information to the corresponding vehicle 2 and device 3 (S108). Additionally, the vehicle 2 and device 3 respectively receive the connection information from the fleet management system 5 (S109-S110).

[0067] Figure 4 This is a diagram illustrating an example of the coordination intervals 601, 602 for each vehicle 2 in the integrated management system 1 involved in the implementation. Figure 4Example of an intersection where the first driving path 701 and the second driving path 702 intersect. Figure 4 Examples include a first traffic signal 3-1 for the first travel path 701 and a second traffic signal 3-2 for the second travel path 702, respectively installed at an intersection. Additionally, Figure 4 Examples include a first vehicle 2-1 traveling toward an intersection in a first travel path 701 and a second vehicle 2-2 traveling toward an intersection in a second travel path 702.

[0068] exist Figure 4 In the example, the fleet management system 5 generates a coordination interval 601 for the first vehicle 2-1 based on infrastructure information related to the first signal 3-1 and operational information related to the first vehicle 2-1. Similarly, the fleet management system 5 generates a coordination interval 602 for the second vehicle 2-2 based on infrastructure information related to the second signal 3-2 and operational information related to the second vehicle 2-2. Here, in the operational information, the priority of the first vehicle 2-1 is set to be higher than that of the second vehicle 2-2. In this case, as... Figure 4 As illustrated, the coordination interval 601 of the first vehicle 2-1 is generated to be larger than the coordination interval 602 of the second vehicle 2-2.

[0069] exist Figure 4 In the example, even if the second vehicle 2-2 enters the coordination zone 601 of the first vehicle 2-1, the fleet management system 5 does not generate connection information and sets it as unable to coordinate. On the other hand, if the second vehicle 2-2 enters the coordination zone 602, the fleet management system 5 generates connection information and sets it as capable of coordination. Similarly, if the second vehicle 2-2 enters the coordination zone 602, the fleet management system 5 generates connection information and sets it as capable of coordination. If the first vehicle 2-1 enters the coordination zone 601 of the first vehicle 2-1, connection information is generated and set as capable of coordination. Thus, the vehicle with priority obtains control (claim) first from the position furthest from the signal.

[0070] Vehicle 2, which receives the connection information, i.e., vehicle 2 with the right to request, sends a connection request to device 3, which is the target device (S111a). Here, the connection request refers to a request for control of the target device. Furthermore, device 3, which receives the connection request, determines the matching of the connection information (S112a). If the matching is successful, it sends connection acceptance information to vehicle 2, which sent the connection request, and establishes a connection with vehicle 2 (S113a). In other words, vehicle 2, which receives the connection information, establishes communication with the corresponding device 3 (target device) based on the connection information.

[0071] Vehicle 2, having received the connection acceptance information, coordinates with the target object by sending a status change request (S114). Here, a status change request refers to a request to change the status of the target object. For example, a status change request could also be a request to change the status of a traffic signal on the vehicle's route to a state where the vehicle can pass (e.g., a green light). When device 3 receives a status change request from vehicle 2 (S115), it determines whether a status change can be performed according to the status change request (S116), and if the status change is permitted, it changes the status according to the status change request (S117). After performing the status change according to the status change request, device 3 sends status information indicating the changed status to vehicle 2, which sent the status change request (S118a). In addition, vehicle 2 receives status information from device 3 corresponding to the status change request (S119a).

[0072] The following describes in more detail an example of the operation of the integrated management system 1 involved in the implementation method.

[0073] Figure 5 This is a flowchart illustrating an example of the process performed by the fleet management system 5 according to the implementation method. Figure 5 The process is illustrated in Figure 3 The information processing is performed on the 5th side of the fleet management system.

[0074] The coordination section management unit 56 obtains infrastructure information from the map information management unit 53 (S201). Additionally, the coordination section management unit 56 obtains operational information for all vehicles 2 (S202), and based on the operational and infrastructure information, performs coordination section creation processing for each vehicle 2 (see reference). Figure 6 (S203). Here, "all vehicles 2" in the coordination interval refers to, for example, all vehicles 2 included in the operation information, but is not limited to this. The coordination interval management unit 56 may also obtain vehicle information from the vehicle management unit 52 to generate coordination intervals for other vehicles 2.

