Autonomous travel control device, autonomous travel control method, program and storage medium

Abstract

To automatically determine a travel plan of an automatic driving vehicle after a user gets off, on the basis of next schedule.SOLUTION: An autonomous travel control device is mounted on a vehicle capable of autonomous traveling and controls the autonomous traveling of the vehicle. The autonomous travel control device acquires a schedule indicating a destination at which the vehicle arrives and a scheduled time to arrive at the destination. Next, the autonomous travel control device departs from a first destination indicated by a first schedule on the basis of a plurality of acquired schedules and acquires a plurality of travel plans to arrive at a second destination indicated by a second schedule. Then, the autonomous travel control device controls the autonomous traveling of the vehicle according to one travel plan selected from the plurality of acquired travel plans on the basis of a predetermined criterion.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to the control of an autonomous vehicle.

Background Art

[0002] A method for setting the behavior of an autonomous vehicle after the user gets off is described in Patent Document 1. Specifically, in Patent Document 1, the user can set, as the behavior after getting off the autonomous vehicle, moving to a preset fixed parking lot, waiting until called at a nearby parking lot, returning to the getting-off position after a predetermined time, waiting at a specified point after a predetermined time, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above method, the user needs to set the subsequent behavior every time they get off the autonomous vehicle, which is complicated.

[0005] The present invention has been made to solve the above problems, and an object thereof is to be able to automatically determine the driving plan of an autonomous vehicle after the user gets off based on the following schedule.

Means for Solving the Problems

[0006] The invention according to the claim is an autonomous driving control device mounted on a vehicle capable of autonomous driving, for controlling the autonomous driving of the vehicle, comprising: a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; a travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired the departure instruction, by the time indicated by the next schedule, among the schedules acquired by the schedule acquisition means; and a control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired the departure instruction, according to the travel plan acquired by the travel plan acquisition means. The travel plan acquisition means is characterized in that, when the scheduled time of the next schedule is advanced, it acquires a travel plan for traveling on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule.

[0007] The invention according to the claim is an autonomous driving control device mounted on a vehicle capable of autonomous driving, for controlling the autonomous driving of the vehicle, comprising: a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; a travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired the departure instruction, by the time indicated by the next schedule, among the schedules acquired by the schedule acquisition means; and a control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired the departure instruction, according to the travel plan. The travel plan acquisition means is characterized in that, when there is no next schedule to be executed within a predetermined period, it acquires a travel plan for the vehicle to travel towards the most proximal regular parking location among a plurality of regular parking locations where the vehicle can always park, to the location where the departure instruction was acquired.

[0008] A server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, the server device comprising: storage means for storing a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; reception means for receiving departure instruction information indicating that a departure instruction has been given by a user of the vehicle; travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the reception of the departure instruction information among the schedules stored in the storage means by the scheduled arrival time indicated by the next schedule; and transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device, wherein the travel plan generation means selects a route based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule when the scheduled arrival time of the next schedule is advanced, and generates a travel plan for traveling on the route.

[0009] A server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, the server device comprising: storage means for storing a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; reception means for receiving departure instruction information indicating that a departure instruction has been given by a user of the vehicle; travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the reception of the departure instruction information among the schedules stored in the storage means by the scheduled arrival time indicated by the next schedule; and transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device, wherein the travel plan generation means generates a travel plan for the vehicle to travel to the most frequently used parking location closest to the location where the departure instruction was given among a plurality of frequently used parking locations where the vehicle can always park when there is no next schedule to be executed within a predetermined period.

[0010] The invention according to the claims is an autonomous driving control method executed by an autonomous driving control device mounted on a vehicle capable of autonomous driving and controlling the autonomous driving of the vehicle, the method including: a schedule acquisition step of acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition step of acquiring a departure instruction from a user of the vehicle; a travel plan acquisition step of acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition step has acquired the departure instruction, by the scheduled arrival time indicated by the next schedule, from among the schedules acquired in the schedule acquisition step; and a control step of controlling the autonomous driving of the vehicle after the departure instruction acquisition step has acquired the departure instruction, according to the travel plan acquired in the travel plan acquisition step, wherein the travel plan acquisition step acquires a travel plan for traveling on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule when the scheduled arrival time of the next schedule is advanced.

[0011] The invention according to the claims is a program executed by an autonomous driving control device mounted on a vehicle capable of autonomous driving and including a computer, for controlling the autonomous driving of the vehicle, the program causing the computer to function as: a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; a travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired the departure instruction, by the scheduled arrival time indicated by the next schedule, from among the schedules acquired by the schedule acquisition means; and a control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired the departure instruction, according to the travel plan acquired by the travel plan acquisition means, wherein the travel plan acquisition means acquires a travel plan for traveling on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule when the scheduled arrival time of the next schedule is advanced.

[0012] The invention according to the claim is an autonomous driving control method that is mounted on a vehicle capable of autonomous driving and is executed by an autonomous driving control device that controls the autonomous driving of the vehicle, the method comprising: a schedule acquisition step of acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled time to arrive at the destination; a departure instruction acquisition step of acquiring a departure instruction from a user of the vehicle; a travel plan acquisition step of acquiring, for a destination indicated by a next schedule that is scheduled after the departure instruction acquisition step has acquired a departure instruction, among the schedules acquired in the schedule acquisition step, a travel plan for arriving at the destination by the scheduled time indicated by the next schedule; and a control step of controlling the autonomous driving of the vehicle after the departure instruction acquisition step has acquired a departure instruction according to the travel plan, wherein the travel plan acquisition step acquires a travel plan for heading to the most proximate regular parking location to the position where the departure instruction was acquired among a plurality of regular parking locations where the vehicle can always park when there is no next schedule to be executed within a predetermined period.

[0013] The invention according to the claim is a program that is mounted on a vehicle capable of autonomous driving, includes a computer, and is executed by an autonomous driving control device that controls the autonomous driving of the vehicle, the program causing the computer to function as: a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled time to arrive at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; a travel plan acquisition means for acquiring, for a destination indicated by a next schedule that is scheduled after the departure instruction acquisition means has acquired a departure instruction, among the schedules acquired by the schedule acquisition means, a travel plan for arriving at the destination by the scheduled time indicated by the next schedule; and a control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired a departure instruction according to the travel plan, wherein the travel plan acquisition means acquires a travel plan for heading to the most proximate regular parking location to the position where the departure instruction was acquired among a plurality of regular parking locations where the vehicle can always park when there is no next schedule to be executed within a predetermined period.

