Vehicle control system and vehicle control method

Abstract

To provide a vehicle control system capable of suppressing a reduction in movement efficiency of other crew members that accompanies handing over a crew member in poor physical condition to an ambulance vehicle.SOLUTION: When carpooling is performed in a vehicle and a poor physical condition of a crew member is detected, a travel route re-setting unit 32 re-sets, as a target route, a route that passes through destination points of crew members other than the crew member whose poor physical condition has been detected (a specified crew member). A rendezvous location setting unit 33 sets, at any point on the re-set target route, a rendezvous location between the vehicle and an ambulance vehicle. Then, during execution of autonomous travel according to the target route, when the target route is re-set by the travel route re-setting unit 32, a travel control unit 42 performs stopping control to stop the vehicle at the rendezvous location set by the rendezvous location setting unit 33 while continuing the autonomous travel according to the re-set target route.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control system and a vehicle control method. [Background technology]

[0002] Conventionally, for example, a vehicle control system has been proposed in which, when an abnormality in an occupant is detected by an abnormality detection sensor, the vehicle's destination is set to a hospital, a meeting point is set at a point where the route the vehicle will take to reach the hospital and the route the emergency vehicle will take to reach the hospital overlap, the vehicle is stopped at the set meeting point, and the occupant is transferred to an ambulance vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-125976 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the vehicle control system described in Patent Document 1 is applied to a vehicle that allows multiple passengers to ride together, there is a possibility that the travel efficiency of the other passengers may decrease. The present disclosure aims to provide a vehicle control system and a vehicle control method that can suppress a decrease in the travel efficiency of other occupants that occurs when an unwell occupant is handed over to an ambulance vehicle. [Means for solving the problem]

[0005] A vehicle control system according to one aspect of the present disclosure includes a route setting unit that sets a target route that passes through the desired drop-off locations of the vehicle's occupants; a control unit that causes the vehicle to autonomously drive according to the target route set by the route setting unit; a detection unit that detects poor health among the vehicle's occupants; and when the detection unit detects poor health among the occupants in a vehicle sharing a ride with multiple occupants who have different desired drop-off locations, a resetting unit that resets the target route to a route that passes through the desired drop-off locations of the occupants other than the specific occupant whose poor health is detected; a position setting unit that sets a meeting point between the vehicle and an ambulance at any point on the target route reset by the resetting unit; and an information transmitting unit that directly or indirectly transmits information about the meeting point set by the position setting unit to the ambulance, and when the target route is reset by the resetting unit while the control unit is autonomously driving according to the target route, the control unit performs stopping control to stop the vehicle at the meeting point set by the position setting unit while continuing autonomous driving according to the reset target route.

[0006] In addition, one aspect of the vehicle control method of the present disclosure is a vehicle control method that sets a target route that passes through the desired disembarkation locations of the vehicle's occupants and causes the vehicle to drive autonomously according to the set target route.When a vehicle is sharing a ride with multiple occupants with different desired disembarkation locations and an occupant is detected to be in poor health, the method resets the target route to a route that passes through the desired disembarkation locations of the occupants other than the specific occupant whose poor health is detected, sets a meeting point between the vehicle and an ambulance at any point on the reset target route, and transmits information about the set meeting point directly or indirectly to the ambulance.Furthermore, when the target route is reset while the vehicle is autonomously driving according to the target route, the method performs stopping control to stop the vehicle at the set meeting point while continuing autonomous driving according to the reset target route. [Effects of the Invention]

[0007] According to the present disclosure, a vehicle control system and a vehicle control method can be provided that can suppress a decrease in the movement efficiency of other occupants that occurs when an unwell occupant is handed over to an ambulance vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a schematic configuration of a vehicle dispatch system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the functional configuration of a first and second controller. [Figure 3] 10 is a flowchart showing the operation of a vehicle dispatch planning unit and the like. [Figure 4] 4 is a flowchart showing the operation of a travel control unit and the like. [Figure 5] FIG. 2 is a diagram illustrating the operation of the vehicle dispatch system of the first embodiment. [Figure 6] 10 is a flowchart showing the operation of a meeting position setting unit and the like. [Figure 7] 4 is a flowchart showing the operation of a travel control unit and the like. [Figure 8] FIG. 2 is a diagram illustrating a functional configuration of a first controller. [Figure 9] 10 is a flowchart showing the operation of a proposing unit and the like. [Figure 10] 10 is a flowchart showing the operation of a meeting position setting unit and the like. [Figure 11] 10 is a flowchart showing the operation of a meeting position setting unit and the like. [Figure 12] FIG. 10 is a diagram illustrating a functional configuration of a first controller according to a second embodiment. [Figure 13] 10 is a flowchart showing the operation of a vehicle dispatch planning unit and the like. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the drawings are schematic and may differ from the actual embodiments. Furthermore, the embodiments of the present disclosure shown below are examples of devices and methods for embodying the technical ideas of the present disclosure, and the technical ideas of the present disclosure do not limit the structure, arrangement, etc. of the components to those described below. Various modifications can be made to the technical ideas of the present disclosure within the technical scope defined by the claims.