[0075] Furthermore, the processes S201 to S203 are performed, for example, before the implementation of the operation plan that specifies the operation information. Moreover, during the implementation of the operation plan, the processes S204 to S206 are repeated for each of the vehicles 2 in motion. Here, the vehicles 2 targeted by the processes S204 to S206 refer to, for example, all the vehicles 2 in motion included in the operation information, but are not limited to this. For example, the processes may also be performed similarly for the vehicles 2 included in the operation information before the start of travel.

[0076] The coordination interval determination unit 57 acquires vehicle information (S204) and determines whether each vehicle 2 has entered its respective coordination interval (S205). If the vehicle has not entered its coordination interval (S205: "No"), for each vehicle 2 in motion... Figure 5 The process returns to S204 for processing, specifically for each vehicle 2 that has completed its journey. Figure 5 The process ends. Processing steps S204-S206 are completed. On the other hand, if a coordination interval is entered (S205: "Yes"), the connection information generation unit 58 generates and sends connection information related to the corresponding vehicle 2 and device 3 respectively (S206). Afterwards, for each vehicle 2 in motion... Figure 5 The process returns to S204 for processing, specifically for each vehicle 2 that has completed its journey. Figure 5 The process is complete.

[0077] Furthermore, the processing of S201~S203 before the implementation of the operation plan and the processing of S204~S206 during the implementation of the operation plan can be executed as a series of processes or independently at different times.

[0078] Figure 6 This is a flowchart illustrating an example of the process for creating a coordination zone performed by the fleet management system 5 according to the implementation method. Figure 6 Example of creating a coordination interval for any vehicle 2 ( Figure 5 (S203). The coordination section management department 56 retrieves the equipment 3 located on the route of vehicle 2 based on operation information and infrastructure information (S301). If there is no equipment 3 on the route of vehicle 2 (S302: "No"), Figure 6 The process ends, return to Figure 5 The process is as follows. On the other hand, if there is at least one device 3 on the route of vehicle 2 (S302: "Yes"), the coordination interval management unit 56 determines the importance of the operation task based on the business task information contained in the operation information (S303). In addition, the coordination interval management unit 56 creates a coordination interval of a size corresponding to the importance of the operation task for all devices 3 on the route of vehicle 2 based on the coordination interval size information 61 (S304). After creating the coordination interval for all devices 3 on the route of vehicle 2, Figure 6 The process ends, return to Figure 5 The process.

[0079] Figure 7 This is a diagram illustrating an example of the coordination interval size information 61 based on the importance of the running task involved in the implementation. As an example, such as... Figure 7As shown, the coordination interval size information 61 is pre-determined information representing the category, importance, and relationship between coordination interval sizes of the running tasks. Figure 7 In the examples, the importance level of "5" and the coordination interval size of "200m" correspond to the task category "VIP in transit". Additionally, the importance level of "4" and the coordination interval size of "150m" correspond to the task category "Priority transport in progress". Furthermore, the importance level of "3" and the coordination interval size of "80m" correspond to the task category "Transportation in progress". Additionally, the importance level of "2" and the coordination interval size of "50m" correspond to the task category "Empty vehicle dispatch in progress". Finally, the importance level of "1" and the coordination interval size of "30m" correspond to the task category "Return after task completion". Furthermore, Figure 7 The structure of the coordination interval size information 61 is an example, and its items and corresponding parameters can be appropriately modified. Here, the coordination interval size (the size of the coordination interval) corresponds to the length of the reference distance.

[0080] Furthermore, the size of the coordination interval can be defined, for example, using the number of waypoints on the chart data. Alternatively, the size can be defined, for example, using the distance or number of waypoints along the route of vehicle 2. Additionally, the size can be defined using the arrival time to device 3 based on the vehicle 2's speed or a predetermined speed. Furthermore, the size of the coordination interval can be defined using a region of a defined shape. This region can be defined by multiple vertices, or by a shape that can be represented on a map, such as a circle or ellipse. Moreover, the coordination interval is not limited to being defined using a coordinate system based on map information (a specific area); it can also be defined using a moving coordinate system centered on vehicle 2.