[0014] A control method executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, the method comprising: a storage step of storing, in storage means, a schedule indicating a destination to which the vehicle is to arrive and a scheduled arrival time at the destination; a reception step of receiving departure instruction information indicating that a departure instruction has been given by a user of the vehicle; a travel plan generation step of generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the reception of the departure instruction information, among the schedules stored in the storage means, by the scheduled arrival time indicated by the next schedule; and a transmission step of transmitting the travel plan generated in the travel plan generation step to the autonomous driving control device, wherein the travel plan generation step selects a route based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule when the scheduled arrival time of the next schedule is advanced, and generates a travel plan for traveling on the route.

[0015] A program executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving and includes a computer, the program causing the computer to function as: storage means for storing a schedule indicating a destination to which the vehicle is to arrive and a scheduled arrival time at the destination; reception means for receiving departure instruction information indicating that a departure instruction has been given by a user of the vehicle; travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the reception of the departure instruction information, among the schedules stored in the storage means, by the scheduled arrival time indicated by the next schedule; and transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device, wherein the travel plan generation means selects a route based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule when the scheduled arrival time of the next schedule is advanced, and generates a travel plan for traveling on the route.

[0016] A control method executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, the method comprising: a storage step of storing, in storage means, a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a reception step of receiving departure instruction information indicating that a user of the vehicle has given a departure instruction; a travel plan generation step of generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received, by the scheduled arrival time indicated by the next schedule, among the schedules stored in the storage means; and a transmission step of transmitting the travel plan generated by the travel plan generation step to the autonomous driving control device, wherein the travel plan generation step generates a travel plan for heading to the most frequently used parking location closest to the location where the departure instruction was given, among a plurality of frequently used parking locations where the vehicle can always park, when there is no next schedule to be executed within a predetermined period.

[0017] A program executed by a server device that includes a computer and communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, the program causing the computer to function as: storage means for storing a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; reception means for receiving departure instruction information indicating that a user of the vehicle has given a departure instruction; travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received, by the scheduled arrival time indicated by the next schedule, among the schedules stored in the storage means; and transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device, wherein the travel plan generation means generates a travel plan for heading to the most frequently used parking location closest to the location where the departure instruction was given, among a plurality of frequently used parking locations where the vehicle can always park, when there is no next schedule to be executed within a predetermined period.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0019] One preferred embodiment of the present invention is an autonomous driving control device mounted on a vehicle capable of autonomous driving and controlling the autonomous driving of the vehicle, the vehicle being provided with a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled time at which the vehicle should arrive at the destination, and based on a plurality of schedules acquired by the schedule acquisition means, a travel plan acquisition means for acquiring a plurality of travel plans for departing from a first destination indicated by a first schedule and arriving at a second destination indicated by a second schedule, and a control means for controlling the autonomous driving of the vehicle according to one travel plan selected based on a predetermined criterion from among the travel plans acquired by the travel plan acquisition means.

[0020] The above-mentioned autonomous driving control device is mounted on a vehicle capable of autonomous driving and controls the autonomous driving of the vehicle. The autonomous driving control device acquires a schedule indicating the destination to which the vehicle should arrive and the scheduled arrival time at the destination. Next, the autonomous driving control device acquires a plurality of driving plans for departing from the first destination indicated by the first schedule and arriving at the second destination indicated by the second schedule based on the acquired plurality of schedules. Then, the autonomous driving control device controls the autonomous driving of the vehicle according to one driving plan selected from the acquired plurality of driving plans based on a predetermined criterion. Thereby, an appropriate driving plan for departing from the first destination and arriving at the second destination can be obtained based on the predetermined criterion.

[0021] In one aspect of the above-mentioned autonomous driving control device, the driving plan acquisition means acquires a driving plan that departs from the first destination, parks at a predetermined parking place, and then arrives at the second destination, and a driving plan that departs from the first destination, parks at a nearby parking place existing within a predetermined range from the route from the first destination to the second destination, and then arrives at the second destination. In this aspect, a driving plan for departing from the first destination, parking at a parking place, waiting, and then heading to the second destination is generated.

[0022] In another aspect of the above-mentioned autonomous driving control device, the predetermined parking place is a home or a regular parking place where the vehicle can always park. In this aspect, a driving plan for waiting at the regular parking place is generated.

[0023] Another aspect of the above-mentioned autonomous driving control device includes a setting means for allowing a user to set the predetermined criterion. In this aspect, the user can arbitrarily set the predetermined criterion for determining the driving plan.

[0024] In a preferred example, the predetermined criterion is a criterion related to the toll cost calculated based on at least one of the energy consumption cost, toll road cost, and parking lot cost due to the driving of the vehicle for each of the plurality of driving plans.

[0025] In another preferred example, the predetermined criterion is, for each of the plurality of driving plans, a criterion related to a risk cost calculated based on at least one of the driving time of the vehicle, the driving distance, the number of passes through accident-prone locations, the number of passes through intersections, and the driving time on roads with a speed limit of a predetermined speed or higher, from departing from the first destination to arriving at the second destination.

[0026] In still another preferred example, the predetermined criterion is, for each of the plurality of driving plans, a criterion related to a predicted early arrival cost calculated based on the average value of the distances from the predicted positions of the vehicle at predetermined time intervals to the second destination.

[0027] In still another preferred example, the predetermined criterion is a criterion related to a total cost calculated based on at least two of the above toll costs, risk costs, and predicted early arrival costs.

[0028] In another preferred embodiment of the present invention, an autonomous driving control method executed by an autonomous driving control device mounted on a vehicle capable of autonomous driving and controlling the autonomous driving of the vehicle includes a schedule acquisition step of acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination, a driving plan acquisition step of acquiring a plurality of driving plans for departing from a first destination indicated by a first schedule and arriving at a second destination indicated by a second schedule based on the plurality of schedules acquired in the schedule acquisition step, and a control step of controlling the autonomous driving of the vehicle according to one driving plan selected based on a predetermined criterion from among the driving plans acquired in the driving plan acquisition step. Also by this method, an appropriate driving plan for departing from the first destination and arriving at the second destination can be obtained based on a predetermined criterion.

