Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device and a vehicle control method that enable a vehicle to search for a stopping place where it can realistically accommodate a person who wishes to board the vehicle when the vehicle stops at the request of the person who wishes to board the vehicle and accommodates that person.SOLUTION: A vehicle control device (11) for controlling a vehicle 102 for boarding a person 103 wishing to board the vehicle includes: a candidate stopping place extraction unit 33 for extracting candidate stopping places for the vehicle 102 to stop to board the person 103 wishing to board the vehicle; a waiting time calculation unit 36 for calculating a waiting time for the vehicle 102 at the candidate place; and a stopping place determination unit 37 for determining a candidate place as a stopping place when the waiting time is less than or equal to a predetermined allowable stopping time for the candidate place. The stopping place determination unit 37 obtains use restriction information, which is information to restrict the use of the candidate place, and modifies the allowable stopping time based on the use restriction information and compares it with the waiting time.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device and a vehicle control method for controlling a vehicle that stops at the request of a person wishing to board and allows the person wishing to board. Regarding. [Background technology]

[0002] WO2018 / 189952A1 discloses an autonomous vehicle that, when it is determined that there are no passengers in the vehicle, if a person is detected making a predetermined gesture, stops near that person and allows the person to board. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 189952 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional ride-hailing services, a passenger is assigned the closest boarding point, and a vehicle that is available for boarding is dispatched to that boarding point.

[0005] In response to this, taxi services using autonomous vehicles are considering a service format in which a person wishing to board a vehicle sends a predetermined signal indicating their intention to board to a patrolling autonomous vehicle, causing the autonomous vehicle to stop and the person to board, similar to manned taxi services. In such a service format, it is desirable, in principle, for the autonomous vehicle to immediately stop near the person wishing to board and allow the person to board.

[0006] However, there are cases where an autonomous vehicle cannot immediately stop near a passenger due to laws, regulations, contracts, etc., or for other safety reasons, etc. Therefore, when a passenger wishes to freely stop a patrolling autonomous vehicle (an autonomous vehicle "driving taxi") and board the vehicle, the autonomous vehicle must find a place where it can be stopped or parked safely or without violating laws, etc., until the passenger boards the vehicle.

[0007] To provide a vehicle control device and a vehicle control method that enable a vehicle to search for a stop where a person wishing to board can actually board when the vehicle stops at the request of the person wishing to board and boards the person. [Means for solving the problem]

[0008] One aspect of the present invention is a vehicle control device that controls a vehicle that carries passengers wishing to board. The vehicle control device includes a candidate stop extraction unit that extracts candidate stops for the vehicle to carry passengers wishing to board, a waiting time calculation unit that calculates a waiting time for the vehicle at the candidate stops, and a stop determination unit that determines the candidate stop as the stop when the waiting time is equal to or less than a predetermined allowable stopping time for the candidate stop. The stop determination unit obtains use restriction information that is information that restricts the use of the candidate stop, and modifies the allowable stopping time based on the use restriction information to compare it with the waiting time. Effect of the Invention

[0009] According to the present invention, a vehicle control device and a vehicle control method can be provided that enable a vehicle to search for a stop where it can realistically pick up a person wishing to board when stopping at the request of the person wishing to board and picking up the person. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a vehicle control system. [Diagram 2]FIG. 2 is a block diagram showing the functions of the vehicle controller. [Diagram 3] FIG. 3 is a flowchart showing the operation when a passenger wishing to board is allowed to board the vehicle. [Figure 4] FIG. 4 is an explanatory diagram showing candidates for stops near passengers and vehicles. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] 1 is a block diagram showing the configuration of a vehicle control system 100. The vehicle control system 100 is a system that provides a vehicle dispatch service and / or a taxi service to a person seeking a ride 103 by using one or more vehicles 102 controlled or managed by a control server 101. In this embodiment, the vehicle dispatch service refers to dispatching a vehicle 102 in response to a prior request of the person seeking a ride 103 and providing a transportation service using the vehicle 102. Also, the taxi service refers to providing a transportation service using the vehicle 102 in response to an incidental request of the person seeking a ride 103.

[0013] The control server 101 is one or more computers that control or manage the vehicles 102 belonging to the vehicle control system 100 from an external (remote) location in order to provide a vehicle dispatch service and / or a taxi service.

[0014] The control server 101 accepts a reservation for dispatching the vehicle 102 from a device such as a smartphone 104 carried by the boarding applicant 103, and dispatches the vehicle 102 to the date and time and / or boarding point specified in the reservation. In other words, the vehicle control system 100 provides a vehicle dispatch service in response to a request from the boarding applicant 103.

[0015] In addition, the control server 101 causes the vehicle 102, whose destination is not determined by a vehicle dispatch reservation or the like, to travel along, for example, a predetermined route. In this way, the vehicle control system 100 uses the vehicle 102 to provide a robotaxi service in response to an unexpected request from a passenger 103 who happens to be on the travel route.

[0016] In the following, in this embodiment, it is assumed that the vehicle control system 100 causes a vehicle 102 to circulate by a control server 101, and provides a robotaxi service in response to an occasional request from a person 103 wishing to ride.

[0017] The vehicle 102 is, for example, an autonomous vehicle that is driven automatically without the operation of a driver. Therefore, the taxi service provided by the vehicle control system 100 is generally a robotaxi service or a robot taxi service. Hereinafter, the taxi service provided by the vehicle control system 100 is a robotaxi service, and the vehicle 102 that provides this is a robotaxi. Note that the vehicle 102 may be a vehicle that is driven by the operation of a driver, that is, a normal taxi vehicle.

[0018] The vehicle 102 includes a sensor 10 , a vehicle controller 11 , and a memory device 12 .

[0019] The sensor 10 includes one or more devices, such as a device for detecting the operating state, etc. of the vehicle 102, a device for detecting people or objects around the vehicle 102, and a device for detecting the position, etc. of the vehicle 102. The sensor 10 provides information detected by these various devices to the vehicle controller 11 as necessary and appropriate.

[0020] The sensor 10 includes, as a device for detecting the operating state of the vehicle 102, instruments for detecting, for example, speed or wheel speed, steering angle, acceleration or deceleration, and / or yaw rate. The sensor 10 includes, as a device for detecting people or objects around the vehicle 102, a camera 13, a LiDAR (Light Detection and Ranging) scanner, a millimeter wave radar, a laser range finder, and / or a sonar. The sensor 10 also includes, as a device for detecting the position of the vehicle 102, a GNSS (Global navigation satellite system) sensor 14 such as a GPS (Global positioning system) sensor.

