Information processing device, and information processing method

Abstract

To flexibly determine an evacuation area according to a situation during an emergency vehicle approach; and reduce a possibility that a service vehicle cannot be evacuated in time by the time when being caught up by an emergency vehicle.SOLUTION: An information processing device 300 comprises a second controller 37 for executing processes of: acquiring information indicating an emergency vehicle approaching a service vehicle 3; calculating an estimated time until the emergency vehicle reaches the service vehicle 3; retrieving a candidate of an evacuation area where the service vehicle 3 is evacuated from a traveling route of the emergency vehicle, based on a predetermined search condition; and determining the evacuation area, based on the retrieval result. The original search condition is a condition under which an area optimal for the evacuation area among areas where the service vehicle 3 is reachable within the estimated time on a traveling route of the service vehicle 3 is indicated. The second controller 37 sequentially releases the search condition, when the candidate by which the search condition is satisfied as the search result is unobtainable.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an information processing device and an information processing method for a vehicle (service vehicle) provided for a user's mobility service. [Background technology]

[0002] The service vehicle travels along a route determined based on a user's dispatch request, and the user gets on and off (or two items are loaded and unloaded) at predetermined points along the route. Patent Document 1 describes a technology that enables an autonomous vehicle (such as a bus) used for a mobility service to stop in an emergency in a location where stopping is difficult, such as where a guardrail is present. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-59222 Summary of the Invention [Problem to be solved by the invention]

[0004] If a service vehicle encounters an emergency vehicle on its travel route, even if the service vehicle is traveling autonomously (automated driving), it must move out of the way of the emergency vehicle and give way to the emergency vehicle, just as if the service vehicle were being driven by a driver. However, the technology described in Patent Document 1 cannot flexibly determine the area for evacuation (evacuation area) depending on the situation when the emergency vehicle approaches, such as road conditions such as a small number of lanes, congestion, etc., and changes in traffic volume, etc. For this reason, there is a possibility that the service vehicle will not be able to evacuate in time for the emergency vehicle to catch up.

[0005] Therefore, an object of the present disclosure is to provide an information processing apparatus and an information processing method that can flexibly determine an evacuation area according to the situation when an emergency vehicle approaches, and reduce the possibility that the service vehicle cannot evacuate before the emergency vehicle catches up.

Means for Solving the Problems

[0006] An information processing apparatus according to an aspect of the present disclosure is an information processing apparatus mounted on a service vehicle provided for a user's mobility service, the apparatus including a controller that executes: a process of acquiring information indicating the approach of an emergency vehicle to the service vehicle; a process of calculating an estimated time until the emergency vehicle reaches the service vehicle; a process of searching for candidates for an evacuation area for the service vehicle to evacuate from the path of the emergency vehicle based on a predetermined search condition; and a process of determining the evacuation area based on the search result. The initial search condition is a condition indicating the optimal area for the evacuation area among the areas that the service vehicle can reach within the estimated time on the traveling route of the service vehicle. When the candidate that satisfies the initial search condition is not obtained as the search result, the controller sequentially relaxes the search condition.

[0007] An information processing method according to an aspect of the present disclosure is an information processing method by an information processing apparatus mounted on a service vehicle provided for a user's mobility service, the method including: causing a controller to execute a process of acquiring information indicating the approach of an emergency vehicle to the service vehicle; a process of calculating an estimated time until the emergency vehicle reaches the service vehicle; a process of searching for candidates for an evacuation area for the service vehicle to evacuate from the path of the emergency vehicle based on a predetermined search condition; and a process of determining the evacuation area based on the search result. The search condition is a condition indicating the optimal area for the evacuation area among the areas that the service vehicle can reach within the estimated time on the traveling route of the service vehicle. When the candidate that satisfies the initial search condition is not obtained as the search result, the controller sequentially relaxes the search condition.

Advantages of the Invention

[0008] According to the present disclosure, it becomes possible to flexibly determine an evacuation area according to the situation when an emergency vehicle approaches, thereby reducing the possibility that a service vehicle will not be able to evacuate in time for the emergency vehicle to catch up. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram of an example of a vehicle dispatch system according to an embodiment; [Diagram 2] FIG. 2 is a block diagram of an example of a functional configuration of a first controller of the vehicle dispatch control device. [Diagram 3] 4 is a block diagram showing an example of a functional configuration of a second controller in an information processing device of a service vehicle. FIG. [Figure 4] FIG. 13 is a diagram illustrating search conditions for areas that are candidates for an evacuation area for a service vehicle. [Diagram 5] FIG. 10 is a diagram for explaining an example of a candidate for an escape area; [Figure 6] 10 is a flowchart of an example of a process of an information processing device when a service vehicle is evacuated. [Figure 7] 13 is a flowchart of an example of a process of the information processing device after private property is determined as an evacuation area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that each drawing is a schematic view and may differ from the actual one. In addition, the embodiment of the present invention shown below is an example of an apparatus and a method for embodying the technical idea of ​​the present invention, and the technical idea of ​​the present invention does not specify the structure, arrangement, etc. of the components as described below. The technical idea of ​​the present invention can be modified in various ways within the technical scope defined by the claims described in the claims.

[0011] (composition) 1 is a schematic diagram of an example of a vehicle dispatch system according to an embodiment. The vehicle dispatch system 1 according to the embodiment is a system that provides a vehicle dispatch service that dispatches a vehicle in response to a vehicle dispatch request made by a user requesting the dispatch of a vehicle. In this specification, a vehicle provided for the vehicle dispatch service of the vehicle dispatch system 1 is referred to as a "service vehicle." The vehicle dispatch system 1 includes a vehicle dispatch control device 2, a plurality of service vehicles 3A, 3B, and an electronic device 4 carried by a user. Hereinafter, the service vehicles 3A, 3B, and the like may be collectively referred to as "service vehicles 3."

[0012] The vehicle dispatch control device 2 includes a communication device 20, a map database (referred to as "map DB" in the figure) 21, a user information database (referred to as "user information DB" in the figure) 22, a reservation information database (referred to as "reservation information DB" in the figure) 23, a vehicle dispatch information database (referred to as "vehicle dispatch information DB" in the figure) 24, and a first controller 25. The communication device 20 provides a communication function between the first controller 25 and an external device. The communication method used by the communication device 20 may be, for example, wired communication or wireless communication using a public mobile communication network, satellite communication, road-to-vehicle communication with the service vehicle 3, or the like. The first controller 25 transmits and receives data between the service vehicle 3 and the electronic device 4 through the communication device 20. Note that the first controller 25 in the vehicle dispatch control device 2 in the vehicle dispatch system 1 may be capable of receiving data through the communication device 20 from a road traffic information management system (not shown) that provides various traffic information in real time, or from an on-board device provided in an emergency vehicle (not shown). This allows the vehicle dispatch control device 2 and the service vehicle 3 to appropriately acquire information, for example, on road closures, congestion, accidents, and the like, and information on emergency vehicles.

[0013] The map database 21 stores map information of the area where the vehicle dispatch system 1 provides the vehicle dispatch service. The map information may include road information related to roads in the area where the vehicle dispatch system 1 provides the vehicle dispatch service. For example, the map information may be a navigation map (sometimes referred to as a "navigation map" in the following description) that can be used to calculate a route from a boarding point where a user boards the service vehicle 3 to a destination. The navigation map includes, as information for each road, information on road nodes that indicate reference points on road reference lines (e.g., the center line of a road) and information on road links that indicate the section status of roads between the road nodes.

[0014] The user information database 22 stores user information, which is information about users who use the vehicle dispatch service provided by the vehicle dispatch system 1. For example, when using the vehicle dispatch service provided by the vehicle dispatch system 1, the user agrees to certain terms of use, etc., creates an account in the vehicle dispatch system 1, and registers necessary information (passenger user's name, address, payment account, and other information). For example, the user information database 22 may store user identification information and necessary information as user information.

[0015] For example, the user information may store history information of the user's past use of the vehicle dispatch system 1. For example, the history information may include history information of the in-vehicle environment of the service vehicle 3 when the user got into the service vehicle 3 in the past. For example, the history information of the in-vehicle environment may include information on the usage history of the in-vehicle device 36 of the service vehicle 3. The in-vehicle device 36 may be, for example, an in-vehicle audio device, an air conditioning device, a lighting device, etc. The information on the usage history of the in-vehicle device 36 may include history information on music played on the in-vehicle audio device, radio programs and station selections listened to on the in-vehicle audio device, the temperature and humidity in the vehicle cabin set on the air conditioning device, the lighting settings, etc.

[0016] Reservation information for the vehicle dispatch service is stored in the reservation information database 23. For example, the reservation information database 23 stores necessary reservation information such as user identification information, a boarding location desired by the user (desired boarding location), a disembarking location desired by the user (desired disembarking location), the number of passengers, and the like.

[0017] A location where a user boards or disembarks is called a boarding or disembarking point. In the target area of ​​the vehicle dispatch service, multiple boarding and disembarking points are set where the service vehicle 3 can stop and where the user can safely board or disembark from the stopped service vehicle 3. In the present disclosure, a boarding or disembarking point is a virtual bus stop installed at a location indicated in the map information stored in the map database 21. A user uses the vehicle dispatch service by specifying one of the boarding or disembarking points as the boarding or disembarking point in a vehicle dispatch request. The dispatch information database 24 stores dispatch information, which is information on the dispatch status of the service vehicle 3 dispatched to the user. For example, the dispatch information may include identification information of the dispatched service vehicle 3, identification information of the user who dispatched the service vehicle 3, information on the boarding location where the user boards the service vehicle 3 (i.e., the location where the user and the service vehicle 3 meet), and driving plan information on the driving route from the boarding location to the disembarking location where the user disembarks.