[0029] In another preferred embodiment of the present invention, a program executed by an autonomous driving control device mounted on a vehicle capable of autonomous driving, equipped with a computer, and controlling the autonomous driving of the vehicle causes the computer to function as follows: schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; travel plan acquisition means for acquiring a plurality of travel plans for departing from a first destination indicated by a first schedule and arriving at a second destination indicated by a second schedule based on a plurality of schedules acquired by the schedule acquisition means; and control means for controlling the autonomous driving of the vehicle according to one travel plan selected based on a predetermined criterion from among the travel plans acquired by the travel plan acquisition means. By executing this program on a computer, the above-described autonomous driving control device can be realized. This program can be stored and handled in a storage medium.

Example

[0030] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. [Automatic Driving System] (Overall Configuration) FIG. 1 shows a schematic configuration of an automatic driving vehicle control system according to an embodiment. The automatic driving vehicle control system includes a terminal device 1 mounted on a vehicle capable of autonomous driving (hereinafter referred to as "automatic driving vehicle V"), and a server device 2 that communicates with the terminal device 1 via a network.

[0031] The server device 2 communicates with the terminal device 1 of the automatic driving vehicle V and supplies various data necessary for the automatic driving vehicle V to perform autonomous driving. The terminal device 1 acquires the current position of the automatic driving vehicle V at predetermined intervals and transmits it to the server device 2. The terminal device 1 receives map data, feature data, etc. around the current position of the automatic driving vehicle V from the server device 2 and controls the autonomous driving of the automatic driving vehicle V.

[0032] In addition, in this embodiment, the server device 2 determines a driving plan for the autonomous vehicle V after the user gets off in accordance with a predetermined schedule of the user, and transmits it to the terminal device 1. The terminal device 1 drives the autonomous vehicle V in accordance with the driving plan received from the server device 2. (Configuration of Terminal Device) FIG. 2 shows a block diagram illustrating the functional configuration of the terminal device 1. As shown in FIG. 2, the terminal device 1 mainly includes a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. Each element in the terminal device 1 is interconnected via a bus line 98.

[0033] Based on the control of the control unit 14, the communication unit 11 transmits the current position of the autonomous vehicle V to the server device 2, or receives various types of data necessary for the autonomous driving of the autonomous vehicle V from the server device 2. Further, the communication unit 11 may perform processing of transmitting a signal for controlling the vehicle to the vehicle, and processing of receiving a signal regarding the state of the vehicle from the vehicle.

[0034] The storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process. In this embodiment, the storage unit 12 stores a plurality of map databases 4, a sensor data cache 6, and vehicle attribute information IV.

[0035] The map database 4 is a database including, for example, road data, facility data, and ground feature data around the road. The sensor data cache 6 is a cache memory that temporarily holds the output data (so-called raw data) of the sensor unit 7. The vehicle attribute information IV indicates information regarding the attributes of the vehicle on which the terminal device 1 is mounted, such as the type of the vehicle, the vehicle ID, the vehicle length, the vehicle width, the vehicle height, and other vehicle sizes, and the fuel type of the vehicle.

[0036] The input unit 13 includes buttons, touch panels, remote controllers, voice input devices, etc. for the user to operate. For example, it receives inputs such as specifying a destination for route search and specifying on and off of automatic driving, and supplies the generated input signal to the control unit 14. Alternatively, it may communicate and connect with a mobile terminal owned by the user and receive operations performed by the user via the mobile terminal. The output unit 16 is, for example, a display, a speaker, etc. that performs output based on the control of the control unit 14.

[0037] The interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache 6. The sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle such as the lidar 31 and the camera 32, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a three-axis sensor 36. The lidar 31 discretely measures the distance to an object existing in the external world, recognizes the surface of the object as a three-dimensional point cloud, and generates point cloud data. The camera 32 generates image data captured from the vehicle. The position sensor 35 is provided for detecting the position of each external sensor, and the three-axis sensor 36 is provided for detecting the attitude of each external sensor. Note that the sensor unit 7 may have any external sensors and internal sensors other than the external sensors and internal sensors shown in FIG. 2. For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, etc. as external sensors.

[0038] The control unit 14 includes a CPU that executes a predetermined program on one or more platforms, and controls the entire terminal device 1. Specifically, the control unit 14 measures the current position of the autonomous vehicle V and transmits it to the server device 2 via the communication unit 11. In addition, when the user gets off the autonomous vehicle V and gives a departure instruction, the control unit 14 transmits a signal indicating this (hereinafter referred to as a "departure instruction signal") to the server device 2. Note that the departure instruction signal is generated, for example, when the user operates a door button or a remote control after getting off the autonomous vehicle, and is transmitted to the server device 2.

[0039] Further, as will be described later, the control unit 14 receives a travel plan from the server device 2 after the user gets off the autonomous vehicle V, and supplies it to an autonomous driving control unit (not shown) of the autonomous vehicle V via the communication unit 11 or the like. The autonomous driving control unit executes autonomous driving of the autonomous vehicle V according to the travel plan.

[0040] (Server device) FIG. 3 is a block diagram showing a functional configuration of the server device 2. As shown in FIG. 3, the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. Each element in the server device 2 is interconnected via a bus line 99.

[0041] The communication unit 21 receives the current position and departure instruction signal of the autonomous vehicle V transmitted from the terminal device 1 based on the control of the control unit 23, and transmits the travel plan determined by the server device 2 to the terminal device 2.

[0042] The storage unit 22 stores programs executed by the control unit 23 and information necessary for the control unit 23 to execute predetermined processes. Further, in the present embodiment, the storage unit 22 stores a map database (hereinafter, the "database" is referred to as "DB") 24, a toll DB 25, a parking lot DB 26, and a user DB 27.

[0043] The map DB 24 stores map data for distribution to the terminal device 1. The map DB 24 stores various data used in the autonomous driving of the autonomous vehicle, such as road data, facility data, and ground feature data around the road.

[0044] The toll DB 25 mainly stores tolls for highways and toll roads. The control unit 23 can obtain the toll between specific interchanges by referring to the toll DB 25.

[0045] The parking lot DB26 stores information about parking lots. Figure 4 shows an example of the parking lot DB26. The parking lot DB26 stores the "name", "location", "fee", "vacancy status", and "whether self-driving vehicles can enter" for each parking lot according to the "parking lot ID". The "parking lot ID" is identification information that uniquely identifies each parking lot, and the "name" is the name indicating that parking lot. The "location" is the geographical location of that parking lot, indicated by latitude and longitude. The "fee" is the parking fee at that parking lot, for example, indicated in time units. The "vacancy status" indicates the current vacancy status of that parking lot.