[0010] (composition) FIG. 1 is a diagram showing a schematic configuration of a vehicle dispatch system 1 of the first embodiment. In the first embodiment, as shown in FIG. 1, an example is shown in which a vehicle control system is applied to a vehicle dispatch system 1 that provides a vehicle dispatch service that dispatches a vehicle Ce in response to a user's vehicle dispatch request. In the vehicle dispatch system 1, the vehicle Ce functions as an unmanned taxi that allows multiple passengers to ride together. In the first embodiment, "ridesharing" refers to, for example, multiple passengers with different destination points Pd riding together. For example, in addition to a case in which the destination points Pd of all passengers are different, a case in which the destination points Pd of some passengers are the same is also included in "ridesharing" in the first embodiment. The vehicle allocation system 1 includes a vehicle allocation management device 10 and a vehicle control device 20. The vehicle dispatch control device 10 includes a communication device 11, a map database (DB) 12, a user information database (DB) 13, and a first controller . The communication device 11 is a wireless communication device that provides a wireless communication function between the first controller 14 and an external device. The communication method of the communication device 11 may be, for example, wireless communication via a public mobile communication network, satellite communication, or road-to-vehicle communication. The vehicle dispatch management device 10 transmits and receives data to and from a second controller 29 (described later) of the vehicle control device 20 via the communication device 11. The vehicle dispatch management device 10 also transmits and receives data to and from a road traffic information management system that provides various traffic information in real time, and an on-board device installed in an ambulance, via the communication device 11.

[0011] The map DB 12 stores road map data for an area where the vehicle dispatch system 1 provides a vehicle dispatch service. As the road map data, for example, a navigation map that can be used to calculate a route (target route) from a boarding point where a user boards the vehicle Ce to a destination can be used. The user information DB 13 stores information about users who use the vehicle dispatch service (hereinafter also referred to as "user information"). The user information may include, for example, the user's name, boarding point, and disembarking point (destination). The user information is acquired from the user together with the vehicle dispatch request.

[0012] The first controller 14 is a computer device that processes information in the vehicle dispatch control device 2. The first controller 14 includes a processor 14a and peripheral components such as a storage device 14b that stores computer programs and the like. The processor 14a may be, for example, a CPU or an MPU. The storage device 14b may be, for example, a semiconductor storage device, a magnetic storage device, or an optical storage device. The storage device 14b may include a register, a cache memory, and memories such as a ROM and a RAM used as a main storage device. Each function of the first controller 14 described below is realized, for example, by the processor 14a executing a computer program stored in the storage device 14b.

[0013] The vehicle control device 20 includes an external sensor 21, a vehicle sensor 22, a positioning device 23, a map database (DB) 24, a communication device 25, a human machine interface (HMI) 26, an in-vehicle camera 27, an actuator 28, and a second controller 29. The external sensor 21 includes a forward monitoring sensor that monitors the surrounding environment in front of the vehicle Ce, and a rear monitoring sensor that monitors the surrounding environment behind the vehicle Ce. As the forward monitoring sensor and the rear monitoring sensor, various object detection sensors that detect objects around the vehicle Ce can be used, such as a laser radar, a millimeter wave radar, a camera, or a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) mounted on the vehicle Ce.