[0021] Therefore, the vehicle controller 11 can appropriately acquire information related to the operating state of the vehicle 102 (hereinafter referred to as vehicle information), information related to the position, size, range, etc. of people and objects around the vehicle 102, and position information such as the latitude and longitude of the location of the vehicle 102, using the sensor 10. Note that the vehicle controller 11 may acquire these various pieces of information directly from signals, etc. output by the devices, etc. included in the sensor 10, and may also acquire them indirectly by calculations, etc. using signals, etc. output by the devices, etc. included in the sensor 10.

[0022] In this embodiment, the sensor 10 includes at least a camera 13 and a GNSS sensor 14. Note that the camera 13 is an imaging device that captures images of the outside of the vehicle, but the camera 13 may also include an imaging device that captures images of the inside of the vehicle.

[0023] The vehicle controller 11 is a vehicle control device that comprehensively controls the operation of the vehicle 102 and the operation of each part of the vehicle 102. For example, the vehicle controller 11 can autonomously control the driving of the vehicle 102 based on various information and the like that can be acquired from the sensor 10, without depending on the operation of the driver. Furthermore, the vehicle controller 11 can drive the vehicle 102 in response to the operation of the driver, and in this case, can assist the driving of the vehicle 102 based on various information and the like that can be acquired from the sensor 10. In this embodiment, the vehicle controller 11 autonomously controls the driving of the vehicle 102.

[0024] The vehicle controller 11 is configured with, for example, one or more computers and / or circuits. A vehicle control program 15 is installed in the vehicle controller 11, and the vehicle controller 11 controls the operation of the vehicle 102 and each part constituting the vehicle 102 according to the vehicle control program 15. The vehicle control program 15 can be updated in part or in whole as appropriate using a storage medium that stores the program or, for example, by OTA (Over The Air) technology. The update here includes correction, modification, addition or deletion of functions, or rollback to a previous version. When controlling the operation of the vehicle 102 and each part constituting the vehicle 102, the vehicle controller 11 refers to data stored in the storage device 12 as necessary.

[0025] The storage device 12 temporarily or permanently stores data and the like required for controlling the operation of the vehicle 102 and / or each part of the vehicle 102. In this embodiment, the storage device 12 configures a map database (map DB) 16. The storage device 12 also stores a reference gesture pattern 17 in advance.

[0026] The map database 16 holds in advance a map of roads and the like (hereinafter simply referred to as a map) for at least the range in which the vehicle 102 can move for the vehicle dispatch service and taxi service. The vehicle controller 11 controls the autonomous driving of the vehicle 102 or provides driving assistance to the driver while referring to the map held in the map database 16 according to the position of the vehicle 102.

[0027] In this embodiment, the map database 16 holds, in addition to the map, information on places where the vehicle 102 can stop safely without violating laws and regulations to board the passengers 103 (hereinafter referred to as possible stops). The information on the possible stops is, for example, location information for specifying the location and range of the possible stops, such as latitude and longitude, or facility names, and information on the time during which the vehicle 102 can be allowed to stop at the possible stops (hereinafter referred to as the allowable stop time). Then, the vehicle controller 11 extracts candidate places (hereinafter referred to as candidate stops) for stopping the vehicle 102 to board a specific passenger 103 from one or more possible stops. Then, the vehicle controller 11 determines a place (hereinafter referred to as a stop) where the vehicle 102 will actually stop to board the passengers 103 from one or more candidate stops. The specific process executed by the vehicle controller 11 to determine the stop will be described in detail later. For the boarding applicant 103, the candidate stop locations of the vehicle 102 are candidate locations (candidate boarding locations) for boarding the vehicle 102. In addition, for the boarding applicant 103, the candidate stop locations of the vehicle 102 are locations (boarding locations) for boarding the vehicle 102.

[0028] The possible stopping places are, for example, public places such as taxi stands, parking spaces provided on roadsides, etc. Also, the possible stopping places include driveways or parking lots of accommodation facilities, commercial facilities, etc., and places on private land that have permission to use from the facilities.

[0029] The allowable stopping time at each possible stopping place is determined in advance by laws and regulations, contracts with the owner, etc. For example, when there is a reservation for use at a specific possible stopping place that takes priority over the use of the vehicle 102 due to a contract or the like, the actual allowable stopping time may be shorter than the predetermined allowable stopping time depending on the reservation for use and the timing at which the vehicle 102 stops. There are also possible stopping places where stopping is practically unlimited. Such information is stored in advance in the map database 16 as information on possible stopping places. Depending on the degree of congestion at a possible stopping place, the possible stopping place may be temporarily unavailable.

[0030] The maps stored in the map database 16, as well as the location information of the possible stopping places and the information on the allowable stopping time at each possible stopping place, are updated appropriately as necessary.

[0031] The reference gesture pattern 17 is one or more gestures that the vehicle 102 recognizes as a command or an indication of intent to the vehicle 102, and is a pattern that serves as a judgment criterion in gesture recognition processing. The reference gesture pattern 17 is determined in advance according to a country or region in which the vehicle control system 100 provides a car dispatch service and / or a taxi service.

[0032] For example, in Japan, a gesture of raising one hand toward an empty vehicle 102 is a gesture indicating an intention to board the vehicle 102. For this reason, when the vehicle control system 100 provides a taxi service or the like in Japan, at least a gesture of a person raising one hand toward the vehicle 102 is stored as at least one of the reference gesture patterns 17.

[0033] Also, for example, in Japan, a gesture of nodding toward the vehicle 102 indicates understanding of the information provided by the vehicle 102 or approval of the service provided by the vehicle 102. On the other hand, a gesture of shaking the head toward the vehicle 102 indicates disagreement with the guided information, etc. For this reason, a gesture that indicates the intention of the boarding applicant 103, such as a gesture of nodding or shaking the head toward the vehicle 102, is stored as one of the reference gesture patterns 17.

[0034] In this embodiment, the traveling vehicle 102 recognizes, among people detected by the sensor 10, a person making a gesture indicating an intention to board in accordance with the reference gesture pattern 17 as a boarding applicant 103.