[0046] "Whether self-driving vehicles can enter" indicates whether that parking lot allows self-driving vehicles to enter. Generally, in order to accept self-driving vehicles, various facilities are required to safely drive and park self-driving vehicles in the parking lot. For a parking lot with such facilities and that permits self-driving vehicles to enter, the "whether self-driving vehicles can enter" is set to "yes", and for a parking lot that does not permit self-driving vehicles to enter, the "whether self-driving vehicles can enter" is set to "no".

[0047] The user DB27 stores information about the users of the self-driving vehicle V. Figure 5 shows an example of the user DB27. The user DB27 stores the "vehicle ID", "schedule", "usual parking lot ID", "fuel consumption of the vehicle", and "priority cost" for each "user ID". The "user ID" is information that uniquely identifies each user and is assigned to each user. The "vehicle ID" is the identification information of the self-driving vehicle V used by that user, and for example, a vehicle number etc. can be used.

[0048] The "schedule" indicates the future schedule of that user. Specifically, one schedule includes a "scheduled time" and a "destination". In the example of Figure 5, the next schedule of the user with user ID U00001 has a scheduled time of "10:00 on June 22, 2018" and a destination of "Station A". If there are multiple future schedules, all of them are stored.

[0049] The "frequently used parking lot ID" is identification information indicating the parking lot that the user usually uses. Note that as the parking lot ID, the ID used in the parking lot DB26 can be utilized. Generally, parking lots such as the user's home parking lot, the company's parking lot, and the parking lot for which the user has already signed a usage contract, where the user does not need to newly pay usage fees, are registered as frequently used parking lots. Note that there may be cases where multiple frequently used parking lots are registered for a single user. For example, a user may register both the home and company parking lots as frequently used parking lots.

[0050] The "fuel consumption of the vehicle" is the fuel consumption of the vehicle indicated by the vehicle ID. Note that the value of the fuel consumption may be a general numerical value for that type of vehicle, or it may be a user-specific numerical value calculated based on the actual driving history of that user.

[0051] The "priority cost" indicates the cost that the user prioritizes when determining the driving plan of the autonomous vehicle V after the user gets off. As will be described later, among the "fare cost", "risk cost", "advance schedule cost", and "comprehensive cost", the one selected by the user is stored.

[0052] In the above configuration, the terminal device 1 is an example of the autonomous driving control device of the present invention, the control unit 14 is an example of the schedule acquisition means, the driving plan acquisition means, and the control means of the present invention, and the input unit 13 is an example of the setting means of the present invention.

[0053] [Method for Generating Driving Plan] Next, the method for generating a driving plan will be described. In this embodiment, when the user gets off the autonomous vehicle V, the server device 2 determines a driving plan that defines the subsequent actions of the autonomous vehicle V in consideration of the user's next schedule.

[0054] (Basic Policy) First, the basic policy for determining the driving plan will be explained. In this embodiment, regarding the action of the self-driving vehicle V after the user gets off, the user sets in advance via the input unit 13 which cost the user values more. Specifically, the user selects one from the four costs of "fare cost", "risk cost", "advance schedule cost", and "comprehensive cost" as the priority cost that the user prioritizes. The selected cost is registered in the user DB 27 as the priority cost as shown in FIG. 5.

[0055] Here, the "fare cost" is the cost indicating the fare generated when the self-driving vehicle V travels, and is calculated based on the energy consumption cost (fuel cost), parking lot cost, toll road cost, etc. used during driving. The "risk cost" is the cost indicating the degree of danger and the possibility of an accident when the self-driving vehicle V travels, and is calculated according to the route on which the self-driving vehicle V travels. The "advance schedule cost" is the cost indicating the possibility of response when the scheduled time specified in the schedule is advanced (earlier than the schedule), and is calculated based on the distance between the next destination of the self-driving vehicle V and the current position. The "comprehensive cost" is the cost when all of the above "fare cost", "risk cost", and "advance schedule cost" are considered, and is calculated based on the respective values of the fare cost, risk cost, and advance schedule cost.

[0056] When the user gets off the self-driving vehicle V with the priority cost set, the server device 2 determines the driving plan based on the next schedule of the user. At this time, first, the server device 2 generates the following three types of driving plans as candidates. (A) Regular parking lot utilization plan In this driving plan, the self-driving vehicle V moves from the point where the user gets off the self-driving vehicle V (hereinafter referred to as the "getting-off point") to the user's regular parking lot and waits, and then goes from the regular parking lot to the destination. (B) External parking lot utilization plan In this driving plan, the self-driving vehicle V moves from the drop-off point to an external parking lot near the destination and waits there, and then heads from the external parking lot to the destination. The "external parking lot" refers to a parking lot other than the user's regular parking lot. Note that it is preferable that the external parking lot is a parking lot near the destination, but if there is no suitable parking lot near the destination, it may be a parking lot existing within a predetermined range from the route from the current location to the destination. (C) Circuit plan In this driving plan, the self-driving vehicle V heads from the drop-off point to the destination without waiting at a parking lot, and when it arrives near the destination, it circles the road near the destination until the scheduled time.

[0057] When three candidates for the driving plan are obtained in this way, the server device 2 calculates the above four costs for each of the three candidates (A) to (C), that is, the fare cost, the risk cost, the schedule advance cost, and the total cost. Then, the server device 2 determines, as the driving plan, the one among the three candidates for which the value of the cost set by the user as the priority cost is the smallest. For example, when a certain user sets the fare cost as the priority cost, the server device 2 determines, as the driving plan, the candidate with the smallest fare cost among the three candidates. Thereby, a driving plan that conforms to the cost prioritized by the user is obtained.

[0058] (Driving plan generation process) Next, the driving plan generation process performed in accordance with the above basic policy will be described in detail. FIG. 6 is a flowchart of the driving plan generation process. This process is executed by the server device 2. Specifically, it is realized by the control unit 23 of the server device 2 executing a program prepared in advance.

[0059] First, the server device 2 determines whether it has received a departure instruction signal from the self-driving vehicle V (step S10). As described above, the departure instruction signal is generated by the terminal device 1 when the user gets off the self-driving vehicle V and is transmitted to the server device 2.