[0081] Furthermore, the size of the coordination interval can vary depending on the vehicle type, speed, or predetermined speed of vehicle 2, and the available lanes. For emergency vehicles or vehicles on emergency missions, the size of the coordination interval can also be set to an infinitely large size. In other words, for emergency vehicles or vehicles on emergency missions, it can also be set to be always connected (always coordinated).

[0082] Alternatively, multiple coordination intervals can be created for a single vehicle 2. That is, multiple reference distances can be defined for a single vehicle 2. For example, two coordination intervals can be created for a single vehicle 2, with the larger interval (the first reference distance) set as the pre-request acceptance range for the connection request, and the smaller interval (the second reference distance) set as the range for initiating action (establishing a connection) upon request. Furthermore, while coordination intervals can be created for each vehicle 2, they can also be created for each vehicle type, each task category, each driving speed, or each predetermined driving speed (e.g., a coordination interval of 20 km / h and a coordination interval of 5 km / h), and each drivable lane.

[0083] In addition, the coordination object can be between vehicle 2 and other vehicles 2, between the operator's fleet management system (FMS) and the equipment 3.

[0084] Alternatively, the connection used for acquiring signal information can be set to be connectable regardless of the coordination interval, without being based on a request.

[0085] Figure 8 This is a diagram illustrating an example of the connection information 63 involved in the implementation method. For example... Figure 8 As shown, the connection information 63 can also be a structure containing the command content 631, the issuance time 632, the expiration time 633, and a hash 634. For example, in the fleet management system 5, the connection information generation unit 58 generates the command to be issued and appends the hash 634 using its own private key. Then, vehicle 2 sends the connection information to device 3 at the expected time. In device 3, which receives the connection information, the certificate (public key) of the fleet management system 5 is used to determine the matching of the connection information 63.

[0086] Thus, the integrated management system 1 of this embodiment is configured to mediate between vehicle 2 (autonomous vehicle) and device 3 (target object) using a coordination interval generated for each vehicle 2. Specifically, the integrated management system 1 of this embodiment defines the reference distance of each vehicle 2, which varies based on operational information, as the coordination interval. Furthermore, the integrated management system 1 of this embodiment coordinates between vehicle 2 and target object when the distance between vehicle 2 and target object becomes below the reference distance, i.e., when vehicle 2 enters the coordination interval.

[0087] According to this structure, autonomous vehicles can directly cooperate with infrastructure equipment while achieving matching with other vehicles and operational plans traveling in the vicinity. Therefore, the integrated management system 1 according to this embodiment can appropriately manage the operation of autonomous vehicles by cooperating with devices 3 such as signal devices and external objects such as goods being transported. In other words, the integrated management system 1 according to this embodiment can balance efficiency and adaptability regarding the cooperation between autonomous vehicles and target objects.

[0088] Furthermore, according to the above structure, when vehicle 2 cooperates with the target object, the final judgment related to driving is made by vehicle 2 and the target object, thus ensuring its safety.

[0089] Furthermore, based on the above structure, the integrated management system 1 disclosed herein can be applied to existing connection and management methods for vehicles and target objects used by other operators.

[0090] Hereinafter, other embodiments of the present disclosure will be described. Furthermore, in the descriptions of each of the following embodiments, the differences will be mainly explained, and content that overlaps with the above will be appropriately omitted.

[0091] (Second Implementation)

[0092] Furthermore, in the integrated management system 1 described in the above-described implementation, it is also possible to determine whether an update of the coordination interval is needed, and to dynamically change the coordination interval according to the condition of the vehicle 2.

[0093] Figure 9 This is a flowchart illustrating an example of the process of updating the coordination interval performed by the fleet management system 5 according to the embodiment.

[0094] The coordination interval management unit 56 acquires infrastructure information (S401). Additionally, the coordination interval management unit 56 acquires operation information and vehicle information (S402), and based on the operation information, infrastructure information, and vehicle information, determines whether an update of the coordination interval is needed (S403). For example, if the operation information is updated, such as when a new vehicle 2 is added to the operation plan, or when the service content of vehicle 2 is changed, the coordination interval management unit 56 determines that an update of the coordination interval is needed. For example, if the coordination interval management unit 56 determines that an update of the coordination interval is needed (S403: "Yes"), it generates a coordination interval for each vehicle 2 that is the target of the update (S404). If the coordination interval is determined not to be needed (S403: "No"), or after updating the coordination interval in the process of S404, Figure 9 The process is complete.