[0018] The first controller 25 is a computer device that executes information processing in the vehicle dispatch control device 2. The first controller 25 may include a processor 25a and peripheral components such as a storage device 25b. The processor 25a may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 25b may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 25b may include a register, a cache memory, a ROM (Read Only Memory) used as a main storage device, and a RAM (Random Access Memory), etc. The functions of the first controller 25 described below are realized, for example, by the processor 25a executing a computer program stored in the storage device 25b. The functions and processing of the first controller 25 will be described later.

[0019] The service vehicle 3 is a vehicle (a so-called on-demand transportation vehicle) that operates in response to requests from users of the vehicle dispatch service, and may be, for example, a shared taxi or a robot taxi. For example, the service vehicle 3 is an autonomous vehicle (unmanned vehicle) that drives autonomously (automatically driven by the second controller 37) according to a driving plan transmitted from the vehicle dispatch control device 2 without the involvement of a driver. The service vehicle 3 may be an autonomous vehicle capable of completely autonomous driving, and the so-called level of automation does not matter. The service vehicle 3 may be a vehicle capable of switching between a manual driving mode driven by a driver (human) and an autonomous driving mode as a driving mode. In this case, when the service vehicle 3 is in the manual driving mode, the service vehicle 3 can support the driver in driving the service vehicle 3 according to the route information by presenting the driving plan transmitted from the vehicle dispatch control device 2 to the driver. In this specification, an example in which the service vehicle 3 is an autonomous driving vehicle will be described.

[0020] The service vehicle 3 includes a sensor 30, a positioning device 31, a map database 32, a communication device 33, a terminal device 34, a display device 35, an in-vehicle device 36, a second controller 37, and an actuator 38. The sensor 30 (an example of a surrounding environment acquisition unit) includes an object sensor that detects objects around the service vehicle 3, and a vehicle sensor that detects various information obtained from the service vehicle 3 (vehicle state). The object sensor detects the surrounding environment of the service vehicle 3, such as the relative position between the service vehicle 3 and an object present around the service vehicle 3, the distance between the service vehicle 3 and the object, and the direction in which the object is present. The object sensor may include, for example, a camera that captures the surrounding environment of the service vehicle 3. In addition, for example, the object sensor may include a distance measuring device such as a laser range finder (LRF), a radar, or a laser radar of LiDAR (Light Detection and Ranging). The object sensor outputs surrounding environment information, which is information indicating the detected surrounding environment of the service vehicle 3, to the second controller 37.

[0021] The vehicle sensor may include, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the service vehicle 3, a wheel speed sensor that detects the rotational speed of each tire equipped on the service vehicle 3, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) in three axial directions of the service vehicle 3, a steering angle sensor that detects the steering angle (including the turning angle), a gyro sensor that detects the angular velocity generated in the service vehicle 3, and a yaw rate sensor that detects the yaw rate. The vehicle sensor outputs vehicle state information to the second controller 37.

[0022] The positioning device 31 measures the current position and attitude of the service vehicle 3. The positioning device 31 may include, for example, a Global Navigation System (GNSS) receiver. The GNSS receiver may be, for example, a Global Positioning System (GPS) receiver or the like. The positioning device 31 may include an inertial navigation system. The positioning device 31 outputs current position information of the measured current position to the second controller 37.

[0023] The map database 32 stores map information. The map information may include navigation map data and high-precision map data suitable for maps for autonomous driving (hereinafter, simply referred to as "high-precision maps"). Like the map database 21, the map database 32 also shows boarding and disembarking points set within the target area of ​​the vehicle dispatch service. The communication device 33 provides a communication function between the service vehicle 3 and an external device. The communication method used by the communication device 33 may be, for example, wireless communication using a public mobile communication network, satellite communication, road-to-vehicle communication, etc. The service vehicle 3 transmits and receives data to and from the vehicle dispatch control device 2 using the communication device 33. The service vehicle 3 also transmits and receives data to and from a predetermined server device that manages an external system, which is an example of the external device.

[0024] The terminal device 34 is an interface device that transmits and receives information between a user who is in the service vehicle 3 and the second controller 37. For example, the terminal device 34 includes a display device that outputs visual information output from the second controller 37, and a speaker or buzzer that outputs an alarm sound, a notification sound, and audio information. Furthermore, for example, the terminal device 34 includes an operator and a voice input device that accepts an operational input by the user to the second controller 37. The operator may be a mechanical interface device such as a button, a switch, a lever, a dial, a keyboard, or the like, or may be a button, a switch, a lever, a dial, a keyboard, or the like displayed on a touch panel. Furthermore, for example, when the service vehicle 3 is a manually-operated vehicle that is manually operated by a driver, the terminal device 34 may be used as an interface device for transmitting and receiving information between the driver and the second controller 37.

[0025] The display device 35 is provided on the outer surface (e.g., roof, front, side and / or back) of the body of the service vehicle 3, and displays visual information output by the second controller 37 toward the outside of the service vehicle 3. The display device 35 may be, for example, a display that displays text and image information output by the second controller 37. The in-vehicle devices 36 are various devices mounted on the service vehicle 3. For example, the in-vehicle devices 36 may be in-vehicle audio devices, air conditioning devices, and lighting devices.

[0026] The second controller 37 is an electronic control unit (ECU) that controls the service vehicle 3. The second controller 37 includes a processor 37a and peripheral components such as a storage device 37b. The processor 37a may be, for example, a CPU or an MPU. The storage device 37b may include a non-transitory tangible storage medium such as a register, a cache memory, or a memory such as a ROM or RAM used as a main storage device. The functions of the second controller 37 described below are realized, for example, by the processor 37a executing a computer program stored in the storage device 37b.

[0027] For example, when the service vehicle 3 is an autonomous vehicle, the second controller 37 performs information processing to drive the service vehicle 3 according to the driving plan transmitted from the vehicle dispatch control device 2 based on the surrounding environment information and vehicle status information from the sensor 30, the positioning results of the positioning device 31, and the high-precision map in the map database 32, and executes autonomous driving control. The actuator 38 operates the steering device, driving device and braking device of the service vehicle 3 in response to a control signal generated by the second controller 37 to generate a vehicle behavior of the service vehicle 3, thereby automatically driving the service vehicle 3. The actuator 38 includes a steering actuator, an accelerator opening actuator and a brake control actuator.

[0028] In the service vehicle 3 of this embodiment, the second controller 37 and the configuration for inputting data related to information processing in the second controller (sensor 30, positioning device 31, map database 32, communication device 33 and terminal device 34) constitute an information processing device 300.

[0029] Although details will be described later, when the vehicle dispatch control device 2 detects that an emergency vehicle is approaching the service vehicle 3 that is autonomously traveling according to the travel plan, it transmits information related to the approach of the emergency vehicle (emergency vehicle information) to the service vehicle 3. When the service vehicle 3 acquires the emergency vehicle information, the information processing device 300 searches for an evacuation area for evacuating from the path of the emergency vehicle, and determines an appropriate evacuation area based on the search result. This allows the service vehicle 3 to give way to the emergency vehicle even during autonomous traveling, in the same way as during manual driving.

[0030] The electronic device 4 is an information processing device used by a user of the vehicle dispatch service. The electronic device 4 is, for example, a portable personal digital assistant or a small computer that is easy to carry. The electronic device 4 includes a positioning device 40, a communication device 41, a human machine interface (HMI) 42, and a third controller 43. The positioning device 40 measures the current position of the electronic device 4 (i.e., the current position of the user). The positioning device 40 may include, for example, a GNSS receiver. The GNSS receiver may be, for example, a GPS receiver. The positioning device 40 may include an inertial navigation system. The positioning device 40 outputs current position information of the electronic device 4 to the third controller 43.

[0031] The communication device 41 provides a communication function between the electronic device 4 and an external device. The communication method by the communication device 41 may be, for example, wireless communication by a public mobile communication network, satellite communication, etc. The electronic device 4 transmits and receives data to and from the vehicle dispatch control device 2 via the communication device 41. The HMI 42 is an interface device that transmits and receives information between the electronic device 4 and the user. The HMI 42 includes a display device that is visible to the user, and a speaker or buzzer that outputs an alarm sound, a notification sound, and audio information. The HMI 42 also includes an operator and a voice input device that accepts operation input to the electronic device 4 by the user. The operator may be a button, a switch, a lever, a dial, a keyboard, a touch panel, or the like.

[0032] The third controller 43 is an electronic control unit that controls the operation of the electronic device 4. The third controller 43 includes a processor 43a and peripheral components such as a storage device 43b. The processor 43a may be, for example, a CPU or an MPU. The storage device 43b may include memories such as ROM and RAM used as the main memory, and non-transitory tangible storage media such as memory registers and cache memories.

[0033] Before reserving the car-sharing service, the user may pre-install dedicated application software for using the car-sharing system 1 on the electronic device 4 and make a reservation using the dedicated application software. Also, the user may use the browser function of the electronic device 4 to reserve the car-sharing service on a website on the Internet that accepts reservations for the car-sharing service.