[0060] When receiving a departure instruction signal (step S10: Yes), the server device 2 acquires the vehicle ID and current position of the autonomous vehicle V that is the transmission source of the departure instruction signal, refers to the user DB 27, identifies the user based on the vehicle ID, and acquires the next schedule of that user (step S11). Next, the server device 2 determines whether there is a next schedule within a predetermined period (step S12). Here, the "predetermined period" is a pre-determined period, and is set to, for example, 24 hours (one day).

[0061] If there is no next schedule within the predetermined period (step S12: No), that is, if there is no next schedule or the next schedule is after 24 hours, the server device 2 simply generates a driving plan to return to the regular parking lot and transmits it to the terminal device 1 (step S13). As a result, when there is no schedule within the predetermined period, the autonomous vehicle will return to the regular parking lot and wait. In addition, when the user has registered multiple regular parking lots, it is desirable for the server device 2 to generate a driving plan to return to the regular parking lot closer to the current position of the autonomous vehicle.

[0062] On the other hand, if there is a next schedule within the predetermined period (step S12: Yes), the server device 2 searches for a route from the current position of the autonomous vehicle V to the destination indicated by the next schedule, and calculates the required time to reach the destination (step S14).

[0063] Next, the server device 2 determines whether the remaining time is longer than a predetermined first predetermined time (step S15). Here, the "remaining time" is the time remaining until the scheduled time of the next schedule when the autonomous vehicle V moves from the current position to the destination, and is obtained by the following formula. Remaining time = (scheduled time - current time) - required time Also, the "first predetermined time" is set to about 10 minutes, for example.

[0064] If the remaining time is not longer than the first predetermined time (Step S15: No), there is not much time left until the next schedule. Therefore, the server device 2 generates a driving plan to the next destination and transmits it to the terminal device 1 (Step S16). As a result, the autonomous vehicle V will immediately start driving towards the next destination.

[0065] In this case, if the remaining time is shorter than the first predetermined time (10 minutes) but there is still some remaining time, for example, if the remaining time is longer than the second predetermined time (here, "5 minutes"), the server device 2 may generate a driving plan such that the autonomous vehicle takes a detour for that amount of time. On the other hand, if the remaining time is shorter than the second predetermined time (5 minutes), the autonomous vehicle may drive on the normal route (a non-detouring route) and arrive at the destination a few minutes (5 minutes or less) earlier and wait.

[0066] On the other hand, if the remaining time is longer than the first predetermined time, there is a certain amount of time left until the next schedule. Therefore, the server device 2 performs cost calculation processing (Step S17). FIG. 7 is a flowchart of the cost calculation processing. The cost calculation processing calculates the fee cost, risk cost, schedule advance cost, and total cost for each of the three candidates for the driving plan described above, namely, the regular parking lot utilization plan, the external parking lot utilization plan, and the detour plan.

[0067] First, regarding the regular parking lot usage plan, the server device 2 searches for a route from the current position of the self-driving vehicle V to the destination via the regular parking lot (step S31). Next, the server device 2 determines whether the self-driving vehicle V can reach the destination by the scheduled time based on the obtained route (step S32). Since the regular parking lot is, for example, the parking lot of the user's home or company and is not necessarily close to the destination, there may be cases where the destination cannot be reached by the scheduled time if the regular parking lot is used as a waypoint. If it is not possible to reach the destination by the scheduled time (step S32: No), the server device 2 excludes the regular parking lot usage plan from the candidates for the driving plan (step S33). On the other hand, if it is possible to reach the destination by the scheduled time (step S32: Yes), the server device 2 calculates the fare cost, risk cost, early arrival cost, and total cost based on the route obtained in step S31 (step S34). Then, the process returns to the main routine of FIG. 5.

[0068] Next, regarding the external parking lot usage plan, the server device 2 first searches for external parking lots around the destination (step S35). At this time, the server device 2 refers to the parking lot DB26 and selects an external parking lot with an available status of "empty". Also, as shown in FIG. 4, for parking lots that define whether a self-driving vehicle can enter, the server device 2 selects an external parking lot considering whether a self-driving vehicle can enter. Then, the server device 2 searches for a route from the obtained external parking lot to the destination as a waypoint (step S36).

[0069] Next, the server device 2 refers to the parking lot DB26 and calculates the parking fee based on the required parking time (step S37). Next, the server device 2 calculates the fare cost, risk cost, early arrival cost, and total cost based on the route obtained in step S36 (step S38). Note that the parking fee obtained in step S37 is included in the fare cost. Then, the process returns to the main routine of FIG. 5.

[0070] Next, regarding the detour plan, the server device 2 searches for a detour route around the destination (step S39). The detour route is, for example, a route that detours between the destination and detour points (such as nearby stations or facilities). The detour points are points around the destination set according to a predetermined criterion. Examples of the predetermined criterion include a point within a predetermined distance from the destination, a point adjacent to a road on which an autonomous vehicle can safely travel, such as a trunk road, etc. You may refer to traffic congestion information and set a point where the road to the destination is not congested as a detour point. As an example, if the detour point is facility X around the destination, the detour route is a route that goes from the destination through facility X and back to the destination. The autonomous vehicle V will travel along the detour route one or more times to adjust the arrival time at the destination. Note that in the detour plan, if the destination is a point where parking is possible, instead of traveling along the detour route, you may park and adjust the time.

[0071] Next, the server device 2 calculates the number of times to detour along the obtained detour route (step S40). Specifically, the server device 2 calculates how many times it is necessary to travel along the detour route based on the surplus time and the time required to travel along the detour route once. Next, the server device 2 calculates the toll cost, risk cost, planned advance cost, and total cost based on the route obtained in step S39 (step S41). Then, the process returns to the main routine in FIG. 5.

[0072] Returning to FIG. 6, the server device 2 obtains the priority cost selected by the user from the user DB 27 and determines one driving plan based on the priority cost (step S18). That is, the server device 2 determines, as the driving plan, one candidate among the plurality of driving plan candidates obtained in the cost calculation process, for which the priority cost of the user is the minimum. Then, the server device 2 transmits the determined driving plan to the terminal device 1 (step S19). In this way, the autonomous vehicle V will travel to the destination according to the driving plan that minimizes the priority cost selected by the user.