[0095] also, Figure 9 The process can be combined with Figure 5 The processes can be executed separately, or in Figure 5 It can be executed in the processing of S201~S203 before the implementation of the operation plan, or it can be executed in the processing of S204~S206 during the implementation of the operation plan, or it can be executed in both. For example, in Figure 5 During the process, the coordination section management department 56 can also obtain vehicle information from the vehicle management department 52, and determine whether an update of the coordination section is needed based on the operation information, infrastructure information and vehicle information.

[0096] According to this structure, the coordination interval can be dynamically changed according to the condition of vehicle 2, thus enabling autonomous vehicles to directly cooperate with infrastructure equipment while obtaining matching operational information at the current point in time.

[0097] (Third Implementation)

[0098] Furthermore, in the integrated management system 1 described in the above-described embodiments, the connection subject sending the connection request can also be the device 3 side.

[0099] Figure 10 This is a sequence diagram illustrating another example of the information processing flow performed by the fleet management system 5 according to the embodiment. Here, the main focus is on... Figure 3 The difference lies in the process. Device 3, having received the connection information, sends a connection request to vehicle 2 that has entered the coordination zone (S111b). Furthermore, vehicle 2, having received the connection information, determines the matching of the connection information (S112b). If a match is found, it sends a connection acceptance message to device 3, which sent the connection request, and establishes a connection with device 3 (S113b). In other words, vehicle 2, having received the connection information, establishes communication with the corresponding device 3 (the target object) based on the connection information. Additionally, device 3, having received the connection acceptance message, sends status information to vehicle 2, which sent the connection acceptance message (S118b). Then, after receiving the status information from device 3 (S119b), vehicle 2 executes the processes S114 to S119a.

[0100] Furthermore, the process of S118b, in which device 3, having received the connection acceptance information, sends status information before receiving the status change request, is not a necessary structure and may be omitted. Alternatively, in Figure 3 In the process, it can also be set up to send status information before receiving a status change request.

[0101] Furthermore, the connection subject sending the connection request can be either vehicle 2 or device 3, or it can be a structure where a connection request is sent without being received, and an error is returned when a connection request is received after the connection request has been sent. Additionally, which of vehicle 2 or device 3 is the connection subject sending the connection request can vary for each vehicle 2 or each device 3.

[0102] Even with this structure, the same effect as the above-described implementation method can be achieved.

[0103] The following describes application examples of this disclosure.

[0104] (First application example)

[0105] Figure 11 This is a diagram illustrating an example of an application scenario of the integrated management system 1 involved in the implementation method. Figure 11 Example from Figure 4 The state begins with the first vehicle 2-1 traveling towards the intersection in the first travel path 701 entering the coordination section 601, and the second vehicle 2-2 traveling towards the intersection in the second travel path 702 waiting to enter the coordination section 602. Additionally... Figure 11 For example, in a second driving path 702 that competes with the first driving path 701 where the first vehicle 2-1 is traveling, the third vehicle 2-3 is still heading toward the intersection, and the fourth vehicle 2-4 is waiting to enter the coordination section 602.

[0106] like Figure 11 As illustrated, there are sometimes multiple vehicles 2 corresponding to the same state of device 3, such as other second vehicles 2-2 and third vehicles 2-3 in the same lane, and a fourth vehicle 2-4 in the opposite lane. In such cases, cooperation that considers both comprehensive prioritization and smooth traffic flow may be significantly better than cooperation that prioritizes only the first vehicle 2-1 with higher priority for connection rights. For example, as... Figure 11 As illustrated, even when the first vehicle 2-1 with higher priority is given the right of way, in situations where multiple vehicles 2 exist in the competing second driving path 702, it is sometimes best to allow multiple vehicles to pass first. This also takes into account situations where, even under the same conditions, an ambulance does not depend on the number of vehicles in the competing lane and wants to have priority, and therefore also depends on how urgent the first vehicle 2-1 is.