[0034] The electronic device 4 accepts input operations of the HMI 42 by the user regarding the reservation of the car-sharing service. For example, the user inputs necessary information such as the user's identification information, the number of passengers, the desired boarding location, the boarding date and time, and the desired alighting location (destination). The third controller 43 generates a car-sharing request for applying for a reservation of the car-sharing service based on the information input by the user.

[0035] The third controller 43 transmits the information of the car-sharing request to the car-sharing control device 2 through the communication device 41. The car-sharing control device 2 stores the information of the car-sharing request in the reservation information database 23 as reservation information. The car-sharing control device 2 selects a service vehicle 3 for picking up the user based on the reservation information, and calculates the route (travel route) on which the service vehicle 3 carrying the user travels and the scheduled arrival times of the service vehicle 3 at the desired boarding location and the desired alighting location based on the boarding location (desired boarding location) and the alighting location (desired alighting location) desired by the user (included in the car-sharing request). The car-sharing control device 2 transmits the travel route plan information including the derived travel route, scheduled times, etc. to the electronic device 4. The electronic device 4 presents this information to the user through the HMI 42.

[0036] For example, suppose that the vehicle dispatch control device 2 receives a vehicle dispatch request from a specific user (user A) and dispatches a service vehicle 3A to user A. In this case, when user A and the service vehicle 3A arrive at the planned boarding point by the scheduled time, user A boards the service vehicle 3, and the service vehicle 3A starts traveling to the destination with user A on board.

[0037] The operation and function of each unit of the vehicle dispatch system 1 of the embodiment will be described in more detail below. Fig. 2 is a block diagram of an example of the functional configuration of the first controller 25 of the vehicle dispatch control device 2. The first controller 25 includes a reservation setting unit 60, a position information acquisition unit 61, a vehicle dispatch unit 62, a driving plan setting unit 63, and an emergency vehicle information transmission unit 64.

[0038] When the reservation setting unit 60 receives a vehicle dispatch request from the electronic device 4, it registers the information included in the vehicle dispatch request (user identification information, number of passengers, desired boarding location, boarding date and time, and desired disembarking location) in the reservation information database 23. The position information acquisition unit 61 receives the current position information of the electronic device 4 transmitted from the electronic device 4. The position information acquisition unit 61 also receives the current position information of the service vehicle 3 transmitted from the service vehicle 3.

[0039] The dispatch unit 62 determines the service vehicle 3 to be provided to the user based on the desired boarding location included in the dispatch request and the current location of the service vehicle 3. For example, the dispatch unit 62 may select the service vehicle 3 located closest to the desired boarding location among the service vehicles 3 that are not currently being used by other users and can arrive at the desired boarding location by the boarding date and time. The dispatch unit 62 registers the identification information of the selected service vehicle 3 in the dispatch information database 24.

[0040] The driving plan setting unit 63 derives a driving route from the desired boarding point included in the dispatch request to the desired disembarking point based on the map information stored in the map database 21. As a result, the desired boarding point and the desired disembarking point are set as the boarding point and disembarking point on the driving route. The driving plan setting unit 63 also calculates the scheduled time of arrival of the service vehicle 3 at the boarding point as the scheduled meeting time between the user and the service vehicle 3. The driving plan setting unit 63 also calculates the scheduled arrival time of the service vehicle 3 at the destination. The driving plan setting unit 63 registers the derived driving route and the boarding point, disembarking point, scheduled meeting time, and scheduled arrival time of the driving route in the dispatch information database 24. As a result, the driving route derived by the driving plan setting unit 63 based on the dispatch request (reservation information), the boarding point, disembarking point, scheduled meeting time, and scheduled arrival time on the driving route are registered in the dispatch information database 24 as a driving plan for the dispatch service provided to the user. The trip plan setting unit 63 transmits trip plan information relating to the trip plan to the service vehicle 3 selected by the vehicle allocation unit 62 (that is, the service vehicle 3 provided for use by the user) and the electronic device 4. The electronic device 4 that receives the trip plan information displays on the HMI 42 the trip route, the boarding and disembarking locations along the trip route, the scheduled meeting time, and the scheduled arrival time.

[0041] Furthermore, in the vehicle dispatch control device 2, the emergency vehicle information transmission unit 64 transmits the approach of an emergency vehicle to the service vehicle 3 to the service vehicle 3. The emergency vehicle information transmission unit 64 acquires information on emergency vehicles traveling within the target area of ​​the vehicle dispatch service (emergency vehicle information). For example, the emergency vehicle information is transmitted from an in-vehicle device provided in an emergency vehicle traveling within the target area of ​​the vehicle dispatch service or a road traffic information service, and is collected in the emergency vehicle information transmission unit 64 via the communication device 20. The emergency vehicle information includes, for example, the type of emergency vehicle, the traveling mode of the emergency vehicle, the position information of the emergency vehicle, the speed of the emergency vehicle (average speed, etc.), the traveling route of the emergency vehicle, the destination of the emergency vehicle, etc.

[0042] When the emergency vehicle is in an emergency driving mode (driving with its siren sounding) and there is a service vehicle 3 that is temporarily moving out of the path of the emergency vehicle, the emergency vehicle information transmission unit 64 transmits the approach of the emergency vehicle to the service vehicle 3.

[0043] For example, the emergency vehicle information transmission unit 64 determines whether or not there is a service vehicle 3 to be evacuated based on the emergency vehicle information. The emergency vehicle information transmission unit 64 grasps the positional relationship between the service vehicle 3 and the emergency vehicle, and recognizes the change in the positional relationship between the service vehicle 3 and the emergency vehicle over time. The change in the positional relationship may be recognized based on the emergency vehicle information (the positional information, destination, or driving route of the emergency vehicle) while referring to the map database 21 and the dispatch information database 24. The emergency vehicle information transmission unit 64 extracts the service vehicle 3 traveling near the emergency vehicle based on the positional information of the service vehicle 3 and the emergency vehicle, for example. Furthermore, the emergency vehicle information transmission unit 64 determines that the service vehicle 3 needs to be evacuated when the road on which the extracted service vehicle 3 is traveling is the same as the road on which the emergency vehicle is traveling, the traveling direction of the service vehicle 3 is the same as that of the emergency vehicle, and the distance between the service vehicle 3 and the emergency vehicle is shortening over time.

[0044] The emergency vehicle information transmission unit 64 may determine whether the lane in which the service vehicle 3 and the emergency vehicle are traveling is the same, instead of the road. If the road is the same, the difference in the lane is not relevant. In other words, even if the lane in which the emergency vehicle is traveling and the lane in which the vehicle itself is traveling are different, it may be determined that the emergency vehicle is traveling on the same road.

[0045] When the emergency vehicle information transmission unit 64 determines that there is a service vehicle 3 to be evacuated, it transmits the latest emergency vehicle information to the service vehicle 3 to be evacuated via the communication device 20. This allows the service vehicle 3 to detect the approach of the emergency vehicle and evacuate from the path of the emergency vehicle to give way. The evasion of the service vehicle 3 from the path of the emergency vehicle will be described later. The emergency vehicle information transmission unit 64 may continue to transmit the emergency vehicle information to the service vehicle 3 to be evacuated until the emergency vehicle passes (until the distance between the emergency vehicle and the service vehicle 3 exceeds a predetermined threshold). This allows the information processing device 300 of the service vehicle 3 to determine the timing to end the evacuation from the emergency vehicle (the timing when the emergency vehicle passes) based on the latest emergency vehicle information.

[0046] 3 is a block diagram of an example of a functional configuration of the second controller 37 of the service vehicle 3. The second controller 37 includes a position information transmission unit 70, an automatic driving control unit 71, an emergency vehicle detection unit 72, an estimated arrival time calculation unit 73, and an evacuation area determination unit 74. The position information transmitting unit 70 acquires the position information of the service vehicle 3 from the positioning device 31. The position information transmitting unit 70 transmits the position information to the vehicle dispatch control device 2 via the communication device 33.

[0047] The automatic driving control unit 71 executes automatic driving control to drive the service vehicle 3 according to the driving plan information transmitted from the vehicle dispatch control device 2. For example, the automatic driving control unit 71 calculates a target driving trajectory for driving the service vehicle 3 based on the current position and attitude of the service vehicle 3, the driving route in the driving plan information, a high-precision map, and the surrounding environment of the service vehicle 3. For example, the automatic driving control unit 71 generates a route space map that represents the route around the service vehicle 3 and the presence or absence of objects, and a risk map that quantifies the degree of danger during driving, and generates a target driving trajectory based on the motion characteristics of the service vehicle 3, the vehicle state information, the route space map, and the risk map. Then, the automatic driving control unit 71 drives the actuator 38 so that the service vehicle 3 drives along the generated target driving trajectory. Furthermore, when the emergency vehicle detection unit 72 detects the approach of an emergency vehicle, the automatic driving control unit 71 modifies the generated target driving trajectory to temporarily move the service vehicle 3 out of the path of the emergency vehicle.

[0048] The emergency vehicle detection unit 72 acquires emergency vehicle information, which is information indicating the approach of an emergency vehicle to the service vehicle 3, i.e., the vehicle itself. The emergency vehicle detection unit 72 receives the emergency vehicle information transmitted from the vehicle dispatch control device 2 by the communication device 33. This allows the service vehicle 3 to detect the approach of the emergency vehicle to the vehicle itself. The estimated arrival time calculation unit 73 calculates an estimated time until the emergency vehicle arrives (catches up) with the service vehicle 3 (own vehicle) based on the emergency vehicle information acquired by the emergency vehicle detection unit 72. For example, the estimated arrival time calculation unit 73 calculates an estimated time indicating the remaining time until the emergency vehicle arrives at the own vehicle based on the position information and speed of the service vehicle 3 and the position information, speed, etc. of the emergency vehicle in the emergency vehicle information.