[0073] (Example of driving plan) Next, an example of a driving plan generated by the driving plan generation process will be described. FIGS. 8(A) to (C) show examples of driving plans. Note that these driving plans are generated when the user with the user ID "U00001" shown in FIG. 5 gets off the autonomous vehicle V at Station A at 10:00 on June 22, 2018 as shown in the schedule, and heads to Station B by 15:00 on the same day as the next schedule.

[0074] FIG. 8(A) shows an example of a regular parking lot usage plan. In the regular parking lot usage plan, the autonomous vehicle V waits at the user's regular parking lot and then heads to the destination. In the example of FIG. 8(A), the autonomous vehicle V departs from Station A at 10:00, arrives at the regular parking lot at 10:10, and waits at the regular parking lot. Then, the autonomous vehicle V departs from the regular parking lot at 13:00 and arrives at Station B at 15:00.

[0075] FIG. 8(B) shows an example of an external parking lot usage plan. In the external parking lot usage plan, the autonomous vehicle V waits at the external parking lot and then heads to the destination. In the example of FIG. 8(B), the autonomous vehicle V departs from Station A at 10:00, arrives at an external parking lot near the destination at 11:50, and waits at the external parking lot. Then, the autonomous vehicle V departs from the regular parking lot at 14:55 and arrives at Station B at 15:00.

[0076] FIG. 8(C) shows an example of a circuit plan. In the circuit plan, the autonomous vehicle V heads directly to the destination from the current position, and after arriving at the destination, circles around a circuit route near the destination. In the example of FIG. 8(C), the autonomous vehicle V departs from Station A at 10:00 and arrives at Station B, which is the destination, at 13:40. Then, the autonomous vehicle V circles around the circuit route near the destination and arrives at Station B at 15:00.

[0077] In Fig. 8, one example each of the regular parking lot usage plan, external parking lot usage plan, and detour plan is shown. However, when there are multiple routes along which the self-driving vehicle V moves, multiple driving plans may be generated. For example, when there are multiple routes from the current position to the regular parking lot or from the regular parking lot to the destination, multiple regular parking lot usage plans are generated. When there are multiple routes from the current position to the external parking lot or from the external parking lot to the destination, multiple external parking lot usage plans are generated. Also, when there are multiple routes from the current position to the destination or when there are multiple detour routes near the destination, multiple detour plans are generated.

[0078] (Cost calculation example) Next, an example of cost calculation for each driving plan will be described. Fig. 9 shows an example of cost calculation results for multiple driving plans. In this example, assume that two regular parking lot usage plans, three external parking lot usage plans, and two detour plans are generated by the driving plan generation process.

[0079] The toll cost is indicated by the amount required when the self-driving vehicle V moves according to the driving plan, and includes the fuel cost, toll road fee, parking lot fee, etc. required for the driving of the self-driving vehicle V. Specifically, in the regular parking lot usage plan, since the use of the regular parking lot is free, the toll cost is the sum of the fuel cost and the toll road fee when using a toll road. In the external parking lot usage plan, the toll cost is the sum of the fuel cost, the toll road fee when using a toll road, and the parking lot fee of the external parking lot. In the detour plan, since no parking lot fee is incurred, the toll cost is the sum of the fuel cost and the toll road fee when using a toll road. The smaller the required toll, the smaller the value of the toll cost.

[0080] As a specific calculation method, the server device 2 calculates the fuel cost based on the distance traveled by the autonomous vehicle V according to the driving plan, the fuel efficiency of the vehicle stored in the user DB 27, and the price of fuel. The server device 2 may store the national average or the average price for each region of the fuel price in itself. Also, the server device 2 may obtain the toll road fee by referring to the toll road DB 25 and obtain the parking lot fee by referring to the parking lot DB 26.

[0081] The risk cost is an index indicating the risk such as an accident when the autonomous vehicle V travels, and is calculated based on some or all of the total driving time of the autonomous vehicle V, the total driving distance, the number of passes through accident-prone locations, the driving time on roads with a high speed limit (hereinafter referred to as "high speed limit roads"), and the number of intersections passed. Specifically, the number of risk points per hour of driving time, per 1 km of driving distance, per accident-prone location, per 1 km of high speed limit road, and per intersection is determined in advance, and the risk points are calculated for each driving plan. The smaller the risk of an accident or the like, the smaller the value of the risk cost. Note that the high speed limit road is, for example, a road with a speed limit of 80 km / h or more. Since the speed limits of highways and toll roads are stored in the map DB 24, the server device 2 may calculate the driving time when driving on those roads at the speed limit.

[0082] The early schedule cost is an index indicating whether the autonomous vehicle V can arrive quickly when the scheduled time in the next schedule is advanced and the user urgently calls the autonomous vehicle V, and is indicated by the average distance between the next destination and the current position of the autonomous vehicle V. Specifically, the server device 2 estimates the scheduled position of the autonomous vehicle V every predetermined time (for example, 20 minutes) according to the driving plan, and calculates the distance between the scheduled position and the destination. Then, the average distance is calculated by averaging those distances. The shorter the average distance, the closer the autonomous vehicle V is to the next destination, and the more quickly it can respond to the early schedule, so the value of the early schedule cost becomes smaller.

[0083] The total cost is the cost obtained by aggregating the fare cost, risk cost, and advance schedule cost. The total cost is selected when the user does not particularly prioritize any one of these three costs, but rather makes a driving plan by comprehensively considering these three costs. To calculate the total cost, a conversion formula or conversion rule for converting the values of the fare cost, risk cost, and advance schedule cost into total points needs to be determined in advance. Then, the server device 2 converts the fare cost, risk cost, and advance schedule cost into total points according to the conversion formula or conversion rule, and calculates the total cost by summing them up.

[0084] Note that instead of using total points, it is also possible to calculate the total cost by converting any one of the fare cost, risk cost, and advance schedule cost and the remaining two. For example, a conversion formula for converting the value of the risk cost (risk points) and the value of the advance schedule cost (average distance) into the value of the fare cost (i.e., the amount) can be prepared in advance, convert the risk points and the average distance into the amount, and express the total cost in terms of the amount.

[0085] Also, in the above example, the total cost is calculated based on the fare cost, risk cost, and advance schedule cost, but it is also possible to calculate the total cost based on only two of these three. For example, it is possible to calculate the total cost based on the fare cost and the risk cost.