[0107] Therefore, the integrated management system 1 of this disclosure can also be configured to allow a vehicle 2 to have multiple coordination intervals. That is, the integrated management system 1 of this disclosure can also define multiple reference distances. In this case, a larger coordination interval can be set as the pre-request acceptance range, and a smaller coordination interval can be set as the range for starting action (actually allowing connection) according to the request. According to this structure, a delay interval before the start of action can be set. Therefore, assigning priority and having a time delay before implementation can also be defined as entering within a time-defined interval.

[0108] Alternatively, the integrated management system 1 of this disclosure can also be configured such that, in addition to the coordination interval, each vehicle 2 has a vehicle counting interval as described above. In this case, the integrated management system 1 of this disclosure can also determine whether to allow connection based on the number of vehicles in the vehicle counting interval when the vehicle 2 enters the action start range (coordination interval). The number of vehicles can also be the number of vehicles in the same lane and the competing lane that are close to the same device 3. Furthermore, the vehicle counting interval can be created in the same way as the coordination interval described above. In addition, the count of the vehicle's own lane and the count of the competing lane in the vehicle counting interval can be separately stored, and the determination can be based on these counts. Furthermore, the basis for counting the number of vehicles can vary based on the task urgency of the main vehicle 2. Furthermore, the vehicle count can also refer to information on dwell time. Furthermore, regarding the vehicle count, either the vehicle's own lane or the competing lane can be weighted. According to this structure, the priority can be dynamically changed based on the number of vehicles in the competing lane during the period before entering the action start range.

[0109] (Second Application Example)

[0110] For example, there may sometimes be manually driven vehicles or vehicles not managed by the fleet management system 5. In the case of manually driven vehicles, because their travel routes and operating plans are unknown, it is sometimes impossible for the fleet management system 5 to accurately grasp competing signals and other equipment. For example, the fleet management system 5 also considers situations where it is unclear whether manually driven vehicles should follow a straight-ahead signal or a right-turn signal.

[0111] Therefore, the integrated management system 1 of this disclosure can count vehicles in the same lane or proportionally allocate vehicles 2 that can be used as a travel route when only counting is required. Furthermore, when a request is made from a manually driven vehicle, the fleet management system 5 in the integrated management system 1 of this disclosure can also include the manually driven vehicle for management. When the fleet management system 5 can manage the operation of manually driven vehicles, the coordination interval can be defined in the same way as in the embodiments described above. In addition, the fleet management system 5 can pre-change the coordination interval based on whether it is a manually driven vehicle, the vehicle type, etc. Furthermore, when there are vehicles not managed by the fleet management system 5, the integrated management system 1 of this disclosure only needs to predetermine a predetermined coordination interval between the manually driven vehicle and the device 3, and set an interval appropriate to this predetermined coordination interval as the coordination interval for the autonomous vehicle. Furthermore, for example, when the manually driven vehicle is a vehicle with high urgency, the integrated management system 1 of this disclosure can set an interval smaller than the predetermined coordination interval for the manually driven vehicle as the coordination interval for the autonomous vehicle. According to this structure, even in the presence of manually driven vehicles and vehicles not managed by the fleet management system 5, it is possible to cooperate with external objects such as signal devices 3 and goods being transported to properly manage the operation of autonomous vehicles.

[0112] (Third application example)

[0113] For example, if the first vehicle 2-1 and the second vehicle 2-2 do not interfere with each other, priority can be disregarded. Therefore, to suppress useless coordination, it is necessary to appropriately set the interval. Here, we consider the case where the coordination interval 601 of the first vehicle 2-1 is larger than the coordination interval 602 of the second vehicle 2-2. Furthermore, the time until the first vehicle 2-1 arrives at the intersection is designated as "Time A". The time until the second vehicle 2-2 arrives at the intersection is designated as "Time B". The time for vehicle 2 to pass through the intersection and further switch the state of device 3 is designated as "Time C". In this case, as long as the relationship (Time A - Time B) > Time C is satisfied, the first vehicle 2-1 and the second vehicle 2-2 will not interfere with each other.