[0014] The vehicle sensor 22 is mounted on the vehicle Ce and detects various information (vehicle signals) obtained from the vehicle Ce. Examples of the vehicle sensor 22 that can be used include a vehicle speed sensor that detects the vehicle speed of the vehicle Ce, a wheel speed sensor that detects the rotational speed of the wheels of the vehicle Ce, a three-axis acceleration sensor that detects the acceleration in three axial directions of the vehicle Ce, a steering angle sensor that detects the steering angle of the steered wheels, a gyro sensor that detects the angular velocity of the vehicle Ce, a yaw rate sensor that detects the yaw rate, an accelerator sensor that detects the accelerator opening of the host vehicle, and a brake sensor that detects the braking amount.

[0015] The positioning device 23 includes a Global Navigation System (GNSS) receiver and receives radio waves from multiple navigation satellites to measure the current position of the vehicle Ce. The GNSS receiver may be, for example, a GPS receiver. The positioning device 23 may be, for example, an inertial navigation system. The map DB 24 stores road map data, which may be, for example, high-precision three-dimensional map data (such as HD maps) for autonomous vehicles. The communication device 25 is a wireless communication device that provides a wireless communication function between the vehicle Ce and an external device. The communication method of the communication device 25 may be, for example, wireless communication via a public mobile communication network, satellite communication, or road-to-vehicle communication. The vehicle Ce (second controller 29) transmits and receives data to and from the first controller 14 of the vehicle dispatch management device 10, etc., via the communication device 25.

[0016] The HMI 26 is an interface device installed inside the vehicle Ce and transmits and receives information between the vehicle control device 20 and the occupants of the vehicle Ce. The HMI 26 may be, for example, a display device that displays image information visible to all occupants of the vehicle Ce, a speaker that outputs audio information that can be heard by all occupants, or a switch installed for each occupant that can be operated by the occupant. The interior camera 27 is installed inside the vehicle Ce and captures images of the occupants of each seat in the vehicle Ce. The interior camera 27 may be, for example, an image sensor that captures the faces of all occupants and generates video image data. The captured image is transmitted to the second controller 29.

[0017] The actuator 28 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and steering amount of the steering wheel of the vehicle Ce. The accelerator opening actuator controls the accelerator opening of the vehicle Ce. The brake control actuator controls the braking operation of the brake device of the vehicle Ce. The actuator 28 operates the steering wheel, accelerator opening, and brake device of the vehicle Ce in response to control signals output from the second controller 29, thereby generating vehicle behavior of the vehicle Ce.

[0018] The second controller 29 is an electronic control unit mounted on the vehicle Ce and controls the running of the vehicle Ce. The second controller 29 includes a processor 29a and peripheral components such as a storage device 29b that stores computer programs and the like. The processor 29a may be, for example, a CPU or an MPU. The storage device 29b may be, for example, a semiconductor storage device, a magnetic storage device, or an optical storage device. The storage device 29b may include a register, a cache memory, and memories such as a ROM and a RAM used as a main storage device. Each function of the second controller 29 described below is realized, for example, by the processor 29a executing a computer program stored in the storage device 29b. The second controller 29 may be formed of dedicated hardware for executing the information processing described below. For example, the second controller 29 may be configured to include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the second controller 29 may include a PLD (Programmable Logic Device) such as an FPGA.

[0019] Next, the functions of the first controller 14 and the second controller 29 will be described in detail. 2, the first controller 14 includes a vehicle dispatch planning unit 30, a travel route setting unit 31 (broadly speaking, a "route setting unit"), a travel route resetting unit 32 (broadly speaking, a "resetting unit"), a meeting position setting unit 33 (broadly speaking, a "position setting unit"), and a position information transmitting unit 34 (broadly speaking, an "information transmitting unit"). FIG. 2 is a diagram showing the functional configurations of the first controller 14 and the second controller 29. The vehicle allocation planning unit 30 sets vehicle allocation information for each user according to the user's vehicle allocation request, including the departure point Ps where the user boards the vehicle Ce, the scheduled boarding time, and the destination point Pd to which the user will be transported (broadly speaking, the "desired drop-off point of the vehicle's occupants"), and selects the vehicle Ce for the user to board (S101 in FIG. 3). FIG. 3 is a flowchart showing the operation of the vehicle allocation planning unit 30, etc. The same vehicle Ce can be selected for multiple users as the vehicle Ce for the user to board. As a result, the vehicle allocation management device 10 allows multiple occupants to share the vehicle Ce.