[0035] In addition, a "gesture" includes a signal made by the boarding applicant 103 using his / her body, as well as a signal sent using a device such as a smartphone 104 that functions as an instruction or expression of intent to the vehicle 102.

[0036] In addition, the vehicle 102 is equipped with a communication device 21, a display 22, and a speaker 23.

[0037] The communication device 21 is an interface for connecting to the control server 101 directly or via a communication network (not shown) to transmit and receive data and other signals. In addition, the vehicle controller 11 can use the communication device 21 to communicate with devices such as a smartphone 104 carried by a passenger 103.

[0038] The display 22 and the speaker 23 constitute an information guidance device for providing various information to the boarding applicant 103 who has indicated an intention to board while outside the vehicle 102. In this embodiment, the display 22 indicates the stops of the vehicle 102 to the boarding applicant 103 by displaying an image (including a video) such as a map or a message. In addition, the speaker 23 notifies the boarding applicant 103 of the stops of the vehicle 102 or that the stops of the vehicle 102 are being displayed on the display 22 by issuing a sound or voice to the boarding applicant 103.

[0039] Fig. 2 is a block diagram showing the functions of the vehicle controller 11. As shown in Fig. 2, for a taxi service using a circulating vehicle 102, the vehicle controller 11 functions as a person detection unit 31, a passenger recognition unit 32, a candidate stop extraction unit 33, a first travel time calculation unit 34, a second travel time calculation unit 35, a waiting time calculation unit 36, a stop determination unit 37, and a stop guidance unit 38.

[0040] The person detection unit 31 executes a person detection process. The person detection process is a process of detecting people around the vehicle 102 using the sensor 10. That is, the person detection unit 31 detects people including the passenger 103. In this embodiment, the person detection unit 31 detects people from an image captured by the camera 13. In the person detection process, people around the vehicle 102 are substantially continuously detected. Therefore, in the person detection process, not only the presence or absence of a person in the vehicle 102 but also the features of the person, such as the face, the position of the person, and the movement of the person are detected. For example, when a person detected in the person detection process is moving, the direction and speed of the movement are detected. In addition, when a person detected in the person detection process is making a gesture, the gesture is also detected.

[0041] The boarding applicant recognition unit 32 executes a boarding applicant recognition process. The boarding applicant recognition process is a process for recognizing whether or not a person is a boarding applicant 103 when the person is detected by the person detection unit 31, based on a gesture, a pose, a sign, and / or other behavior made by the person. That is, the boarding applicant recognition unit 32 recognizes the boarding applicant 103 from among the detected people. Specifically, for example, when a person is detected around the vehicle 102 by the person detection process and the person is making a gesture, the boarding applicant recognition unit 32 performs pattern matching based on the reference gesture pattern 17. Then, when it is determined as a result of the pattern matching that the detected person is making a gesture indicating an intention to board the vehicle 102, the boarding applicant recognition unit 32 recognizes the person as a boarding applicant 103.

[0042] The boarding applicant recognition unit 32 may recognize the boarding applicant 103 as a specific individual based on the face or other features of the recognized boarding applicant 103, as necessary. For example, the boarding applicant recognition unit 32 recognizes the boarding applicant 103 as a specific individual user by matching the face, etc. of the detected boarding applicant 103 with the faces, etc. of users registered in the control server 101 by pattern matching or the like. In addition, for example, the boarding applicant recognition unit 32 recognizes the boarding applicant 103 as a specific individual user by matching the identification information of the smartphone 104, etc., within a range that can be determined to be owned by the recognized boarding applicant 103, with the identification information of the user device registered in the control server 101.

[0043] Then, when the boarding applicant 103 is recognized as a specific individual, the boarding applicant recognition unit 32 acquires information of the boarding applicant 103 as necessary. The information of the boarding applicant 103 includes identification information for identifying an individual and settings according to the individual's preferences. For example, the information of the boarding applicant 103 includes the walking speed of the boarding applicant 103, the time required to travel to board the vehicle (hereinafter referred to as the boarding applicant's allowable travel time), and / or the distance required to travel to board the vehicle (hereinafter referred to as the boarding applicant's allowable travel distance). When the boarding applicant 103 is registered as an existing user, the information of the boarding applicant 103 is held in advance, for example, by the control server 101. In addition, the personal walking speed, boarding applicant's allowable travel time, and boarding applicant's allowable travel distance of the boarding applicant 103 are calculated in advance based on the past boarding history and cancellation history (history of withdrawal of boarding intention), or are determined in advance by the setting and registration by the boarding applicant 103.

[0044] If the boarding applicant recognition unit 32 does not (or cannot) recognize the boarding applicant 103 recognized by the boarding applicant recognition unit 32 as a specific individual, the boarding applicant recognition unit 32 can acquire a general walking speed instead of the personal walking speed of the boarding applicant 103. The general walking speed is calculated or set, for example, based on the boarding history and cancellation history of various boarding applicants in the past. The general walking speed can be set to a fixed value regardless of the boarding history and cancellation history. The general walking speed is stored in advance, for example, by the control server 101. The general walking speed can be determined in advance according to the physique, gender, etc. of the boarding applicant 103.

[0045] The boarding applicant allowable travel time and boarding applicant allowable travel distance are the same as the walking speed. That is, when the boarding applicant recognition unit 32 does not recognize the boarding applicant 103 recognized as a specific individual, the boarding applicant recognition unit 32 can acquire a general boarding applicant allowable travel time and boarding applicant allowable travel distance instead of the boarding applicant allowable travel time and boarding applicant allowable travel distance related to the boarding applicant 103. The general boarding applicant allowable travel time and boarding applicant allowable travel distance are calculated or set based on, for example, the boarding history and cancellation history of various boarding applicants 103 in the past, or are set to a fixed value. The general boarding applicant allowable travel time and boarding applicant allowable travel distance are held in advance in, for example, the control server 101. If necessary, the general boarding applicant allowable travel time and boarding applicant allowable travel distance are determined according to the physique, sex, etc. of the boarding applicant 103.

[0046] Furthermore, when the boarding applicant recognition unit 32 recognizes the boarding applicant 103, it continues to recognize at least the movement and / or gesture of the boarding applicant 103. In this way, the boarding applicant recognition unit 32 recognizes approval of the stop of the vehicle 102, a withdrawal of the intention to board (indication of intention to cancel) that the boarding applicant 103 has shown to the vehicle 102, and the like.