[0049] The evacuation area determination unit 74 determines an evacuation area for the service vehicle 3 to evacuate from the path of the emergency vehicle. In a vehicle dispatch service, when an emergency vehicle is approaching (the emergency vehicle detection unit 72 acquires emergency vehicle information), the service vehicle 3 is required to stop or enter a nearby area to give way to the emergency vehicle before the emergency vehicle catches up with the vehicle. For this reason, the evacuation area determination unit 74 derives an area (reachable area) that the service vehicle 3 can reach within the estimated time calculated by the estimated arrival time calculation unit 73, searches for candidate evacuation areas (candidate areas) within the reachable area, and determines the evacuation area based on the search results.

[0050] First, the derivation of the reachable area will be described. The avoidance area determination unit 74 calculates the farthest point (limit point) on the travel route that can be reached within the estimated time calculated by the estimated arrival time calculation unit 73, and derives the area from the current location to the limit point on the travel route of the service vehicle 3 as the reachable area. The limit point is calculated based on, for example, current position information output from the positioning device 31, and detection data (photographed images of the surrounding environment, travel speed, etc.) output from the object sensor and vehicle sensor included in the sensor 30.

[0051] Next, the search for the candidate area in the reachable area will be described. The evacuation area determination unit 74 searches for candidates (candidate areas) for the evacuation area for the service vehicle 3 to evacuate from the route of the emergency vehicle within the reachable area based on predetermined search conditions, and determines the evacuation area based on the search result.

[0052] In this embodiment, a plurality of search conditions are set, and the plurality of search conditions are applied in sequence according to the situation when the emergency vehicle approaches. The initial search condition among the plurality of search conditions is a condition indicating an area that is optimal for the evacuation area among the reachable area. As will be described in detail later, the optimal area for the evacuation area is a boarding and disembarking location where the user can board and disembark the service vehicle 3 from the viewpoint of safety and size when stopping, ease of returning to the driving route, and the like. In other words, the evacuation area determination unit 74 searches for a boarding and disembarking location that is suitable for the user to board and disembark the service vehicle 3 as a candidate area that satisfies the initial search condition. The evacuation area determination unit 74 may search for a boarding and disembarking location within the reachable area, for example, by referring to map information in the map database 32.

[0053] When a candidate area (in this example, a boarding / alighting point) that satisfies a predetermined search condition (initial search condition) is obtained as a search result, the evacuation area determination unit 74 determines the candidate area as the evacuation area. Note that when multiple boarding / alighting points exist within the reachable area (when multiple boarding / alighting points are obtained as a search result), the boarding / alighting point closest to the current position of the service vehicle 3 (the nearest boarding / alighting point) may be determined as the evacuation area.

[0054] On the other hand, when the escape area determination unit 74 cannot obtain a candidate area that satisfies the initial search conditions as a search result, the escape area determination unit 74 relaxes the search conditions in sequence. Specifically, when there is no boarding / alighting point within the reachable area and no boarding / alighting point is obtained as a candidate area that satisfies the initial search conditions, the escape area determination unit 74 relaxes the search conditions so as to set a non-boarding / alighting area (area other than the boarding / alighting point) that is not suitable for the user to board / alight the service vehicle 3 as a candidate area. The non-boarding / alighting area is an area that is not suitable for boarding / alighting the service vehicle 3 but can be used for temporary evacuation of the service vehicle 3. The escape area determination unit 74 may search for the non-boarding / alighting area based on, for example, detection data (surrounding environment information) of an object sensor included in the sensor 30. According to the surrounding environment information, the traffic volume (presence or absence of traffic jam, etc.) around the vehicle (service vehicle 3) and the status of parked vehicles can be recognized.

[0055] In this embodiment, changing the search conditions for the candidate area from search conditions indicating boarding and alighting points (initial search conditions) to search conditions indicating non-boarding and alighting areas corresponds to relaxing the search conditions. In a ride-hailing service, boarding and alighting points are more suitable for use as evacuation areas than non-boarding and alighting areas, and are considered to be areas that should be given priority as candidate areas compared to non-boarding and alighting areas. In other words, the initial search conditions indicating boarding and alighting points are search conditions indicating candidate areas with high priority (high priority search conditions), and the relaxed search conditions indicating non-boarding and alighting areas are search conditions with lower priority than the initial search conditions.

[0056] In this way, the search conditions for searching a candidate area are composed of multiple conditions with different priorities (original search conditions and relaxed search conditions). Of the multiple search conditions, there is one original search condition, and the rest are relaxed search conditions. In other words, the multiple search conditions for searching a candidate area are composed of one original search condition (a condition indicating a boarding or disembarking area) and multiple relaxed search conditions (conditions indicating non-boarding or disembarking areas). As will be described in more detail later, the multiple relaxed search conditions have different priorities, and they are applied to the search of the candidate area in order of priority, starting with the highest priority.

[0057] Here, the search conditions for the evacuation area will be described with reference to FIG. 4. FIG. 4 is a diagram for explaining an overview of the search conditions. As illustrated in FIG. 4, the search conditions for the candidate area include multiple conditions with different priorities. As described above, the higher the priority of the search condition, the more suitable the candidate area is for use as an evacuation area. The priority is also the order of precedence (the order of use in the search) when searching for the candidate area. In this example, five search conditions, A to E, are set in descending order of priority. The priority is determined based on four items: "Whether the user can get on and off," "Safety," "Size," and "Ease of returning to the route."

[0058] "User boarding / disembarking availability" is an item indicating whether the candidate area is an area that can be used for users to board and disembark the service vehicle 3, and indicates whether the area can be used for boarding and disembarking with "◯" and indicates whether the area cannot be used with "×". The fact that users can board and disembark indicates that the safety of the candidate area is guaranteed and that the area is the most suitable area for stopping the service vehicle 3. "Safety" is an item that evaluates the safety of a candidate area, with a "O" indicating that it is possible to stop safely, a "△" indicating that safety is reduced due to traffic volume, etc., and an "X" indicating that it is not possible to stop safely.

[0059] "Size" is an item for evaluating the size of the candidate area, and is indicated by "O" if the candidate area is large enough for the service vehicle 3 to retreat (the entire service vehicle 3 can fit in and there is room to spare), by "△" if it is the minimum size (at least the entire service vehicle 3 can fit in), and by "X" if it is not large enough (the entire service vehicle 3 cannot fit in). "Ease of route return" is an item that evaluates whether the service vehicle 3 can easily return to the original driving route (route of the driving plan) after evacuation. If the return is easy, it is indicated with a "O", if it takes time to return, such as if it is necessary to circle the candidate area, it is indicated with a "△", and if it requires detailed driving control, such as correcting the position of the service vehicle 3, it is indicated with an "X" until it can return.

[0060] In this example, search condition A has all items marked "O" and has the highest priority (highest priority), and is a condition (initial search condition) that indicates the most suitable area for the evacuation area. In other words, a candidate area that satisfies search condition A will be the most suitable area for the evacuation area. As described above, an example of a candidate area that satisfies search condition A is a boarding / disembarking point set in a target area for the ride-hailing service. Note that any candidate area that satisfies search condition A, regardless of whether it is a boarding / disembarking point that has been set, is considered to be the most suitable area for the evacuation area.

[0061] Search conditions B and onwards are search conditions (relaxed search conditions) that indicate non-boarding and disembarking areas. In this example, search condition B has the second highest priority (priority: high), and is a condition in which all items other than "Whether users can get on and off" are marked "Yes." In other words, a candidate area that satisfies search condition B is an area suitable as an evacuation area, although users cannot get on and off. An example of a candidate area that satisfies search condition A is an area (blocked area) where vehicle safety fences (guardrails, etc.) that block the sidewalk or where plants are installed.

[0062] In this example, search condition C has the third highest priority (medium priority), and is a condition in which items other than "user boarding / disembarking" and "ease of route return" are "◯". In other words, a candidate area that satisfies search condition B is an area suitable as an evacuation area in terms of size and safety, although it is not easy to return to the route. An example of a candidate area that satisfies search condition C is private land (parking lot, driveway in a facility, etc.) that can be entered and circumnavigated. The private land is, for example, a public facility, commercial facility, parking lot, etc. registered in the map database 32, and does not include residential buildings and facilities where entry is prohibited. In addition, "circumnavigation is possible" means that when entering private land, it is possible to circle the private land, exit the private land from the entrance (or the exit entrance near the entrance), and return to the original driving route. It is assumed that whether or not it is possible to circumnavigate can be determined by referring to the map database 32, for example.

[0063] In this example, search conditions D and E are search conditions that indicate areas that have a low priority among non-boarding and disembarking areas and are not usually suitable for stopping, but can be used as evacuation areas in an emergency (when an emergency vehicle approaches). Search condition D has the fourth highest priority out of the five conditions (priority: low), with only "safety" rated "o" and "area" rated "△", indicating an area that is not as spacious as search condition C. An example of a candidate area that satisfies search condition D is an area (space) between parked vehicles on the road that can accommodate the entire service vehicle 3 (the entire service vehicle 3 can be evacuated), for example an area where the distance between parked vehicles is about 10 m.