[0020] The travel route setting unit 31 sets a route (hereinafter also referred to as "target route R1") that passes through the destination point Pd of the occupants of the vehicle Ce. As an example, the travel route setting unit 31 sets, for each vehicle Ce, a target route R1 that passes through all of the starting points Ps and destination points Pd of the multiple users that are set by the vehicle allocation planning unit 30 (S102 in FIG. 3). In addition, the travel route setting unit 31 transmits the set target route R1 and the vehicle allocation information that is set by the vehicle allocation planning unit 30 to the second controller 29 of the vehicle Ce via the communication device 11 (S103 in FIG. 3). As a result, the vehicle allocation management device 10 causes the vehicle Ce to autonomously travel according to the target route R1 and transport each user by the vehicle Ce.

[0021] When a vehicle Ce is shared by multiple occupants and a sickness detection unit 40 (described later) of the vehicle Ce detects that an occupant is in poor health, the travel route resetting unit 32 resets the target route R1 to a route that passes through the destination point Pd of occupants other than the occupant whose sickness has been detected (hereinafter also referred to as a "specific occupant"). As an example, the travel route resetting unit 32 determines whether the communication device 11 has received sickness information transmitted from the vehicle Ce (S104 in FIG. 3). As the sickness information, for example, information transmitted from the second controller 29 of the vehicle Ce when a sickness of an occupant is detected can be used. The sickness information is information that includes, for example, information indicating the vehicle Ce in which the sickness has been detected and information indicating the occupant in which the sickness has been detected. Furthermore, when the travel route resetting unit 32 determines that it has received the ill health information ("Yes" in S104 of FIG. 3), it determines whether or not a carpool is taking place in the vehicle Ce based on the information (e.g., the vehicle Ce in which the user is riding) set by the vehicle allocation planning unit 30 (S105 of FIG. 3). When it determines that a carpool is taking place in the vehicle Ce ("Yes" in S105 of FIG. 3), the travel route setting unit 32 determines which user is the specific occupant based on the received ill health information, and resets as the target route R1 a route that passes through all of the departure points Ps and destination points Pd of occupants other than the specific occupant among the multiple users set by the vehicle allocation planning unit 30 (S106 of FIG. 3).

[0022] The meeting position setting unit 33 sets a meeting position Pw between the vehicle Ce and the ambulance at any point on the target route R1 reset by the travel route resetting unit 32. As an example, the meeting position setting unit 33 acquires, from an external device via the communication device 11, position information of the ambulance vehicle transporting the specific occupant and position information of the hospital to which the occupant is to be transported. Next, the meeting position setting unit 33 sets a travel route R2 for the ambulance to arrive at the hospital based on the acquired position information and the road map data stored in the map DB 12. Next, the meeting position setting unit 33 sets a meeting position Pw between the vehicle Ce and the ambulance at any point on the target route R1 based on the set travel route R2 and the reset target route R1 (S107 in FIG. 3). Furthermore, the meeting position setting unit 33 transmits the set meeting position Pw, the reset target route R1, and the departure point Ps, scheduled boarding time, and destination point Pd of the occupants other than the specified occupant to the second controller 29 of the vehicle Ce via the communication device 11 (S108 in FIG. 3). As a result, the vehicle dispatch management device 10 causes the specified occupant to disembark from the vehicle Ce at the meeting position Pw and transports the remaining occupants to the vehicle Ce. Note that, when the meeting position setting unit 33 determines that a ride-sharing is taking place in the vehicle Ce ("Yes" in S105 in FIG. 3) and the target route R1 is not reset, the meeting position Pw may be set not only on the target route R1 but also at a point where the movement efficiency of the ambulance is increased.

[0023] The position information transmission unit 34 transmits information about the meeting position Pw set by the meeting position setting unit 33 directly or indirectly to the ambulance vehicle. As an example, the position information transmission unit 34 transmits information about the meeting position Pw and the travel route R2 to the ambulance vehicle via the communication device 11 (S109 in FIG. 3). As a method for transmitting information about the meeting position Pw, for example, a method of directly transmitting the information to an on-board device provided in the ambulance vehicle, or a method of indirectly transmitting the information to an on-board device provided in the ambulance vehicle via a communication device provided in a fire command center or the like can be adopted. As information about the meeting position Pw, for example, the coordinates, address, and name of the meeting position Pw can be adopted. As a result, the vehicle dispatch management device 10 drives the ambulance vehicle according to the travel route R2 and has the specific occupant transfer from vehicle Ce to the ambulance vehicle at the meeting position Pw.