[0047] For example, when the vehicle 102 announces a stop, the boarding applicant recognition unit 32 recognizes that the boarding applicant 103 has approved boarding at the stop by detecting a gesture of nodding toward the vehicle 102. Also, when the vehicle 102 announces a stop, the boarding applicant recognition unit 32 recognizes that the boarding applicant 103 has approved boarding at the stop by detecting a motion of the boarding applicant 103 starting to walk toward the stop.

[0048] On the other hand, when the vehicle 102 announces a stop, the boarding applicant recognition unit 32 recognizes that the boarding applicant 103 has withdrawn his / her intention to board or has expressed an intention to not agree to board at the announced stop by detecting a gesture of turning his / her head toward the vehicle 102. Also, when the vehicle 102 announces a stop, the boarding applicant 103 may start walking in the opposite direction to the stop, or may not start moving even after a certain time has passed since the announcement, which indicates that the boarding applicant 103 is not heading to the announced stop. In this case, the boarding applicant recognition unit 32 recognizes that the boarding applicant 103 has withdrawn his / her intention to board or has expressed an intention to not agree to board at the announced stop.

[0049] The stop candidate extraction unit 33 executes a stop candidate extraction process. The stop candidate extraction process is a process for extracting candidate locations (stop candidate locations) for stops where the vehicle 102 is to stop in order to pick up the boarding applicant 103. More specifically, the stop candidate extraction unit 33 refers to the map database 16 based on the position information of the vehicle 102 and / or the position information of the boarding applicant 103. Then, the stop candidate extraction unit 33 extracts one or more stop candidate locations from a plurality of possible stop locations registered in the map database 16.

[0050] In this embodiment, the stop candidate location extraction unit 33 extracts one stop candidate location through a two-stage process including a first process and a second process described below.

[0051] The first process is a process of narrowing down (extracting) possible stopping places that can actually be used from among a plurality of possible stopping places registered in the map database 16, taking into consideration the location, mobility, etc. of the boarding applicant 103. That is, in the first process, possible stopping places that are extremely far from the boarding applicant 103 are excluded from among the possible stopping places registered in the map database 16, so that possible stopping places that are not suitable for practical use are not extracted as candidate stopping places.

[0052] The criterion by which the candidate stop location extraction unit 33 narrows down the possible stop locations in the first process is a predetermined time or a predetermined distance (or a predetermined route). That is, when the first process uses a predetermined time as the criterion, the possible stop locations are narrowed down to those where the time required for the boarding applicant 103 to travel (hereinafter referred to as a first travel time) is less than or equal to a predetermined time. When the first process uses distance as the criterion, the possible stop locations are narrowed down to those where the travel distance or route (hereinafter referred to as a first travel distance) of the boarding applicant 103 is less than or equal to a predetermined distance.

[0053] The predetermined time in the first process is, for example, an acceptable travel time for a person wishing to board a vehicle, which is determined individually for each person wishing to board a vehicle 103. That is, the predetermined time is determined for each person wishing to board a vehicle 103, and may be set to the maximum travel time acceptable for that particular person wishing to board a vehicle 103. The predetermined time may also be set to the acceptable travel time for general people wishing to board a vehicle. That is, the predetermined time may be determined uniformly, regardless of each specific person wishing to board a vehicle 103, and may be set to the maximum travel time acceptable for general people wishing to board a vehicle.

[0054] The predetermined distance in the first process is, for example, an acceptable travel distance for a boarding applicant that is determined individually for each boarding applicant 103. That is, the predetermined distance is determined for each boarding applicant 103, and may be set to the maximum travel distance acceptable for that particular boarding applicant 103. The predetermined distance may also be set to the general acceptable travel distance for boarding applicants. That is, the predetermined time that is the extraction criterion for extracting candidate stop locations may be determined uniformly, regardless of each specific boarding applicant 103, and may be set to the maximum travel distance acceptable for a general boarding applicant.

[0055] The second process is a process for extracting one specific candidate stop location from the possible stop locations narrowed down by the first process. That is, the second process extracts one of one or more possible stop locations within a practically usable range as a candidate stop location.

[0056] The extraction criterion for the candidate stop locations in the second process is the travel time or travel distance of the passengers seeking boarding 103, or the travel time or travel distance of the vehicle 102.

[0057] That is, when the boarding applicant 103 is used as a criterion, the candidate stop location extraction unit 33 extracts a possible stop location with the shortest first travel time or the shortest first travel distance from the narrowed down possible stop locations as one specific candidate stop location. Then, if this candidate stop location satisfies a condition related to a waiting time described later, the possible stop location with the shortest first travel time or the possible stop location with the shortest first travel distance is determined as the stop location.

[0058] Furthermore, when the vehicle 102 is used as a reference, the stop candidate extraction unit 33 extracts, from the narrowed down possible stop locations, a possible stop location with the shortest travel time of the vehicle 102 (hereinafter referred to as the second travel time) or a possible stop location with the shortest distance or route from the vehicle 102 (hereinafter referred to as the second travel distance) as one specific possible stop location. If this possible stop location satisfies a condition related to a waiting time described later, the possible stop location with the shortest second travel time or the possible stop location with the shortest second travel distance is determined as the stop location. The second travel time is the time required for the vehicle 102 to arrive at the possible stop location.

[0059] The first travel time calculation unit 34 executes a first travel time calculation process to calculate a first travel time, which is the travel time of the boarding applicant 103 to the stop candidate location. The first travel time is calculated based on a travel route from the current location of the boarding applicant 103 to the stop candidate location by walking or other means, and the walking speed of the boarding applicant 103, etc.

[0060] The travel route of the boarding applicant 103 is determined by referring to the map database 16. In addition, the distance or route of the travel route of the boarding applicant 103 is used to calculate the first travel time. In addition, when the travel route of the boarding applicant 103 is a route that crosses a road, for example, and requires waiting time at traffic signals or other additional required time, this is also taken into consideration to calculate a realistic first travel time. Note that the first travel time calculation unit 34 can roughly calculate the first travel time based on the straight-line distance from the current position of the boarding applicant 103 to the candidate stop location, etc. In this embodiment, the first travel time calculation unit 34 calculates a realistic first travel time by taking into consideration the travel route of the boarding applicant 103.