[0114] Therefore, the integrated management system 1 of this disclosure can also set the coordination interval in such a way that the difference between the maximum interval and the minimum interval is less than "time C". This allows for the suppression of situations where, although there is no impact (interference), the second vehicle 2-2 is forced to wait, thus achieving smooth operation.

[0115] (Fourth Application Example)

[0116] Figure 12 This is a diagram illustrating another example of an application scenario of the integrated management system 1 involved in the implementation method. Figure 12 This example illustrates how to define coordination zones based on road conditions. Figure 12 Examples include a first vehicle 2-1 traveling towards an intersection in a first travel path 701 and a second vehicle 2-2 traveling towards an intersection in a second travel path 702. Figure 12 In the example, the second travel path 702 is the priority road, and vehicle 2-2 traveling in the second travel path 702 is given priority over vehicle 2-1 traveling in the first travel path 701 regarding connection permission for device 3.

[0117] In such a case, the integrated management system 1 of this disclosure can also define coordination intervals 601a and 602a that favor the priority road side. For example, as Figure 12 As shown, the integrated management system 1 of this disclosure can also define a coordination interval that extends along the priority road, i.e., an ellipse whose major axis is along the priority road. Based on this structure, operation management that takes priority roads into account can be achieved through the definition of the coordination interval.

[0118] (Fifth Application Example)

[0119] Figure 13 This is a diagram illustrating another example of an application scenario of the integrated management system 1 involved in the implementation method. Figure 13 This example illustrates how to define coordination zones based on road conditions. Figure 13 Examples include a first vehicle 2-1 traveling toward an intersection in a first travel path 701 and a second vehicle 2-2 traveling toward an intersection in a second travel path 702. Figure 13 An example is a T-junction where a first travel path 701 on the main road side connects to a second travel path 702, such as an auxiliary road, on the side. Furthermore, this approach is not limited to T-junctions; it can also be applied to merging intersections. Regarding the connection permission for device 3, vehicle 2-1 traveling in the first travel path 701 is given priority over vehicle 2-2 traveling in the second travel path 702. This priority can be based on either the priority between travel paths or their traffic volume.

[0120] In such a case, the integrated management system 1 of this disclosure can also define coordination intervals 601b and 602b that are beneficial to the driving path side of the main road. For example, as Figure 13 As shown, the integrated management system 1 of this disclosure can also define elliptical coordination intervals extending along the first driving path 701 of the main road and the second driving path 702 of the auxiliary road, respectively; that is, elliptical intervals with major axes along each driving path and larger on the main road side. Based on this structure, priority-based road operation management can be achieved through the definition of the coordination intervals.

[0121] Furthermore, the above-described embodiments, variations, and applications can be combined arbitrarily.

[0122] Furthermore, in the above implementation, the determination of "whether it is A" can be achieved by determining only "is A", by determining only "is not A", or by determining both.

[0123] Furthermore, in the above-described embodiments, "any one of A" means "at least one of A".

[0124] Furthermore, the programs executed by each device of the integrated management system 1 according to the above embodiments can also be provided as installable or executable files recorded on computer-readable non-transitory recording media such as CD-ROM, FD, CD-R, DVD.

[0125] Alternatively, the programs executed by each device of the integrated management system 1 according to the above embodiments may be stored on a computer connected to a network such as the Internet, and provided by downloading via the network. Alternatively, the programs executed by each device of the integrated management system 1 according to the above embodiments may be provided or distributed via a network such as the Internet.

[0126] Alternatively, the program executed by each device of the integrated management system 1 according to the above-described embodiments may be pre-loaded into a ROM or the like.

[0127] According to at least one of the embodiments described above, the collaboration between autonomous vehicles and target objects can achieve both efficiency and adaptability.

[0128] The embodiments of this disclosure have been described above, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These new embodiments and their variations are included within the scope and spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents.

[0129] (Postscript)

[0130] Based on the description of the above embodiments, the following technology is disclosed. (1)

[0132] An information processing method, executed by an information processing system, wherein the information processing system manages the operation of at least one autonomous vehicle traveling in a specific area where at least one target object exists, wherein in the information processing method,

[0133] Obtain operational information related to the autonomous vehicle in the specific area.

[0134] A reference distance, varying based on the operational information, is defined for each of the aforementioned autonomous vehicles.