[0024] As shown in FIG. 2, the second controller 29 includes a poor physical condition detection unit 40 (broadly speaking, a "detection unit"), a poor physical condition determination unit 41, and a travel control unit 42 (broadly speaking, a "control unit"). The poor health detection unit 40 detects poor health of an occupant of the vehicle Ce while the vehicle Ce is autonomously traveling along the target route R1. As an example, the poor health detection unit 40 detects poor health of an occupant of the vehicle Ce based on video data obtained from the in-vehicle camera 27. A method for detecting a poorly ill occupant (specific occupant) may include, for example, detecting the behavior of the occupant based on the video data and determining the presence or absence of the specific occupant and who the specific occupant is based on the detection results. When the poor health detection unit 40 detects a specific occupant ("Yes" in S203 of FIG. 4) while the vehicle Ce is autonomously traveling by the traveling control unit 42 (described later) (S201 and S202 of FIG. 4), the poor health detection unit 40 transmits poor health information including information indicating the vehicle Ce whose poor health has been detected and information indicating the occupant whose poor health has been detected to the first controller 14 of the vehicle dispatch management device 10 via the communication device 25 (S204 of FIG. 4). As a result, the vehicle Ce causes the vehicle dispatch control device 10 to reset the target route R1. Fig. 4 is a flowchart showing the operation of the travel control unit and the like.

[0025] The poor physical condition determination unit 41 determines the degree of poor physical condition of the specific occupant. For example, one method of determination is to detect the behavior of the specific occupant based on video data obtained from the in-vehicle camera 27 and determine the degree of poor physical condition of the specific occupant based on the detection result. For example, if the behavior of the occupant, such as coughing or looking down, is detected, the occupant's condition may be determined to be mild, and if the behavior of the occupant, such as crouching or collapsing, the occupant's condition may be determined to be severe. When the specific occupant is detected, the poor physical condition determination unit 41 transmits information indicating the degree of poor physical condition to the first controller 14 of the vehicle dispatch management device 10 via the communication device 25.

[0026] The driving control unit 42 causes the vehicle Ce to autonomously drive according to the target route R1 set by the driving route setting unit 31 of the vehicle dispatch management device 10. As an example, the driving control unit 42 receives the target route R1, departure point Ps, scheduled boarding time, and destination point Pd transmitted from the vehicle dispatch management device 10 via the communication device 25 (S201 in FIG. 4). Next, the driving control unit 42 uses the external sensor 21, the vehicle sensor 22, the positioning device 23, and the map DB 24 to generate a control signal for the actuator 28 so that the vehicle Ce autonomously drives according to the received target route R1 (S202 in FIG. 4). In the autonomous driving, the driving control unit 42 stops the vehicle Ce at each of the received departure points Ps to let users board, and stops the vehicle Ce at each of the destination points Pd to let users (passengers) disembark. In this way, the vehicle Ce shares a ride with multiple passengers and transports each passenger to the destination point Pd.

[0027] Furthermore, when the target route R1 is reset by the travel route resetting unit 32 of the vehicle dispatch management device 10 during autonomous driving according to the target route R1 set by the travel route setting unit 31, the travel control unit 42 performs stopping control to stop the vehicle Ce at the meeting position Pw set by the meeting position setting unit 33 while continuing autonomous driving according to the reset target route R1. As an example, the travel control unit 42 determines whether the reset target route R1, as well as the departure point Ps, scheduled boarding time, and destination point Pd of occupants other than the specified occupant, have been received from the vehicle dispatch management device 10 during autonomous driving (S205 in FIG. 4). When the travel control unit 42 determines that the reset target route R1 and the like have been received ("Yes" in S205 in FIG. 4), it generates a control signal for the actuator 28 to perform stopping control based on the received target route R1 (S206 in FIG. 4). For example, in the vehicle stopping control, the external sensor 21, the vehicle sensor 22, the positioning device 23, and the map DB 24 may be used to generate a control signal for the actuator 28 so that the vehicle Ce autonomously travels according to the received target route R1 instead of the target route R1 set by the travel route setting unit 31. As a result, the vehicle Ce continues autonomous travel according to the target route R1. At the same time, in the vehicle stopping control, a control signal for the actuator 28 may be generated so that the vehicle stops at each of the received departure points Ps to allow users to board, and stops at each of the destination points Pd and the meeting position Pw to allow users (occupants) to disembark. As a result, the vehicle Ce transports the specified occupants to the meeting position Pw, and after the arrival of the ambulance, the specified occupants disembark and are transferred to the ambulance. In addition, the vehicle Ce transports occupants other than the specified occupants to their respective destination points Pd.