[0061] When the boarding applicant 103 is registered as an existing user, the personal walking speed of the boarding applicant 103 is used to calculate the first travel time. When the boarding applicant 103 is unregistered, a general walking speed is used to calculate the first travel time.

[0062] The second travel time calculation unit 35 executes a second travel time calculation process to calculate a second travel time, which is a travel time of the vehicle 102, for the stop candidate location. The second travel time is calculated based on the travel route from the current position of the vehicle 102 to the stop candidate location, the travel speed of the vehicle 102, and the like.

[0063] The travel route to the candidate stop location is determined by referring to the map database 16. The travel speed of the vehicle 102 is roughly calculated according to the legal speed limit on the travel route and the congestion level of the travel route. The congestion level is appropriately acquired from a public traffic information provider, etc., as necessary. In addition, in calculating the second travel time, waiting times according to traffic signals, etc. are also taken into consideration. That is, the second travel time calculation unit 35 calculates a realistic second travel time at the time of calculation. However, the second travel time calculation unit 35 can roughly calculate the second travel time based on the current position of the vehicle 102 and the straight-line distance to the candidate stop location, etc. In this embodiment, the second travel time calculation unit 35 calculates a realistic second travel time.

[0064] The waiting time calculation unit 36 ​​executes waiting time calculation processing. The waiting time calculation processing is processing for calculating the waiting time of the vehicle 102 at the stop candidate location based on the first travel time and the second travel time. Specifically, when the second travel time is equal to or less than the first travel time, the difference obtained by subtracting the second travel time from the first travel time is the waiting time of the vehicle 102 at the stop candidate location. Also, when the second travel time is longer than the first travel time, the waiting time of the vehicle 102 at the stop candidate location is zero.

[0065] The stop location determination unit 37 executes a stop location determination process. The stop location determination process is a process for determining a stop location as a stop location when the waiting time is equal to or less than a predetermined allowable stop time for the stop location.

[0066] Specifically, the stop location determination unit 37 acquires the allowable stopping time of the stop location candidate by referring to the map database 16. Meanwhile, the stop location determination unit 37 acquires the waiting time of the vehicle 102 at the stop location candidate from the waiting time calculation unit 36. Then, the stop location determination unit 37 compares the allowable stopping time with the waiting time, and when the waiting time is equal to or less than the allowable stopping time, determines that stop location candidate as the stop location to be actually used. Of course, when the waiting time at the stop location candidate is zero, the waiting time is shorter than the allowable stopping time, so that stop location candidate is determined as the stop location.

[0067] On the other hand, when it is determined in the stop location determination process that the waiting time exceeds the allowable stop time, the vehicle controller 11 excludes the stop location candidate and extracts stop location candidates again. In this case, the possible stop location next closest to the boarding applicant 103 and / or the vehicle 102 after the initially extracted stop location candidate becomes the new stop location candidate, and the above stop location determination process is executed. In other words, the above various processes are repeated until a stop location is determined.

[0068] In addition, when comparing with the waiting time, the stop determination unit 37 may correct the allowable stopping time acquired from the map database 16 as necessary. For example, there may be a reservation for use of the stop candidate by another vehicle or the like, and the time period related to the reservation may overlap in whole or in part with the time period during which the vehicle 102 is to stop in order to board the passenger 103. In this case, even if the stop candidate is within the predetermined allowable stopping time, the stop candidate is not actually available. Therefore, when acquiring the allowable stopping time for the stop candidate, the stop determination unit 37 also acquires the reservation for use of the stop candidate, the congestion degree, or other information that restricts the use of the stop candidate by the vehicle 102 (hereinafter referred to as use restriction information). Then, the stop determination unit 37 corrects the allowable stopping time acquired from the map database 16 based on the acquired use restriction information, and uses it for comparison with the waiting time.

[0069] The use restriction information is, for example, information published by a website or the like operated by the owner of the candidate stop location or other information provider, and the stop location determination unit 37 can acquire this information. In addition, the correction of the allowable stop time is, in principle, a correction to shorten the allowable stop time in accordance with the actual situation by reducing the unavailable time from the allowable stop time. Therefore, in principle, the corrected allowable stop time is equal to or shorter than the allowable stop time registered in the map database 16. However, for example, when the allowable stop time at the candidate stop location is temporarily or permanently extended by the owner of the candidate stop location, and the extended allowable stop time is not registered in the map database 16, the stop location determination unit 37 can extend the acquired allowable stop time.

[0070] The stop guidance unit 38 executes guidance processing to guide the determined stop to the boarding applicant 103. The guidance processing is processing to guide (notify) information for identifying the stop to the boarding applicant 103. The information for identifying the stop is, for example, the location of the stop, a route to the stop, or a map showing these, and / or the name of the facility to which the stop belongs, etc.

[0071] Specifically, the stop guidance unit 38 provides the boarding applicant 103 with information for identifying the stop, for example, by displaying on the display 22 and / or issuing a sound from the speaker 23. In this case, the vehicle controller 11 reduces the speed of the vehicle 102, for example, in the vicinity of the boarding applicant 103 so that the boarding applicant 103 can check the display on the display 22 or the sound issued from the speaker 23. In addition, the stop guidance unit 38 can provide the boarding applicant 103 with information for identifying the stop by transmitting the information to the smartphone 104 or the like of the boarding applicant 103.

[0072] When the stop guidance unit 38 guides the boarding applicant 103 to the stop, the vehicle controller 11 accepts an indication of approval or cancellation from the boarding applicant 103 by gesture, action, or input from the smartphone 104, etc. When the boarding applicant 103 approves the stop, the vehicle controller 11 moves the vehicle 102 to the approved stop.

[0073] The following describes the operation of the vehicle control system 100 configured as described above in a taxi service in which an occasional passenger 103 who has not made a prior reservation or the like boards a circulating vehicle 102.

[0074] Fig. 3 is a flow chart showing the operation when boarding the boarding applicant 103. As shown in Fig. 3, in step S301, when the traveling vehicle 102 recognizes the boarding applicant 103 who has expressed an intention to board by a gesture or the like, the vehicle 102 extracts candidate stopping points for boarding the boarding applicant 103 in step S302. At this time, as the candidate stopping points, in principle, the possible stopping points closest to the boarding applicant 103 and / or the vehicle 102 are selected from the possible stopping points that are actually available.