[0086] As illustrated in FIG. 9, when the cost is calculated for each driving plan, the server device 2 selects one driving plan according to the priority cost selected by the user. For example, when the user selects the fare cost as the priority cost, the server device 2 will select the regular parking lot usage plan 1 with the lowest fare cost. Also, when the user selects the risk cost as the priority cost, the server device 2 will select the external parking lot usage plan 3 with the lowest risk cost. If there are multiple driving plans with the minimum value of the priority cost, the server device 2 may select the driving plan with a smaller other cost or total cost.

[0087] [Modification Example] Hereinafter, modification examples of the above-described embodiments will be described. Note that the following modification examples can be applied to the above-described embodiments in appropriate combinations. (Modification Example 1) In the above embodiment, when the user gets off the autonomous vehicle V, a driving plan from that point to the destination in the next schedule is generated. However, regardless of the user or the current position of the autonomous vehicle V, a driving plan between any two schedules may be generated. For example, as the schedule for the next day, when the first schedule and the subsequent second schedule are determined, a driving plan between the destination and the scheduled time in the first schedule and the destination and the scheduled time in the second schedule may be generated. Thereby, the user can confirm the driving plan in advance based on the future schedule.

[0088] (Modification Example 2) In the above embodiment, the server device 2 generates the driving plan. Instead, the terminal device 1 mounted on the autonomous vehicle V may generate the driving plan. In this case, the toll DB and the parking lot DB may be stored in the storage unit 12 of the terminal device 1, and the control unit 14 of the terminal device 1 may execute the above-described driving plan generation process to determine the driving plan. In this case, regarding the parking lot DB, since real-time performance is required, it is desirable to periodically download information on the vacancy status of parking lots around the current position of the autonomous vehicle V and around the route to the destination from an external server device that collects information on the vacancy status of parking lots and update the content of the parking lot DB stored in the terminal device 1.

[0089] (Modification Example 3) As described above, one driving plan is determined according to the priority cost selected by the user. After the autonomous vehicle V starts an action according to the driving plan, if the traffic conditions of the road to be traveled, the availability of the parking lot where parking is planned, etc. change, it is desirable for the server device 2 to re-execute the driving plan generation process based on the current position of the autonomous vehicle V at that time and the next schedule. This makes it possible to drive the autonomous vehicle V with an optimal driving plan even when the surrounding environment changes. For example, after the autonomous vehicle V starts driving according to the external parking lot usage plan, if the planned external parking lot is full and unavailable, by re-executing the driving plan generation process, an external parking lot usage plan using another external parking lot may be selected, or a circumferential plan may be selected instead of the external parking lot usage plan.

[0090] (Modification Example 4) In the above embodiment, an example of using an external parking lot in the external parking lot usage plan is shown. However, the external parking lot is not limited to a paid parking lot, and may be, for example, a free parking lot annexed to a park or a public institution. Also, even outside what is commonly referred to as a parking lot, if there is an area, space, etc. where a vehicle can be parked without violating traffic regulations, it may be used. From this perspective, these places where vehicles can be parked will be collectively referred to as "parking locations".

[0091] (Modification Example 5) In the above embodiment, the driving plan of the autonomous vehicle V is generated, but the present invention can also be applied to ordinary vehicles. In that case, the driving route corresponding to the driving plan determined by the server device 2 may be set in a car navigation device or the like.

Explanation of Reference Numerals

[0092] 1 Terminal device 2 Server device 4, 24 Map DB 14, 23 Control unit 25 Toll DB 26 Parking lot DB 27 User DB

Claims

1. An autonomous driving control device mounted on a vehicle capable of autonomous driving and controlling the autonomous driving of the vehicle, a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; a travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired the departure instruction among the schedules acquired by the schedule acquisition means, by the scheduled arrival time indicated by the next schedule; a control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired the departure instruction, according to the travel plan acquired by the travel plan acquisition means; characterized in that when the scheduled arrival time of the next schedule is advanced, the travel plan acquisition means acquires a travel plan for traveling on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule. An autonomous driving control device.

2. The travel plan acquisition means acquires, as the index, a travel plan for traveling on a route selected based on a predicted early arrival cost calculated based on an average value of distances from a predicted position of the vehicle at each predetermined time to the destination indicated by the next schedule. The autonomous driving control device according to claim 1.

3. When there is a next schedule to be executed within a predetermined period, and when the scheduled arrival time of the next schedule is advanced, the travel plan acquisition means acquires a travel plan for traveling on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule. When there is no next schedule to be executed within the predetermined period, the travel plan acquisition means acquires a travel plan for the vehicle to travel to the most frequently used parking place closest to the position where the departure instruction was acquired among a plurality of frequently used parking places where the vehicle can always park. The autonomous driving control device according to claim 1 or 2.

4. An autonomous driving control device mounted on a vehicle capable of autonomous driving and controlling the autonomous driving of the vehicle, a schedule acquisition means for acquiring a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; a departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle; Of the schedules acquired by the schedule acquisition means, a travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired a departure instruction by the scheduled time indicated by the next schedule; Control means for controlling autonomous driving of the vehicle after the departure instruction acquisition means has acquired a departure instruction according to the travel plan; Comprising: The travel plan acquisition means is characterized in that, when there is no next schedule to be executed within a predetermined period, it acquires a travel plan for heading to the most frequently used parking place closest to the position where the departure instruction was acquired among a plurality of frequently used parking places where the vehicle can always park. An autonomous driving control device.

5. A server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, Storage means for storing a schedule indicating the destination to which the vehicle should arrive and the scheduled time to arrive at the destination; Receiving means for receiving departure instruction information indicating that the user of the vehicle has given a departure instruction; Among the schedules stored in the storage means, a travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information has been received by the scheduled time indicated by the next schedule; Transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device; Comprising: The travel plan generation means is characterized in that, when the scheduled time of the next schedule is advanced, it selects a route based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule, and generates a travel plan for traveling on the route. A server device.

6. A server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, Storage means for storing a schedule indicating the destination to which the vehicle should arrive and the scheduled time to arrive at the destination; Receiving means for receiving departure instruction information indicating that the user of the vehicle has given a departure instruction; Among the schedules stored in the storage means, a travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information has been received by the scheduled time indicated by the next schedule; Transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device; Comprising: When there is no next schedule to be executed within a predetermined period, the travel plan generation means generates a travel plan for the vehicle to head to the most frequently used parking location closest to the position where the departure instruction was given among a plurality of frequently used parking locations where the vehicle can always park. The server device is characterized by this.