[0064] Among the five conditions, the search condition E has the fifth highest priority (lowest priority), and although it has a minimum required level of safety ("safety" is "△"), the other items are "×". An example of a candidate area that satisfies the search condition E is a space between parked vehicles on the road that can accommodate a part of the service vehicle 3, for example, an area where the distance between the parked vehicles is about 8 m. An area that satisfies the search condition E is an area that becomes a candidate area by lowering the safety risk standard (accepting an area with a "△" safety item) only when there is no candidate area that satisfies the other search conditions. To give way to an emergency vehicle (to evacuate), it is sufficient to ensure a width on the route that allows the emergency vehicle to travel. Therefore, even if only a part of the service vehicle 3 can evacuate, such as a candidate area that satisfies the search condition E, the emergency vehicle can be given way. In this way, the area between parked vehicles that can be used as an evacuation area in an emergency, i.e., the area between parked vehicles as a non-boarding / disembarking area, may be an area that can accommodate at least a portion of the service vehicle 3 (for example, an area where the distance between parked vehicles is 8 to 10 m).

[0065] As described above, when searching for candidate areas, the escape area determination unit 74 searches in order from the search condition with the highest priority (search condition A). That is, the escape area determination unit 74 first searches for candidate areas (boarding and disembarking points) that meet the search condition A among reachable areas. Then, if no search results based on the search condition A are obtained, the escape area determination unit 74 relaxes the search conditions. That is, the escape area determination unit 74 sequentially searches for candidate areas (non-boarding and disembarking areas) that meet the search conditions B to E.

[0066] Here, with reference to FIG. 5, a specific example of relaxing the search conditions will be described. 5 is a diagram showing a model of candidate areas on the travel route of the service vehicle 3. In FIG. 5, candidate areas that satisfy search conditions A to E exist on the travel route L1 of the service vehicle 3. Specifically, there exist a boarding / alighting point S1 that is a candidate area (boarding / alighting point) that satisfies search condition A, a shielded area S2 that is a candidate area (shielded area with vehicle protection fences and plants) that satisfies search condition B, a parking lot S3 that is a candidate area (private land) that satisfies search condition C, a vehicle-to-vehicle space S4 that is a candidate area (space between parked vehicles in which the entire service vehicle 3 can fit) that satisfies search condition D, and a vehicle-to-vehicle space S5 that is a candidate area (space between parked vehicles in which part of the service vehicle 3 can fit) that satisfies search condition E.

[0067] For example, when the limit point is point P1 (point P1 can be reached within the estimated time), the evacuation area determination unit 74 searches for a candidate area (boarding and disembarking point) that satisfies search condition A, which is the initial search condition, on the driving route L1 from the current position of the service vehicle 3, which is the vehicle itself, to point P1. This allows the search to be prioritized for candidate areas that are highly suitable for use as evacuation areas. In this example, a boarding and disembarking point S1 that satisfies search condition A exists in the area up to point P1, and the boarding and disembarking point S1 is obtained as the search result. In this case, the evacuation area determination unit 74 does not search for candidate areas under other search conditions (search conditions B to E), and determines the boarding and disembarking point S1 as the evacuation area.

[0068] For example, if the limit point is point P2 (point P2 can be reached within the estimated time), there is no candidate area (boarding / disembarking point) that satisfies search condition A within the reachable area to point P2, and no candidate area (boarding / disembarking point) that satisfies search condition A is obtained as a search result. In this case, the evacuation area determination unit 74 relaxes the search condition and searches for a candidate area that satisfies search condition B, which has a lower priority than search condition A. In other words, a shielded area where a vehicle can stop and where a vehicle safety fence or plantings are installed as a non-boarding / disembarking area is searched for.

[0069] In this example, a shielded area S2 that satisfies the search condition B exists in the area from the current position of the service vehicle 3 to the point P2, and the shielded area S2 is obtained as the search result. In this case, the escape area determination unit 74 does not search for candidate areas under other search conditions (search conditions C to E), and determines the shielded area S2 as the escape area. Note that it may be difficult to safely stop in the shielded area (shielded area S2 in this example) when there is a lot of traffic (e.g., there is a traffic jam). For this reason, when a shielded area is obtained as the search result of the candidate area, the escape area determination unit 74 determines the traffic volume based on the surrounding environment information output from the sensor 30, and determines the shielded area as the escape area when the traffic volume is low (e.g., there is no traffic jam) and it is possible to safely stop.

[0070] For example, if the limit point is point P3 (point P3 can be reached within the estimated time), there is no candidate area that satisfies search conditions A and B within the reachable area to point P3, and no candidate area (boarding / disembarking area, blocked area) that satisfies search conditions A and B is obtained as a search result. In this case, the evacuation area determination unit 74 relaxes the search conditions and searches for a candidate area (private land) that satisfies search condition C (a search condition with a lower priority than search conditions A and B) that indicates a non-boarding / disembarking area. In other words, private land that a vehicle can enter is searched for as a non-boarding / disembarking area. In this example, a parking lot S3 that satisfies the search condition C exists in the area from the current position of the service vehicle 3 to the point P3, and the parking lot S3 is obtained as the search result. In this case, the evacuation area determination unit 74 does not search for candidate areas under other search conditions (search conditions D and E), and determines the parking lot S3 as the evacuation area.

[0071] For example, if the limit point is point P4 (point P4 can be reached within the estimated time), there is no candidate area that satisfies the search conditions A to C within the reachable area to point P4, and no candidate area that satisfies the search conditions A to C (boarding / alighting area, shielded area, private property) is obtained as a search result. In this case, the evacuation area determination unit 74 relaxes the search conditions and searches for an area between vehicles parked on the road as a non-boarding / alighting area. In other words, it searches for a candidate area that satisfies search condition D (a search condition with a lower priority than search conditions A to C) that indicates a non-boarding / alighting area. In this example, an inter-vehicle space S4 (an area that can accommodate the entire service vehicle 3A) that satisfies search condition D exists in the area from the current position of the service vehicle 3 to point P4, and the inter-vehicle space S4 is obtained as the search result. In this case, the evacuation area determination unit 74 does not search for candidate areas under other search conditions (search condition E), and determines the inter-vehicle space S4 as the evacuation area.

[0072] For example, when the limit point is point P5 (point P5 can be reached within the estimated time), there is no candidate area that satisfies the search conditions A to D within the reachable area to point P5, and no candidate area that satisfies the search conditions A to D (boarding / disembarking areas, blocked areas, private property, areas between parked vehicles that can accommodate the entire service vehicle 3) is obtained as a search result. In this case, the evacuation area determination unit 74 relaxes the search conditions and searches for a candidate area that satisfies search condition E (a search condition with a lower priority (lowest priority) than search conditions A to D) that indicates a non-boarding / disembarking area. In this example, there is an inter-vehicle space S5 (an area in which a part of the service vehicle 3A fits) that satisfies the search condition E in the area from the current position of the service vehicle 3 to the point P5, and the inter-vehicle space S5 is obtained as the search result. Therefore, the evacuation area determination unit 74 determines the inter-vehicle space S5 as the evacuation area.

[0073] In this way, the evacuation area determination unit 74 searches for candidate areas in the order of search conditions with the highest priority. In other words, when a search result for a candidate area based on search condition A (initial search condition) is not obtained, the search condition is relaxed and non-boarding / alighting areas are searched for as candidate areas based on search conditions B to E. This allows the evacuation area to be flexibly determined according to various conditions such as the presence or absence of boarding / alighting points / non-alighting areas in the reachable area and road conditions (traffic volume, number of parked vehicles, etc.), and reduces the possibility that the service vehicle 3 will not be able to evacuate in time before the emergency vehicle catches up. In addition, candidate areas that are highly suitable for use as an evacuation area are searched for preferentially, and as a result, from among the candidate areas that can be selected depending on the situation, a candidate area that is highly suitable for use can be preferentially determined as an evacuation area.

[0074] When the evacuation area determination unit 74 searches for a non-boarding / disembarking area as a candidate area (searching for a candidate area based on search conditions B to E), it may search for a non-boarding / disembarking area (for example, a shielded area, private property, a space between parked vehicles) based on surrounding environment information (for example, distance and direction of objects around the service vehicle 3, photographed images of the surroundings, distance measurement information, etc.) detected by the object sensor of the sensor 30 and map information in the map database 32. In addition, the widths R1 and R2 indicating the length between the parked vehicles in the space between the parked vehicles may be calculated based on the difference in distance between the service vehicle 3 and each parked vehicle detected by the object sensor in the surrounding environment information.

[0075] Also, for ease of understanding, in this example, an example has been described in which a boarding / alighting point S1 that satisfies search condition A exists when the limit point is point P1, which is the farthest from the service vehicle 3, but if there is no boarding / alighting point S1 that satisfies search condition A between point P1 and point P1, then candidate areas that meet search conditions other than search condition A will be searched for. In other words, the evacuation area determination unit 74 searches in order starting from search condition A, regardless of the distance to the limit point (estimated time), and determines the evacuation area based on the first search result obtained.

[0076] When the evacuation area is determined, the evacuation area determination unit 74 refers to the map database 32 to acquire the position information of the evacuation area, and outputs the acquired position information to the automatic driving control unit 71. The automatic driving control unit 71 adds the position information of the evacuation area to the current driving route, and adjusts the driving plan so that the evacuation area is passed through the evacuation area to the destination (drop-off point). This allows the service vehicle 3 to return to the original driving route after waiting for the emergency vehicle to pass through the evacuation area. When the evacuation area determination unit 74 determines that the emergency vehicle has passed, it outputs data indicating the passage of the emergency vehicle to the automatic driving control unit 71. The evacuation area determination unit 74 may detect the passage of the emergency vehicle based on the surrounding environment information output from the sensor 30, or may detect the passage of the emergency vehicle based on the position information of the latest emergency vehicle information received from the vehicle dispatch control device 2 (emergency vehicle information transmission unit 64).