[0075] When the candidate stop location is extracted, in step S303, the waiting time of the vehicle 102 at the candidate stop location is calculated. Specifically, for the candidate stop location, a first travel time which is the travel time of the boarding applicant 103 and a second travel time which is the travel time of the vehicle 102 are calculated, and based on these, the waiting time at the candidate stop location is calculated.

[0076] Then, in step S304, a predetermined allowable stop time for the extracted candidate stop location is compared with the waiting time. If the waiting time is equal to or less than the allowable stop time, it is determined that the vehicle 102 can be stopped safely at the candidate stop location without violating laws and regulations until the boarding applicant 103 is boarded. Therefore, in step S305, the extracted candidate stop location is determined as a stop location for actually boarding the boarding applicant 103.

[0077] On the other hand, when the waiting time exceeds the allowable stopping time, it is expected that the vehicle 102 cannot be parked safely at that candidate stopping place without violating laws and regulations until the boarding applicant 103 is picked up. Therefore, that candidate stopping place is excluded and another new candidate stopping place is extracted, and for the new candidate stopping place, the calculation of the waiting time in step S303 and the comparison of the allowable stopping time and the waiting time in step S304 are performed.

[0078] When the stop is determined in step S305, the stop is announced to the boarding applicant 103 in step S306, for example, by displaying on the display 22. Then, in step S307, when the boarding applicant 103 approves the stop and boarding the vehicle 102 at the stop through a gesture or the like of the boarding applicant 103, the vehicle 102 moves to the stop in step S308.

[0079] After that, in step S309, when the vehicle 102 arrives at the stop, it waits there until the boarding applicant 103 arrives. Then, in step S310, when the boarding applicant 103 arrives at the stop, the vehicle 102 allows the boarding applicant 103 to board.

[0080] As described above, in the taxi service provided by the vehicle control system 100 according to the present embodiment, when the traveling vehicle 102 recognizes the boarding applicant 103, the vehicle 102 searches for and determines by itself a stop at which the vehicle 102 will stop to board the boarding applicant 103. As a taxi service, it is desirable that the vehicle 102 that recognizes the boarding applicant 103 immediately stops near the boarding applicant 103 and boards the boarding applicant 103. However, due to laws, regulations, contracts, or other safety reasons, the vehicle 102 is often unable to immediately stop near the boarding applicant 103. In contrast, in the taxi service related to the vehicle control system 100, the vehicle 102 searches for and determines by itself a stop at which the vehicle 102 can be stopped safely without violating laws and regulations until the boarding applicant 103 arrives. Therefore, in the taxi service provided by the vehicle control system 100, the vehicle 102 can stop the vehicle 102 at the stop safely without violating laws and regulations and wait for the boarding applicant 103.

[0081] FIG. 4 is an explanatory diagram showing candidate locations for stops in the vicinity of the boarding applicant 103 and the vehicle 102. As shown in FIG. 4, more specifically, when the vehicle 102 recognizes the boarding applicant 103, for example, eight possible stop locations 41A to 41H are assumed to be in the vicinity of the vehicle 102 and the boarding applicant 103. Then, as shown by a dashed circle 42, among these possible stop locations 41A to 41H, six of the possible stop locations 41A to 41F are assumed to be within a range in which the first travel time is equal to or shorter than a predetermined time or the first travel distance is equal to or shorter than a predetermined distance, and can be said to be in the vicinity of the boarding applicant 103 in reality and can be used as a stop location for the vehicle 102. Furthermore, among the possible stop locations 41A to 41F, the possible stop location 41A is closest to the boarding applicant 103. In addition, among possible stop locations 41B to 41F, possible stop locations 41B to 41F are located closest to boarding applicant 103 in the order of possible stop location 41B, possible stop location 41C, possible stop location 41D, possible stop location 41E, and possible stop location 41F.

[0082] At this time, the vehicle 102 first extracts a possible stop location 41A that is within the range of the dashed circle 42 and is closest to the boarding applicant 103 as a stop candidate location. Then, for the possible stop location 41A extracted as the stop candidate location, the first travel time and the second travel time are calculated, and the waiting time τ A (not shown) is calculated. Then, the waiting time τ A However, the allowable stopping time T A (not shown).

[0083] Allowable stopping time T at stop location 41A A is the waiting time τ A If the distance is shorter than this, it would be in violation of laws and regulations or for safety reasons, and vehicle 102 cannot be parked at possible stopping point 41A until boarding applicant 103 arrives. Therefore, possible stopping point 41A becomes a temporary candidate stopping point but is not selected as the final stopping point (boarding point), and possible stopping point 41B, which is within the range of dashed circle 42 and is the next closest to boarding applicant 103 after possible stopping point 41A, is extracted as the next candidate stopping point.

[0084] Then, in the same manner as in the case of the possible stop place 41A, the waiting time τ B (not shown) is calculated, and the calculated value is the allowable stopping time T B (not shown). As a result, the waiting time τ B is the allowable stopping time T B If the distance is shorter than the distance t1, the possible stop 41B, which is a new candidate stop, is determined to be the final stop (boarding point).

[0085] Here, an example has been described in which possible stop place 41B satisfies the condition related to the waiting time, but when possible stop place 41B does not satisfy the condition related to the waiting time, possible stop place 41C, which is the next closest to boarding applicant 103 after possible stop place 41B, becomes a new candidate stop place. The same process is carried out thereafter.

[0086] Therefore, in the taxi service provided by the vehicle control system 100 according to this embodiment, the actual stop (boarding location) is not simply selected from among a plurality of possible stopping locations that is closest to the boarding requester 103, but rather the actual stop (boarding location) is selected as the possible stopping location that is as close as possible to the boarding requester 103, does not violate laws and regulations, and can safely park the vehicle 102.

[0087] [Variations] In the above embodiment, the stop candidate extraction unit 33 extracts one stop candidate from among the multiple possible stop locations, but the present invention is not limited to this. The stop candidate extraction unit 33 can extract multiple stop candidate locations from among the multiple possible stop locations. For example, the stop candidate extraction unit 33 can set multiple possible stop locations that are all or part of the multiple possible stop locations narrowed down by the first process as the stop candidate locations. In this case, the first travel time calculation unit 34 calculates a first travel time for each of the multiple possible stop locations. In addition, the second travel time calculation unit 35 calculates a second travel time for each of the possible stop locations. Therefore, the waiting time calculation unit 36 ​​also calculates the waiting time of the vehicle 102 for each of the possible stop locations. Thereafter, the stop determination unit 37 determines a stop location by comparing the waiting time and the allowable stopping time for each possible stop location, as in the above embodiment. At that time, there may be multiple possible stop locations whose waiting time is equal to or shorter than the allowable stopping time. In this case, the stop determination unit 37 can determine one candidate stop based on the travel time or travel distance of the passenger wishing to board 103, or the travel time or travel distance of the vehicle 102, similar to the second process performed by the candidate stop extraction unit 33 in the above embodiment.