[0028] (Effects of the first embodiment) (1) Here, as a comparative example, consider a configuration in which, for example, when a passenger's physical condition is detected, the route that the vehicle Ce will take to reach the hospital is reset to a target route R1, and the point where the reset target route R1 and the route that the ambulance will take to reach the hospital overlap is set as the meeting point for the vehicle Ce and the ambulance. In the configuration of this comparative example, for example, if multiple passengers are sharing the vehicle Ce, the travel efficiency of the other passengers may decrease. In contrast, in the first embodiment, when an occupant is detected as being unwell while a rideshare is taking place in the vehicle Ce ("Yes" in S104 of FIG. 3), the travel route resetting unit 32 resets the route via the destination point Pd of the occupant (hereinafter also referred to as "rideshare occupant") other than the occupant whose unwell condition has been detected (the specific occupant) as the target route R1, as shown by the solid line in FIG. 5 (S106 of FIG. 3). In addition, the meeting position setting unit 33 sets a meeting position Pw between the vehicle Ce and the ambulance at any point on the reset target route R1 (S107 of FIG. 3). In addition, the travel control unit 42 stops the vehicle Ce at the set meeting position Pw while continuing the autonomous travel according to the reset target route R1 (S206 of FIG. 4). This allows the specific occupant to be handed over to the ambulance at the meeting position Pw. As shown in Figure 5, the reset target route R1 (solid line) has a shorter route length than the target route R1 (dashed line) before resetting. Therefore, although it takes longer to hand over the specific occupant, the shorter route length can reduce the overall decrease in travel efficiency of the passengers sharing the ride. In other words, it can reduce the decrease in travel efficiency of the other occupants that accompanies handing over the unwell occupant (specific occupant) to the ambulance vehicle.

[0029] (Variation) (1) When it is determined in the process of S107 in Fig. 3 that no ride-sharing is taking place in the vehicle Ce or that the specific occupant is seriously ill, the meeting position setting unit 33 may set the meeting position Pw at a location where the movement efficiency of the ambulance vehicle is higher than when it is determined that ride-sharing is taking place in the vehicle Ce and the specific occupant is not seriously ill. This allows the unwell occupant (specific occupant) to be transported to the hospital efficiently when there is no decrease in the movement efficiency of other occupants or when the importance of transporting the specific occupant to the hospital is high. As an example, the meeting position setting unit 33 determines whether or not a carpool is taking place in the vehicle Ce based on information set by the vehicle dispatch planning unit 30 (e.g., the vehicle Ce in which the user is riding) (S301 in FIG. 6). FIG. 6 is a flowchart showing the operation of the meeting position setting unit 33 and the like. When the meeting position setting unit 33 determines that a carpool is not taking place in the vehicle Ce ("No" in S301 in FIG. 6), the meeting position setting unit 33 sets the meeting position Pw at a location where the movement efficiency of the ambulance is higher than the location where the meeting position Pw is set in S306 (described later) in FIG. 6, without being limited to the target route R1 set by the travel route setting unit 31 (S302 in FIG. 6). The location where the movement efficiency of the ambulance is higher can be, for example, a location where the total time required for the ambulance to move from its current location to the meeting position Pw, transfer the specific occupant, and then move to the hospital is shorter. For example, a location where the total time is shortest can be used.