[0077] Furthermore, when the evacuation area determination unit 74 determines a candidate area (private land) searched based on the search condition C as the evacuation area, it performs a process to request permission to enter (entry permission request process) when the service vehicle 3 enters the private land. A gate device that can be opened and closed (e.g., a bar-type car gate) may be present at the entrance to the private land. If a gate device is present, a process to obtain permission to enter the private land is performed according to the management method (manned management or unmanned management (system control)). Therefore, when the service vehicle 3, which is the vehicle itself, reaches the entrance to the private land determined as the evacuation area, the evacuation area determination unit 74 performs an entry permission request process to request permission to enter. 5, a gate device 53 is present at the entrance 13. Therefore, the evacuation area determination unit 74 performs the above-mentioned entry permission request process when the service vehicle 3A enters the parking lot S3.

[0078] In the entry permission request process, the evacuation area determination unit 74 determines whether or not permission is required to enter private land, and when it determines that permission is required, it causes the communication device 33 or the display device 35 to output data requesting the permission (entry permission request). The communication device 33 is capable of transmitting (outputting) data to an external device, and the display device 35 is capable of displaying (outputting) visual information to the outside of the service vehicle 3. For this reason, the communication device 33 and the display device 35 are collectively referred to as an output device (an example of an output unit). By outputting an entry permission request from the output device, the gate device can be opened and the vehicle (service vehicle 3) can be safely evacuated to the private property.

[0079] The evacuation area determination unit 74 acquires the current position of the vehicle (for example, the service vehicle 3A) from the positioning device 31, and when it is determined that the current position corresponds to the entrance (entrance 13) of a private property (parking lot S3), it determines whether or not there is a gate device at the entrance of the private property and whether or not it is manned based on the surrounding environment information detected by the sensor 30 (object sensor). For example, a photographed image of the surrounding environment of the vehicle is acquired as the surrounding environment information, and when a gate device is detected from the photographed image in the surrounding environment information by a known image recognition technology, it may be determined that there is a gate device (gate device 53) at the entrance of the private property. Also, when a person appears near the gate device in the photographed image in the surrounding environment information by a known image recognition technology, it may be determined that the gate device is manned. Furthermore, the presence or absence of a gate device and whether or not it is manned may be determined using distance measurement information by a distance measurement device in the sensor 30.

[0080] When the evacuation area determination unit 74 determines based on the surrounding environment information (e.g., the above-mentioned captured image) that there is a gate device at the entrance to the private land and that the gate device is under manned management, the evacuation area determination unit 74 displays an image (request image) indicating a request for permission to enter the private land to evacuate from the emergency vehicle's path as an entry permission request on the display device 35. The request image may be a character string image indicating the request content, such as "Please allow temporary entry to evacuate from the emergency vehicle," or may include symbols and pictures in addition to the character string. This reduces distrust from the manager and encourages the smooth opening of the gate device.

[0081] On the other hand, when the evacuation area determination unit 74 determines based on the surrounding environment information (for example, the above-mentioned captured image) that there is a gate device at the entrance to the private land and that the gate device is unmanned (system controlled), the evacuation area determination unit 74 transmits data (entry request data) indicating a request for permission to enter the private land in order to evacuate from the path of the emergency vehicle as an entry permission request to a predetermined server device that manages the control system of the gate device via the communication device 33. This allows the entry permission request to communicate with the control system of the gate device, causing the gate device to be automatically opened. The evacuation area determination unit 74 may determine whether or not the gate device is under manned management based on data (signals, etc.) issued by the gate device, rather than on the surrounding environment information of the service vehicle 3. The evacuation area determination unit 74 may transmit entry request data from the communication device 33 to the vehicle dispatch control device 2, and the vehicle dispatch control device 2 may communicate with a predetermined server device that manages the control system to request the gate device to be opened. In other words, the information processing device 300 may be configured to request the above-mentioned predetermined server device to open the gate device via the vehicle dispatch control device 2.

[0082] The evacuation area determination unit 74 acquires the surrounding environment information again from the sensor 30 after outputting the entry permission request (after display on the display device 35 or after data transmission from the communication device 33), and when it determines that the gate device has been opened based on the surrounding environment information, it inputs that fact to the automatic driving control unit 71. The automatic driving control unit 71 causes the service vehicle 3 to enter the private property based on the input. This allows the service vehicle 3 to smoothly and safely evacuate from the path of the emergency vehicle even if private property equipped with a gate device is determined as the evacuation area.

[0083] (operation) Fig. 6 is a flowchart of an example of the operation of the information processing device 300 in the service vehicle 3. Here, the process executed by the second controller 37 when moving out of the path of the emergency vehicle will be described with reference to Fig. 4 and Fig. 6. In step S1, the second controller 37 (emergency vehicle detection unit 72) determines whether or not an emergency vehicle is approaching the service vehicle 3, which is the subject vehicle. When new emergency vehicle information has been acquired from the vehicle dispatch control device 2, the emergency vehicle detection unit 72 determines that an emergency vehicle is approaching and proceeds to step S2 (step S1: Y). On the other hand, when new emergency vehicle information has not been acquired from the vehicle dispatch control device 2, the second controller 37 waits until emergency vehicle information is acquired (step S1: N).

[0084] In step S2, the second controller 37 (estimated arrival time calculation unit 73) calculates an estimated time required for the emergency vehicle to arrive at the host vehicle. In step S3, the second controller 37 (the evacuation area determination unit 74) refers to the map database 32 based on the search condition A and searches for boarding and alighting points as candidates (candidate areas) for the evacuation area for evacuating from the route of the emergency vehicle.

[0085] In step S4, the second controller 37 (the turn-off area determination unit 74) judges whether or not a boarding / alighting point where the vehicle can be stopped within the estimated time has been obtained as a search result under the search condition A. More specifically, the turn-off area determination unit 74 derives a limit point (a point that can be reached within the estimated time) on the travel route of the vehicle (the service vehicle 3), and judges whether or not there is a boarding / alighting point in the area from the current position of the vehicle to the limit point (reachable area). If a boarding / alighting point within the reachable area has been obtained as a search result, the turn-off area determination unit 74 advances the process to step S13 (step S4: Y). On the other hand, if a boarding / alighting point within the reachable area has not been obtained as a search result, the turn-off area determination unit 74 advances the process to step S5 (step S4: N).

[0086] In step S5, the second controller 37 (the escape area determination unit 74) refers to the map database 32 and the surrounding environment information output from the sensor 30, and searches for blocked areas as escape area candidates (candidate areas) based on the search condition B. In step S6, the second controller 37 (the escape area determination unit 74) judges whether or not a shielded area where the host vehicle can be stopped within the estimated time has been obtained as a search result under the search condition B. When a shielded area in the reachable area where traffic volume is low and where the host vehicle can be stopped safely has been obtained as a search result, the escape area determination unit 74 advances the process to step S13 (step S6: Y). On the other hand, when a shielded area where traffic volume is low and where the host vehicle can be stopped safely has not been obtained as a search result (there is no shielded area in the reachable area, or even if there is a shielded area, the traffic volume is high and it is not possible to stop safely), the escape area determination unit 74 advances the process to step S7 (step S6: N).

[0087] In step S7, the second controller 37 (escape area determination unit 74) refers to the map database 32 and the surrounding environment information output from the sensor 30, and searches for private land that can be entered and circumnavigated as candidates for the escape area (candidate areas) based on the search condition C. In step S8, the second controller 37 (the escape area determination unit 74) judges whether or not a private property that the host vehicle (service vehicle 3) can enter and travel around within the estimated time has been obtained as a search result under the search condition C. If the private property within the reachable area has been obtained as a search result, the escape area determination unit 74 advances the process to step S13 (step S8: Y). On the other hand, if the private property within the reachable area has not been obtained as a search result, the escape area determination unit 74 advances the process to step S9 (step S8: N).

[0088] In step S9, the second controller 37 (evacuation area determination unit 74) searches for an area between parked vehicles where the entire host vehicle (service vehicle 3) can be evacuated as a candidate for the evacuation area (candidate area) based on the search condition D. Specifically, the evacuation area determination unit 74 searches for an area where the distance between parked vehicles is 10 m or more as an evacuation area where the entire host vehicle can be evacuated (stopped). In step S10, the second controller 37 (the turn-off area determination unit 74) judges whether or not an area between parked vehicles into which the entirety of the host vehicle can be evacuated (an area where the distance is 10 m or more) has been obtained within the estimated time as a search result under the search condition D. If an area between parked vehicles into which the entirety of the host vehicle can be evacuated exists within the reachable area, the turn-off area determination unit 74 advances the process to step S13 (step S10: Y). On the other hand, if an area between parked vehicles into which the entirety of the host vehicle can be evacuated exists within the reachable area as a search result, the turn-off area determination unit 74 advances the process to step S11 (step S10: N).