[0088] In the above embodiment, the stop determination unit 37 determines one stop, but the stop determination unit 37 can determine multiple stop candidate locations as the stop locations. For example, as in the above modified example, when multiple stop candidate locations are extracted and there are multiple stop candidate locations whose waiting time is equal to or shorter than the allowable stop time, multiple stop candidate locations that are all or part of the stop candidate locations can be determined as the stop locations. In this case, since there are multiple stops determined by the stop determination unit 37, the stop guidance unit 38 guides the boarding applicant 103 to these multiple stops. Then, the vehicle controller 11 accepts an indication of intent regarding the selection of a stop by the boarding applicant 103 through a gesture, an operation of the smartphone 104, or the like. The selection of a stop by the boarding applicant 103 is synonymous with the approval of the stop in the above embodiment, so the vehicle controller 11 determines one stop as the stop to be finally used in accordance with the selection of the boarding applicant 103.

[0089] In the above embodiment, the boarding applicant recognition unit 32 recognizes the facial features and gestures of the boarding applicant 103, but is not limited to this. The boarding applicant recognition unit 32 can recognize the boarding applicant 103 based on an identification code of a smartphone 104 or other signals, etc.

[0090] In the above embodiment, the personal walking speed of the boarding applicant 103 is determined in advance, but the first travel time calculation unit 34 can correct the personal walking speed of the boarding applicant 103 and use it to calculate the first travel time. For example, the first travel time calculation unit 34 can appropriately correct the predetermined walking speed of the boarding applicant 103 depending on the weather, the amount of luggage carried by the boarding applicant 103, and / or the presence or absence and nature of the boarding applicant 103's companion (e.g., the boarding applicant 103 is accompanied by a child), etc. Also, in the above embodiment, the first travel time calculation unit 34 may calculate the first travel time using a general walking speed, but the first travel time calculation unit 34 can also appropriately correct this general walking speed in the same manner as described above.

[0091] In the above embodiment, the vehicle controller 11 performs the stop candidate location extraction process, the first travel time calculation process, the second travel time calculation process, the waiting time calculation process, and the stop location determination process. However, the vehicle controller 11 does not need to perform all of these processes, and the control server 101 can perform all or part of these processes. That is, the vehicle control system 100 can be configured by the control server 101 as a first device that performs one or more of the above various processes outside the vehicle 102, and the vehicle controller 11 as a second device that cooperates with the control server 101 to perform the remaining processes in the vehicle 102. In this case, the same actions and effects as those of the above embodiment are achieved. In this case, the program that causes the control server 101 to operate as a first device that causes the control server 101 to perform one or more of the above various processes, and the program that causes the vehicle controller 11 to perform the remaining processes in cooperation with the control server 101, as a whole, constitute a vehicle control program.

[0092] As described above, the vehicle controller 11, which is a vehicle control device according to this embodiment and / or modified example (hereinafter referred to as this embodiment, etc.), is a vehicle control device that stops at the request of the boarding applicant 103 and controls the vehicle 102 to board the boarding applicant 103. The vehicle controller 11 includes a stop candidate extraction unit 33 that extracts candidate locations (stop candidate locations) for the stop locations where the vehicle 102 stops to board the boarding applicant 103, a first travel time calculation unit 34 that calculates a first travel time that is the time required for the boarding applicant 103 to travel to the candidate location, a second travel time calculation unit 35 that calculates a second travel time that is the time required for the vehicle 102 to travel to the candidate location, a waiting time calculation unit 36 ​​that calculates a waiting time of the vehicle 102 at the candidate location based on the first travel time and the second travel time, and a stop determination unit 37 that determines the candidate location as the stop location when the waiting time is equal to or less than a predetermined allowable stop time for the candidate location.

[0093] With this configuration, when the vehicle control device of this embodiment recognizes a passenger 103 wishing to board, it can search for and use a stop where the vehicle 102 can be stopped safely without violating laws and regulations, etc., until the passenger 103 wishes to board.

[0094] The vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, includes a person detection unit 31 that detects people including the person 103 who wishes to board a vehicle, and a person recognizing unit 32 that recognizes the person 103 who wishes to board a vehicle from among the detected people based on the behavior of the person. With this configuration, the vehicle control device according to the present embodiment and the like can provide a taxi service by recognizing an accidental person 103 who wishes to board a vehicle without making a reservation in advance, by using a patrolling vehicle 102.

[0095] In the vehicle controller 11, which is a vehicle control device according to the present embodiment, the candidate stop locations are extracted so that the first travel time is equal to or shorter than a predetermined time. This reduces the cancellation rate in the taxi service provided by the vehicle control system 100, thereby improving the dispatch efficiency.

[0096] In particular, in the vehicle controller 11 which is a vehicle control device according to the present embodiment and the like, the above-mentioned predetermined time is determined for each boarding applicant 103, and can be set to a travel time permitted by the boarding applicant 103. In this way, when the above-mentioned predetermined time is set, a stop (boarding location) is determined within a range that meets the personal needs of the boarding applicant 103. As a result, in the taxi service provided by the vehicle control system 100, in particular, the cancellation rate is reduced and vehicle dispatch efficiency is improved.

[0097] Furthermore, in the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the above-mentioned predetermined time can be set to a uniformly determined travel time regardless of each boarding applicant 103. In this way, when the above-mentioned predetermined time is set, it is easy to satisfy the potential requests of boarding applicants 103 regarding stops (boarding locations). As a result, in particular, in the taxi service provided by the vehicle control system 100, the cancellation rate is reduced and vehicle dispatch efficiency is improved.

[0098] On the other hand, in the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the candidate stop locations are extracted so that the travel distance of the boarding applicant 103 is equal to or less than a predetermined distance. This reduces the cancellation rate in the taxi service provided by the vehicle control system 100, and as a result, improves the dispatch efficiency.