[0135] Obtain the location information of the autonomous vehicle while it is in motion.

[0136] When the distance between the autonomous vehicle and the target object becomes below the reference distance, the autonomous vehicle coordinates with the target object. (2)

[0138] According to the information processing method described in (1) above, wherein,

[0139] Obtain infrastructure information, which includes the location information of each of the at least one target object in the specific area.

[0140] Extract the target object located on the route of the autonomous vehicle based on the operational information.

[0141] If any of the target objects exists on the route, the reference distance is defined. (3)

[0143] According to the information processing method described in (1) or (2) above, wherein,

[0144] The operational information includes information about the task categories of the autonomous vehicle.

[0145] The baseline distance, with a corresponding length, is pre-established based on the information corresponding to the task category. (4)

[0147] According to any one of (1) to (3) above, in the information processing method,

[0148] If the operational information is updated, the reference distance is updated. (5)

[0150] According to any one of the information processing methods (1) to (4) above, wherein,

[0151] If the distance between the autonomous vehicle and the target object falls below the reference distance, connection information is sent to both the autonomous vehicle and the target object.

[0152] The autonomous vehicle and the target object, having received the connection information respectively, establish communication based on the connection information.

[0153] The autonomous vehicle coordinates with the target object by sending a state change request to the target object with which it has established communication, requesting a change in state. (6)

[0155] According to the information processing method described in (5) above, wherein,

[0156] Upon receiving the connection information, the autonomous vehicle sends a connection request based on the connection information to the target object.

[0157] The target object that receives the connection information determines the matching of the connection request based on the connection information. If the connection information and the connection request are matched, the target object establishes communication with the autonomous vehicle that sent the connection request. (7)

[0159] According to the information processing method described in (5) above, wherein,

[0160] Upon receiving the connection information, the target object sends a connection request based on the connection information to the autonomous vehicle.

[0161] The autonomous vehicle that receives the connection information determines the matching of the connection request based on the connection information. If the connection information and the connection request are matched, the autonomous vehicle establishes communication with the target object that sent the connection request. (8)

[0163] According to the information processing method described in (6) or (7) above, wherein,

[0164] For each of the aforementioned autonomous vehicles, two or more reference distances are defined.

[0165] The two or more reference distances include a first reference distance for accepting connection requests based on the connection information and a second reference distance for establishing a connection according to the connection request, wherein the second reference distance is smaller than the first reference distance. (9)

[0167] An information processing device (autonomous vehicle) operates in a specific area where at least one target object exists, configured to communicate with an information processing system that manages the operation of the vehicle, wherein...

[0168] If the distance to the target object falls below a reference distance, connection information is received from the information processing system, wherein the reference distance is defined for the vehicle based on operational information related to the vehicle in the specific area.

[0169] Communication with the target object is established based on the connection information.

[0170] Coordination is achieved by sending a state change request to the target object to request a change in its state, after communication has been established. (10)

[0172] A program causes a computer of an information processing system that manages the operation of at least one autonomous vehicle traveling in a specific area where at least one target object exists to perform the following processing:

[0173] Obtain operational information related to the autonomous vehicle in the specific area.

[0174] A reference distance, varying based on the operational information, is defined for each of the aforementioned autonomous vehicles.

[0175] Obtain the location information of the autonomous vehicle while it is in motion.

[0176] When the distance between the autonomous vehicle and the target object becomes below the reference distance, the autonomous vehicle coordinates with the target object. (11)

[0178] An information processing device comprising:

[0179] At least one processor; and

[0180] At least one memory,

[0181] The at least one processor executes the information processing method according to any one of (1) to (8) above by executing a program stored in the at least one memory. (12)

[0183] A program or a computer-readable, non-transitory storage medium storing the program.

[0184] The computer is made to perform the information processing method according to any one of (1) to (8) above.