[0089] In step S11, the second controller 37 (evacuation area determination unit 74) searches for an area between parked vehicles where part of the host vehicle (service vehicle 3) can be evacuated as a candidate for the evacuation area (candidate area) based on the search condition E. Specifically, the evacuation area determination unit 74 searches for an area where the distance between parked vehicles is 8 m or more as an evacuation area where the host vehicle can be evacuated (stopped) in its entirety. In step S12, the second controller 37 (the turn-off area determination unit 74) judges whether or not an area between parked vehicles into which a part of the host vehicle can be evacuated (an area where the distance is 8 m or more) is obtained within the estimated time as a search result under the search condition E. If an area between parked vehicles into which a part of the host vehicle can be evacuated exists within the reachable area, the turn-off area determination unit 74 advances the process to step S13 (step S12: Y). On the other hand, if an area between parked vehicles into which a part of the host vehicle can be evacuated exists within the reachable area as a search result, the turn-off area determination unit 74 advances the process to step S15 (step S12: N).

[0090] In step S13, the second controller 37 (the escape area determination unit 74) determines, as the escape area, a candidate area obtained as a search result based on any one of the search conditions A to E. The escape area determination unit 74 outputs position information of the determined escape area to the automatic driving control unit 71. In step S14, the second controller 37 (automatic driving control unit 71) drives the host vehicle to the evacuation area based on the position information of the evacuation area, and causes the host vehicle to evacuate. In step S15, the second controller 37 does not determine an evacuation area in the evacuation area determination unit 74, and the autonomous driving control unit 71 continues driving the host vehicle on the driving route. For example, the evacuation area determination unit 74 inputs data indicating that an evacuation area does not exist on the driving route to the autonomous driving control unit 71. Based on the input, the autonomous driving control unit 71 continues driving the host vehicle while moving as close to the left side of the lane as possible. This makes it possible to give way to an emergency vehicle to the extent possible, even when an evacuation area cannot be determined.

[0091] In this manner, the second controller 37 of the service vehicle 3 executes a process (step S1) of acquiring information (emergency vehicle information) indicating the approach of an emergency vehicle to the service vehicle 3 (own vehicle), a process (step S2) of calculating an estimated time for the emergency vehicle to reach the service vehicle 3, and a process (steps S3 to S11) of searching for candidates for the evacuation area (candidate area) based on predetermined search conditions A to E. In this embodiment, the initial search condition is a condition (search condition A) indicating an area that is optimal for the evacuation area among areas (reachable areas) on the travel route of the service vehicle that the service vehicle 3 can reach within the estimated time, and when a candidate area (boarding and disembarking point) that satisfies the search condition A is not obtained as a search result, the second controller 37 sequentially relaxes the search condition (sequentially searches for candidate areas based on the search conditions B to E). As a result, the information processing device 300 according to the present embodiment can flexibly determine the evacuation area depending on the situation, and can reduce the possibility that the service vehicle 3 will not be able to evacuate in time before the emergency vehicle catches up.

[0092] Fig. 8 is a flowchart of an example of a process of the information processing device 300 after determining that the private property is the evacuation area. Here, the process (entry permission request process) executed by the second controller 37 when evacuating from the route of the emergency vehicle to the private property will be described with reference to Fig. 5 and Fig. 8. In step S21, the second controller 37 (the evacuation area determination unit 74) judges whether or not there is a gate device at the entrance of the private property determined as the evacuation area. If the evacuation area determination unit 74 judges based on the surrounding environment information that there is a gate device at the entrance (for example, the gate device 53 of the parking lot S3), the process proceeds to step S22 (step S21: Y). On the other hand, if the evacuation area determination unit 74 judges based on the surrounding environment information that there is no gate device at the entrance, the process proceeds to step S25 (step S21: N).

[0093] In step S22, the second controller 37 (the evacuation area determination unit 74) judges whether the gate device is under manned management. If the evacuation area determination unit 74 judges that the gate device is under manned management based on the surrounding environment information, the process proceeds to step S23 (step S22: Y). On the other hand, if the evacuation area determination unit 74 judges that the gate device is not under manned management (under unmanned management by the control system) based on the surrounding environment information, the process proceeds to step S24 (step S22: N).

[0094] In step S23, the second controller 37 (the evacuation area determination unit 74) causes the display device 35 to display an image (request image) indicating that the emergency vehicle will temporarily enter the private property to evacuate from the path of the emergency vehicle, to the manager who manages the gate device. For example, the evacuation area determination unit 74 outputs data of the request image that is registered in advance in a predetermined storage area of ​​the information processing device 300 to the display device 35. As a result, the service vehicle 3 requests permission to enter the private property from the manager, and prompts the manager to open the gate device.

[0095] In step S24, the second controller 37 (escape area determination unit 74) communicates with a control system that controls the gate device to request entry into the private property. For example, the evacuation area determination unit 74 transmits entry request data to a management device (e.g., a server device) of the control system via the communication device 33. As a result, the service vehicle 3 requests permission to enter the private property from the control system, and requests the control system to open the gate device.

[0096] In step S25, the second controller 37 (automatic driving control unit 71) causes the vehicle (service vehicle 3) to enter the private property and waits until the emergency vehicle passes. Specifically, the automatic driving control unit 71 causes the service vehicle 3 to drive from the entrance into the private property and to circle around the private property. This allows the service vehicle 3 to retreat into the private property until the emergency vehicle passes. If there is a gate device at the entrance, when data indicating that the gate device has been opened is input from the retreat area determination unit 74, the automatic driving control unit 71 causes the service vehicle 3 to enter the private property based on the input. Furthermore, when data indicating that an emergency vehicle has passed is input from the retreat area determination unit 74, the automatic driving control unit 71 causes the service vehicle 3 to travel outside the private property. This causes the service vehicle 3 to finish retreating and return to the original driving route.

[0097] In addition, there may be a gate device at the exit gate as well as the entrance gate of a private property. If the entrance gate and the exit gate are the same, the user will pass through the same gate device when exiting as when entering. The information processing device 300 may perform an exit permission request process similar to the entry permission request process when entering when exiting from a private property. In the exit permission request process, an image indicating a request to exit from the private property may be displayed on the display device 35 as a request image.

[0098] (Modification) (1) In the vehicle dispatch system 1, the information processing device 300 (sensor 30) of the service vehicle 3 may detect the approach of an emergency vehicle. In this case, the sensor 30 may include a sound sensor that detects sounds around the service vehicle 3. The sound sensor may include, for example, a microphone, and may detect the volume of a specific sound (e.g., an emergency vehicle siren) emitted around the service vehicle 3, and the direction from which the specific sound is emitted. The sound sensor periodically outputs surrounding environmental sound information including the detected specific sound to the second controller 37. The emergency vehicle detection unit 72 of the second controller 37 compares the output surrounding environmental sound information with information on the siren sound of the emergency vehicle registered in advance in a predetermined storage area of ​​the information processing device 300 (for example, comparing sound waveforms), and determines whether the surrounding environmental sound information includes the siren sound of the emergency vehicle.

[0099] When the surrounding environment sound information includes a siren sound of an emergency vehicle, the emergency vehicle detection unit 72 judges whether or not an emergency vehicle is approaching the vehicle (service vehicle 3) based on the state of the siren sound. For example, the emergency vehicle detection unit 72 calculates the position of the emergency vehicle (the distance between the emergency vehicle and the vehicle) and the speed of the emergency vehicle based on the change in the volume of the siren sound included in the surrounding environment sound information output periodically, and judges whether or not an emergency vehicle is approaching based on the calculation result. When the emergency vehicle detection unit 72 judges that an emergency vehicle is approaching the vehicle (service vehicle 3), it generates emergency vehicle detection information (position information, driving route, etc. of the emergency vehicle) based on the calculation result. The emergency vehicle detection unit 72 outputs the generated emergency vehicle detection information to the estimated arrival time calculation unit 73. As a result, the estimated time can be calculated by the estimated arrival time calculation unit 73 and the evacuation area can be searched for and determined by the evacuation area determination unit 74 based on the emergency vehicle detection information detected and generated by the information processing device 300.

[0100] In addition, in the information processing device 300, the second controller 37 may determine the approach of an emergency vehicle using both the above calculation result using the surrounding environmental sound information in the emergency vehicle detection unit 72 and the emergency vehicle information transmitted from the vehicle dispatch control device 2.

[0101] (2) The emergency vehicle detection unit 72 may also determine whether or not evacuation is necessary when an emergency vehicle approaches, depending on the conditions of the road along the driving route of the vehicle (service vehicle 3). For example, the emergency vehicle detection unit 72 may determine not to evacuate even when an emergency vehicle approaches, based on the surrounding environment information and the map database 32, when the road along the driving route has many lanes, when there are no oncoming vehicles, etc. This makes it possible to prevent changes to the driving plan caused by searching for an evacuation area or evacuating even when it is not necessary.

[0102] (Effects of the embodiment) (1) The information processing device 300 is an information processing device mounted on a service vehicle 3 provided for a user's mobility service, and the information processing device 300 and an information processing method by the information processing device 300 execute, in a second controller 37, a process of acquiring information indicating the approach of an emergency vehicle to the service vehicle 3, a process of calculating an estimated time until the emergency vehicle reaches the service vehicle 3, a process of searching for candidate areas for the service vehicle 3 to withdraw from the path of the emergency vehicle based on predetermined search conditions (search conditions A to E), and a process of determining an evacuation area based on the search results.