7. An autonomous driving control method mounted on a vehicle capable of autonomous driving and executed by an autonomous driving control device that controls the autonomous driving of the vehicle, A schedule acquisition step of acquiring a schedule indicating the destination to which the vehicle should arrive and the scheduled arrival time at the destination, A departure instruction acquisition step of acquiring a departure instruction from the user of the vehicle, Among the schedules acquired in the schedule acquisition step, a travel plan acquisition step of acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition step has acquired a departure instruction by the scheduled arrival time indicated by the next schedule, A control step of controlling the autonomous driving of the vehicle after the departure instruction acquisition step has acquired a departure instruction according to the travel plan acquired in the travel plan acquisition step, Comprising, The travel plan acquisition step is characterized in that when the scheduled arrival time of the next schedule is advanced, it acquires a travel plan for the vehicle to travel on a route selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule. The autonomous driving control method is characterized by this.

8. A program mounted on a vehicle capable of autonomous driving, equipped with a computer, and executed by an autonomous driving control device that controls the autonomous driving of the vehicle, Schedule acquisition means for acquiring a schedule indicating the destination to which the vehicle should arrive and the scheduled arrival time at the destination, Departure instruction acquisition means for acquiring a departure instruction from the user of the vehicle, Travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired a departure instruction among the schedules acquired by the schedule acquisition means by the scheduled arrival time indicated by the next schedule, Control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired a departure instruction according to the travel plan acquired by the travel plan acquisition means, Functioning the computer as, The travel plan acquisition means acquires a travel plan for the vehicle to travel along a route selected based on an index indicating whether the vehicle can arrive at the destination indicated by the next schedule quickly when the scheduled time of the next schedule is advanced. A program characterized by that.

9. An autonomous driving control method mounted on a vehicle capable of autonomous driving and executed by an autonomous driving control device that controls the autonomous driving of the vehicle, A schedule acquisition step of acquiring a schedule indicating the destination to which the vehicle should arrive and the scheduled time to arrive at the destination, A departure instruction acquisition step of acquiring a departure instruction from a user of the vehicle, Among the schedules acquired in the schedule acquisition step, a travel plan acquisition step of acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition step has acquired a departure instruction by the scheduled time indicated by the next schedule, A control step of controlling the autonomous driving of the vehicle after the departure instruction acquisition step has acquired a departure instruction according to the travel plan, Comprising The travel plan acquisition step is characterized in that when there is no next schedule to be executed within a predetermined period, it acquires a travel plan for the vehicle to go to the regular parking place closest to the position where the departure instruction was acquired among a plurality of regular parking places where the vehicle can always park. An autonomous driving control method.

10. A program mounted on a vehicle capable of autonomous driving, equipped with a computer, and executed by an autonomous driving control device that controls the autonomous driving of the vehicle, Schedule acquisition means for acquiring a schedule indicating the destination to which the vehicle should arrive and the scheduled time to arrive at the destination, Departure instruction acquisition means for acquiring a departure instruction from a user of the vehicle, Among the schedules acquired by the schedule acquisition means, travel plan acquisition means for acquiring a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction acquisition means has acquired a departure instruction by the scheduled time indicated by the next schedule, Control means for controlling the autonomous driving of the vehicle after the departure instruction acquisition means has acquired a departure instruction according to the travel plan, Functioning the computer as When there is no next schedule to be executed within a predetermined period, the travel plan acquisition means acquires a travel plan for the vehicle to travel to the most frequently used parking location closest to the position where the departure instruction was obtained among the plurality of frequently used parking locations where the vehicle can always park. A program characterized by this.

11. A control method executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, A storage step of storing in storage means a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; A reception step of receiving departure instruction information indicating that the user of the vehicle has given a departure instruction; A travel plan generation step of generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received among the schedules stored in the storage means by the scheduled arrival time indicated by the next schedule; A transmission step of transmitting the travel plan generated by the travel plan generation step to the autonomous driving control device; Comprising The travel plan generation step is characterized in that when the scheduled time of the next schedule is advanced, a route is selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule, and a travel plan for traveling on the route is generated. A control method.

12. A program executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving and includes a computer, Storage means for storing a schedule indicating a destination to which the vehicle should arrive and a scheduled arrival time at the destination; Receiving means for receiving departure instruction information indicating that the user of the vehicle has given a departure instruction; Travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received among the schedules stored in the storage means by the scheduled arrival time indicated by the next schedule; Transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device; Functioning the computer as The travel plan generation means is characterized in that when the scheduled time of the next schedule is advanced, a route is selected based on an index indicating whether the vehicle can quickly arrive at the destination indicated by the next schedule, and a travel plan for traveling on the route is generated. A program.

13. A control method executed by a server device that communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, a storage step of storing, in storage means, a schedule indicating a destination to which the vehicle should arrive and a scheduled time at which the vehicle should arrive at the destination, a reception step of receiving departure instruction information indicating that the user of the vehicle has given a departure instruction, a travel plan generation step of generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received, among the schedules stored in the storage means, by the scheduled time indicated by the next schedule, a transmission step of transmitting the travel plan generated by the travel plan generation step to the autonomous driving control device, characterized in that, when there is no next schedule to be executed within a predetermined period, the travel plan generation step generates a travel plan for the vehicle to travel to the most frequently used parking place closest to the position where the departure instruction was given among a plurality of frequently used parking places where the vehicle can always park.

14. A program executed by a server device that includes a computer and communicates with an autonomous driving control device mounted on a vehicle capable of autonomous driving, storage means for storing a schedule indicating a destination to which the vehicle should arrive and a scheduled time at which the vehicle should arrive at the destination, reception means for receiving departure instruction information indicating that the user of the vehicle has given a departure instruction, travel plan generation means for generating a travel plan for arriving at the destination indicated by the next schedule scheduled after the departure instruction information is received, among the schedules stored in the storage means, by the scheduled time indicated by the next schedule, transmission means for transmitting the travel plan generated by the travel plan generation means to the autonomous driving control device, wherein the computer functions as, when there is no next schedule to be executed within a predetermined period, the travel plan generation means generates a travel plan for the vehicle to travel to the most frequently used parking place closest to the position where the departure instruction was given among a plurality of frequently used parking places where the vehicle can always park.

Images