[0185] Explanation of reference numerals in the attached figures

[0186] 1: Integrated Management System

[0187] 2: Vehicles

[0188] 2-1: First vehicle

[0189] 2-2: Second vehicle

[0190] 2-3: Third vehicle

[0191] 2-4: The fourth vehicle

[0192] 3: Equipment

[0193] 3-1: First Signal Device

[0194] 3-2: Second Signal Device

[0195] 4: Business Systems

[0196] 5: Fleet Management System

[0197] 51: Operations Management Department

[0198] 52: Vehicle Management Department

[0199] 53: Map Information Management Department

[0200] 54: Map Data

[0201] 55: Infrastructure Information

[0202] 56: Coordination Section Management Department

[0203] 57: Coordination Interval Determination Department

[0204] 58: Connection Information Generation Department

[0205] 601, 601a, 601b: First Coordination Interval

[0206] 602, 602a, 602b: Second Coordination Interval

[0207] 61: Coordinated Interval Size Information

[0208] 63: Connection Information

[0209] 701: First Driving Route

[0210] 702: Second Driving Route

[0211] 8: Information processing device

[0212] 81: Processor

[0213] 82: ROM

[0214] 83: RAM

[0215] 84: Equipment I / F Section.

Claims

1. An information processing method, executed by an information processing system, wherein, The information processing system manages the operation of at least one autonomous vehicle traveling in a specific area where at least one target object exists, and in the information processing method, Obtain operational information related to the autonomous vehicle in the specific area. A reference distance, varying based on the operational information, is defined for each of the aforementioned autonomous vehicles. Obtain the location information of the autonomous vehicle while it is in motion. When the distance between the autonomous vehicle and the target object becomes below the reference distance, the autonomous vehicle coordinates with the target object.

2. The information processing method according to claim 1, wherein, Obtain infrastructure information, which includes the location information of each of the at least one target object in the specific area. Extract the target object located on the route of the autonomous vehicle based on the operational information. If any of the target objects exists on the route, the reference distance is defined.

3. The information processing method according to claim 1, wherein, The operational information includes information about the task categories of the autonomous vehicle. The baseline distance, with a corresponding length, is pre-established based on the information corresponding to the task category.

4. The information processing method according to claim 1, wherein, If the operational information is updated, the reference distance is updated.

5. The information processing method according to claim 1, wherein, If the distance between the autonomous vehicle and the target object falls below the reference distance, connection information is sent to both the autonomous vehicle and the target object. The autonomous vehicle and the target object, having received the connection information respectively, establish communication based on the connection information. The autonomous vehicle coordinates with the target object by sending a state change request to the target object with which it has established communication, requesting a change in state.

6. The information processing method according to claim 5, wherein, Upon receiving the connection information, the autonomous vehicle sends a connection request based on the connection information to the target object. The target object that receives the connection information determines the matching of the connection request based on the connection information. If the connection information and the connection request are matched, the target object establishes communication with the autonomous vehicle that sent the connection request.

7. The information processing method according to claim 5, wherein, Upon receiving the connection information, the target object sends a connection request based on the connection information to the autonomous vehicle. The autonomous vehicle that receives the connection information determines the matching of the connection request based on the connection information. If the connection information and the connection request are matched, the autonomous vehicle establishes communication with the target object that sent the connection request.

8. The information processing method according to claim 5, wherein, For each of the aforementioned autonomous vehicles, two or more reference distances are defined. The two or more reference distances include a first reference distance for accepting connection requests based on the connection information and a second reference distance for establishing a connection according to the connection request, wherein the second reference distance is smaller than the first reference distance.

9. An information processing device that operates in a specific area where at least one target object exists, configured to communicate with an information processing system that manages the operation of the vehicle, wherein... If the distance to the target object falls below a reference distance, connection information is received from the information processing system, wherein the reference distance is defined for the vehicle based on operational information related to the vehicle in the specific area. Communication with the target object is established based on the connection information. Coordination is achieved by sending a state change request to the target object to request a change in its state, after communication has been established.

10. A program that causes a computer of an information processing system that manages the operation of at least one automated vehicle traveling in a specific area where at least one target object is present to perform the following processes: Obtain operational information related to the autonomous vehicle in the specific area. A reference distance, varying based on the operational information, is defined for each of the aforementioned autonomous vehicles. Obtain the location information of the autonomous vehicle while it is in motion. When the distance between the autonomous vehicle and the target object becomes below the reference distance, the autonomous vehicle coordinates with the target object.

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