[0103] The initial search conditions are conditions that indicate the area that is most suitable as an evacuation area among the areas on the driving route of the service vehicle 3 that the service vehicle 3 can reach within the above-mentioned estimated time, and if the second controller 37 does not obtain a candidate area that satisfies the initial search conditions as a search result, it sequentially relaxes the search conditions. In this way, the information processing device 300 does not search for a candidate area using only one search condition, but when a candidate area according to the initial search condition cannot be obtained, the information processing device 300 can relax the search condition to improve the degree of freedom in searching for an evacuation area. This makes it possible to flexibly determine an evacuation area according to the situation when an emergency vehicle approaches, and ultimately reduces the possibility that the service vehicle 3 will not be able to evacuate in time before the emergency vehicle catches up with the service vehicle 3.

[0104] (2) The second controller 37 searches for a boarding and alighting location suitable for the user to board and alight from the service vehicle 3 as a candidate area that satisfies the initial search condition (search condition A), and if the boarding and alighting location is not obtained as a search result, the search condition is relaxed and non-boarding and alighting areas that are not suitable for the user to board and alight from the service vehicle are searched for as candidate areas. As a result, even if there is no optimal boarding / disembarking point in the evacuation area, it is possible to determine an evacuation area in which the service vehicle 3 can be safely evacuated from among the non-boarding / disembarking areas. (3) The information processing device 300 includes a sensor 30 that detects surrounding environment information indicating the surrounding environment of the service vehicle 3 by an object sensor, and the second controller 37 searches for a non-boarding / disembarking area based on the surrounding environment information. This allows the information processing device 300 to search for a no-boarding / alighting area within the reachable area where the vehicle can safely retreat, depending on the situation (traffic volume, etc.) when the emergency vehicle approaches.

[0105] (4) In the information processing device 300, the second controller 37 searches for an area (shielded area) where the service vehicle 3 can be stopped and where a vehicle safety fence or plants are provided, as a no-boarding / alighting area. This makes it possible to reduce the possibility that the service vehicle 3 will not be able to evacuate in time for the emergency vehicle to catch up if a candidate area (boarding / disembarkation point) that meets the initial search conditions is not obtained, and also makes it possible to preferentially search for safer areas among the non-boarding / disembarkation areas as candidate areas. (5) In the information processing device 300, the second controller 37 searches for private land that the service vehicle 3 can enter as a non-boarding / disembarking area. This makes it possible to more reliably reduce the possibility that the service vehicle 3 will not be able to evacuate in time, and when there is no obstructed area within the reachable area under search conditions in which the candidate area is a non-boarding / disembarkation area, the area (private property) that is the second safest after the obstructed area among the non-boarding / disembarkation areas can be preferentially searched as a candidate area.

[0106] (6) The information processing device 300 has an output unit (communication device 33 or display device 35) capable of outputting specified data, and the second controller 37 determines whether or not permission is required to enter private property (e.g., parking lot S3) that has been determined to be an evacuation area among the non-boarding and disembarking areas, and if it determines that such permission is required, outputs data requesting such permission (entry request data or a request image) from the output unit. This makes it possible to avoid problems arising from unauthorized entry onto private property (such as trouble with the owner or user of the private property) and to safely and smoothly evacuate the vehicle (service vehicle 3) onto the private property. (7) In the information processing device 300, the output unit is a display device 35 that displays an image visible from outside the service vehicle 3, and when the second controller 37 determines based on the surrounding environment information detected by the object sensor in the sensor 30 that there is a gate device at the entrance to the private property, which is the evacuation area, and that the gate device is manned, it causes the display device 35 to display a request image indicating that permission to enter the private property for the evacuation is requested. This makes it possible to clarify the motive for the service vehicle 3 entering private land, reducing distrust felt by the manager and encouraging the gate device to be opened smoothly. (8) In the information processing device 300, the output unit is a communication device 33 capable of transmitting and receiving data between an external device of the service vehicle 3, and when the second controller 37 determines based on the above-mentioned surrounding environment information that there is a gate device at the entrance to the private property which is the evacuation area and that the gate device is unmanned, it transmits data indicating a request for permission to enter the private property for the evacuation to the gate device management device via the communication device 33. This allows communication with the gate device's control system to automatically open the gate device, allowing the service vehicle 3 to safely retreat into the private property.

[0107] (9) In the information processing device 300, when searching for a candidate area, the second controller 37 searches for an area between vehicles parked on a road (inter-vehicle spaces S4, S5) as a non-boarding / alighting area. This allows an area that is not suitable for stopping normally but can be used as an evacuation area in an emergency (when an emergency vehicle is approaching) to be searched for as a rear area and determined as the evacuation area. This further reduces the possibility that the service vehicle 3 will not be able to evacuate in time before the emergency vehicle catches up. (10) In the information processing device 300, the second controller 37 searches for an area (inter-vehicle space S5) between the parked vehicles that can accommodate at least a portion of the service vehicle 3, based on the surrounding environment information. This makes it possible to search for candidate areas, including areas where a part of the service vehicle 3 can be evacuated to give way to an emergency vehicle, and to determine the evacuation area. This makes it possible to further reliably reduce the possibility that the service vehicle 3 will not be able to evacuate in time. [Explanation of symbols]

[0108] 1. Vehicle dispatch system 2. Vehicle dispatch control device 20. Communications Equipment 21 Map Database 22 User Information Database 23 Reservation information database 24 Vehicle dispatch information database 25 First Controller 25a Processor 25b Storage device 3, 3A, 3B Service Vehicles 30 Sensors 31 Positioning device 32 Map Database 33 Communication Equipment 34 Terminal Equipment 35 Display device 36 In-vehicle equipment 37 Second Controller 37a Processor 37b Storage device 38 Actuator 4 Electronic equipment 40 Positioning device 41 Communication equipment 42 Human Machine Interface (HMI) 43 Third Controller 43a Processor 43b Storage device 53 Gate device 60 Reservation setting section 61 Location information acquisition unit 62 Dispatch Department 63 Driving plan setting unit 64 Emergency Vehicle Information Transmission Division 70 Location information transmission unit 71 Automatic driving control unit 72 Emergency vehicle detection unit 73 Estimated arrival time calculation unit 74 Evacuation area determination unit 300 Information processing device L1 Travel route

Claims

1. An information processing device mounted on a service vehicle provided for a user's mobility service, obtaining information indicating an approach of an emergency vehicle to the service vehicle; calculating an estimated time for the emergency vehicle to reach the service vehicle; A process of searching for a candidate evacuation area for the service vehicle to evacuate from the path of the emergency vehicle based on a predetermined search condition; A process of determining the retreat area based on the search result; a controller for executing the initial search condition is a condition indicating an area that is optimal for the evacuation area among areas on the travel route of the service vehicle that the service vehicle can reach within the estimated time, When the candidate that satisfies the initial search conditions is not obtained as a result of the search, the controller sequentially relaxes the search conditions. Information processing device.

2. The controller: Searching for a boarding and alighting location suitable for the user to board and alight from the service vehicle as the candidate that satisfies the initial search condition; When the boarding / alighting location is not obtained as the search result, the search condition is relaxed and a non-boarding / alighting area that is not suitable for the user to board / alight the service vehicle is searched for as the candidate. The information processing device according to claim 1 .

3. a surrounding environment information detection unit that detects surrounding environment information indicating a surrounding environment of the service vehicle by an object sensor; The controller searches for the non-boarding / disembarking area based on the surrounding environment information. The information processing device according to claim 2 .

4. The controller: Searching for an area where the service vehicle can stop and where a vehicle safety fence or planting is provided as the non-boarding / disembarking area; The information processing device according to claim 3 .

5. The controller: Searching for private land where vehicles can enter as the non-boarding / disembarking area; The information processing device according to claim 4.

6. Equipped with an output unit capable of outputting predetermined data The controller: determining whether or not permission is required for entry into the private property determined as the evacuation area among the non-boarding / alighting areas, and, when it is determined that the permission is required, outputting data requesting the permission from the output unit; The information processing device according to claim 5 .

7. The output unit is a display unit that displays an image visible from outside the service vehicle, The controller: When it is determined based on the surrounding environment information that a gate device is present at an entrance to the private property and that the gate device is under manned management, an image indicating that permission to enter the private property for the evacuation is requested is displayed on the display unit. The information processing device according to claim 6.

8. The output unit is a communication unit capable of transmitting and receiving data between an external device of the service vehicle, The controller: when it is determined based on the surrounding environment information that a gate device is present at the entrance to the private property and that the gate device is unmanned, transmitting data indicating a request for permission to enter the private property for the evacuation to a management device of the gate device via the communication unit; The information processing device according to claim 6.

9. The controller: Searching for an area between vehicles parked on a road as the non-boarding / alighting area; The information processing device according to claim 5 .

10. The controller: searching for an area between the parked vehicles, in which at least a part of the service vehicle can fit, as the non-boarding / alighting area based on the surrounding environment information; The information processing device according to claim 9.

11. An information processing method by an information processing device mounted on a service vehicle provided for a user's mobility service, comprising: obtaining information indicating an approach of an emergency vehicle to the service vehicle; calculating an estimated time for the emergency vehicle to reach the service vehicle; A process of searching for a candidate evacuation area for the service vehicle to evacuate from the path of the emergency vehicle based on a predetermined search condition; A process of determining the retreat area based on the search result; Execute the following in the controller. the search condition is a condition indicating an area that is optimal for the evacuation area among areas on a travel route of the service vehicle that the service vehicle can reach within the estimated time, When the candidate that satisfies the initial search conditions is not obtained as a result of the search, the controller sequentially relaxes the search conditions. Information processing methods.

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