[0099] Particularly, in the vehicle controller 11 which is a vehicle control device according to the present embodiment and the like, the above-mentioned predetermined distance is determined for each boarding applicant 103, and can be set to a travel distance that the boarding applicant 103 is willing to tolerate. In this way, when the above-mentioned predetermined distance is set, a stop (boarding point) is determined within a range that meets the personal needs of the boarding applicant 103. As a result, in the taxi service provided by the vehicle control system 100, in particular, the cancellation rate is reduced and dispatch efficiency is improved.

[0100] Furthermore, in the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the above-mentioned predetermined distance can be set to a uniformly determined travel distance regardless of the individual boarding applicants 103. In this way, when the above-mentioned predetermined distance is set, it is easy to satisfy the potential requests of the boarding applicants 103 regarding stops (boarding locations). As a result, in particular, in the taxi service provided by the vehicle control system 100, the cancellation rate is reduced and vehicle dispatch efficiency is improved.

[0101] In the vehicle controller 11, which is a vehicle control device according to the present embodiment, the allowable stop time is corrected based on the reservation of the stop candidate location. Therefore, the vehicle control device according to the present embodiment can determine an appropriate stop location that is in line with reality without extracting an unavailable stop candidate location due to a conflict with another service, etc.

[0102] In the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the allowable stopping time is equal to or less than the time designated in advance by the owner of the candidate stopping place. In this way, when the candidate stopping place is privately owned land or the like and is available as a stopping place for the vehicle 102 under a special contract, the contract can be reliably observed. As a result, in the taxi service provided by the vehicle control system 100, the privately owned land or the like can be continuously used as a stopping place for the vehicle 102. This also improves the convenience of the passengers 103 who wish to board.

[0103] In the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the stop determination unit 37 can determine the stop candidate location with the shortest first travel time or the stop candidate location with the shortest distance to the boarding applicant 103 as the stop location, under the condition that the waiting time is equal to or less than the allowable stop time. This can minimize the travel time and / or travel distance of the accidental boarding applicant 103, and provide a taxi service with particularly high usability. As a result, the cancellation rate is reduced, and the dispatch efficiency is improved.

[0104] In the vehicle controller 11, which is a vehicle control device according to the present embodiment and the like, the stop determination unit 37 can determine, as a stop, a stop candidate location with the shortest second travel time, or a stop candidate location with the shortest distance or path (second travel distance) from the vehicle 102, under the condition that the waiting time is equal to or less than the allowable stop time. This can minimize the travel time and / or travel distance of the vehicle 102. As a result, it is possible to reduce consumption of fuel or remaining battery power for driving the vehicle 102, wear on tires, and the like, and it is possible to extend the period of continuous taxi service by the vehicle 102. Therefore, according to the vehicle control device according to the present embodiment, a taxi service with particularly high usability is provided.

[0105] The vehicle controller 11, which is a vehicle control device according to this embodiment, includes a guidance unit (stop guidance unit 38) that guides the boarding applicant 103 to stops where the waiting time is equal to or less than the allowable stopping time. Then, when the boarding applicant 103 approves the guidance from the guidance unit, the vehicle controller 11 moves the vehicle 102 to the stop. In this way, even when an accidental boarding applicant 103 is boarded, the boarding applicant 103 can easily understand that the vehicle 102 will be stopped at a stop located a little away from the boarding applicant 103 by dispatching the vehicle 102 based on the approval. In the taxi service provided by the vehicle control system 100, the cancellation rate is reduced and the dispatch efficiency is improved.

[0106] Although the embodiments of the present invention have been described above, the configurations described in the above embodiments and the respective modified examples merely represent some of the application examples of the present invention and are not intended to limit the technical scope of the present invention. [Explanation of symbols]

[0107] 10: sensor, 11: vehicle controller, 12: storage device, 13: camera, 14: GNSS sensor, 15: vehicle control program, 16: map database, 17: reference gesture pattern, 21: communication device, 22: display, 23: speaker, 31: person detection unit, 32: boarding applicant recognition unit, 33: stop candidate location extraction unit, 34: first travel time calculation unit, 35: second travel time calculation unit, 36: waiting time calculation unit, 37: stop determination unit, 38: stop guidance unit, 41A: possible stop location, 41B: possible stop location, 41C: possible stop location, 41D: possible stop location, 41E: possible stop location, 41F: possible stop location, 41G: possible stop location, 41H: possible stop location, 42: dashed circle, 100: vehicle control system, 101: control server, 102: vehicle, 103: person wishing to board, 104: smartphone

Claims

1. A vehicle control device for controlling a vehicle in which a passenger wishing to board is to board, a stop candidate extraction unit that extracts candidate locations for stops at which the vehicle will be stopped to allow the passengers wishing to board the vehicle; a waiting time calculation unit that calculates a waiting time of the vehicle at the candidate site; a stop determination unit that determines the candidate location as the stop location when the waiting time is equal to or less than a predetermined allowable stop time for the candidate location; Equipped with The stop determination unit, Obtaining use restriction information that is information that restricts use of the candidate site; modifying the allowable stopping time based on the use restriction information and comparing the modified allowable stopping time with the waiting time; Vehicle control device.

2. The vehicle control device according to claim 1, A map database including a map and information on the allowable stopping time is provided, The stop determination unit modifies the allowable stop time registered in the map database based on the use restriction information. Vehicle control device.

3. The vehicle control device according to claim 1, The stop determination unit performs a correction to shorten the allowable stop time by reducing unavailable time from the allowable stop time based on the use restriction information. Vehicle control device.

4. The vehicle control device according to claim 1, The use restriction information is a reservation for use of the candidate site or a degree of congestion. Vehicle control device.

5. A vehicle control method for controlling a vehicle in which a passenger wishing to board the vehicle, comprising: A vehicle control device that controls the vehicle, extracting candidate locations for stops at which the vehicle will stop to allow the passengers wishing to board the vehicle; Calculating a waiting time for the vehicle at the candidate site; When the waiting time is equal to or less than a predetermined allowable stop time for the candidate location, the candidate location is determined to be the stop location; When determining whether or not to determine the candidate location as the stop, Obtaining use restriction information that is information that restricts use of the candidate site; modifying the allowable stopping time based on the use restriction information and comparing the modified allowable stopping time with the waiting time; A vehicle control method.

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