[0030] On the other hand, when it is determined that a ride-sharing is taking place in the vehicle Ce ("Yes" in S301 of FIG. 6), the meeting position setting unit 33 determines whether the specific occupant is seriously ill based on information transmitted from the vehicle Ce (for example, information indicating the degree of poor physical condition of the specific occupant) (S303 of FIG. 6). When it is determined that the specific occupant is seriously ill ("Yes" in S303 of FIG. 6), the meeting position setting unit 33 sets the meeting position Pw not only on the target route R1 reset by the travel route resetting unit 32, but also at a point where the movement efficiency of the ambulance is high (S302 of FIG. 6). On the other hand, when it is determined that a ride-sharing is taking place in the vehicle Ce and that the specific occupant is not seriously injured (S301 "Yes", S303 "No" in Fig. 6), the meeting position setting unit 33 sets the meeting position Pw at a point where the movement efficiency of the occupants of the vehicle Ce is higher than the point where the meeting position Pw is set in S302 in Fig. 6 (S304 in Fig. 6). As the point where the movement efficiency of the occupants is higher, for example, a point on the target route R1 reset by the travel route resetting unit 32 can be used.

[0031] (2-1) When it is determined that a ride-sharing is occurring in the vehicle Ce, the travel control unit 42 may check whether any occupants other than the specific occupant (the ride-sharing occupants) intend to disembark, and when the intention of any of the ride-sharing occupants to disembark is confirmed, the travel control unit 42 may stop the vehicle Ce at a possible stopping point around the vehicle Ce. In this way, when a ride-sharing is occurring in the vehicle Ce, the ride-sharing occupants can be disembarked and the ride-sharing can be ended, and the meeting point Pw can be set with priority given to the movement efficiency of the ambulance vehicle. As an example, when the health condition detection unit 40 detects that a passenger is in poor health, the driving control unit 42 determines whether a passenger is sharing the vehicle Ce based on the information set by the vehicle dispatch planner 30 (S401 in FIG. 7). FIG. 7 is a flowchart illustrating the operation of the driving control unit 42 and is a diagram obtained by modifying a portion of the flowchart of FIG. 4. When the driving control unit 42 determines that a passenger is sharing the vehicle Ce (S401 "Yes" in FIG. 7), it checks whether the passenger intends to disembark (S402 "No" in FIG. 7). As a method for checking the passenger's intention to disembark, for example, when the HMI 26 includes a display device, a speaker, and a switch installed for each passenger, a method can be adopted in which image information and audio information are output to the display device and speaker to notify the passenger to operate the switch if the passenger intends to disembark.

[0032] The driving control unit 42 determines whether any of the passengers intending to disembark has been confirmed (S403 in FIG. 7). If it determines that the intention to disembark has been confirmed based on the switch output or the like (S403 “Yes” in FIG. 7), it generates a control signal for the actuator 28 using the external sensor 21, the vehicle sensor 22, the positioning device 23, and the map database 24 to cause the vehicle Ce to stop at a possible stopping point around the vehicle Ce (S404 in FIG. 7). As a result, the vehicle Ce causes some of the passengers to disembark at a possible disembarkation point. The driving control unit 42 also transmits disembarkation intention information, including information indicating that the intention of the passengers to disembark has been confirmed and information indicating the passengers whose intention to disembark has been confirmed, to the first controller 14 of the vehicle dispatch management device 10 via the communication device 25. A method for determining whether a passenger whose intention to disembark has been confirmed may, for example, determine a passenger associated with the operated switch as a passenger whose intention to disembark has been confirmed.

[0033] (2-2) In this case, when the communication device 11 receives the dismounting intention information transmitted from the vehicle Ce, the travel route resetting unit 32 may reset the target route R1 to a route that passes through all of the departure points Ps and destination points Pd of the occupants of the vehicle Ce, excluding the specific occupant and the passenger-shared occupant whose dismounting intention has been confirmed, in the process of S106 in Fig. 3. This makes it possible to more appropriately suppress a decrease in the travel efficiency of the passenger-shared occupants who remain in the vehicle Ce without dismounting.

[0034] (2-3) In this case, as shown in Fig. 8, the first controller 14 may be configured to include a suggestion unit 35 that suggests dispatching another vehicle Ce or alternative transportation means to a passenger whose intention to disembark has been confirmed, with the possible stopping point of the vehicle Ce set as the boarding point. This makes it possible to prevent a decrease in the travel efficiency of passengers disembarking from the vehicle Ce (passenger passengers), and encourages the passenger passengers to disembark. Fig. 8 is a diagram showing the functional configuration of the first controller 14. As one example, the proposal unit 35 determines whether the communication device 11 has received dismounting intention information transmitted from the vehicle Ce (S501 in FIG. 9). When the proposal unit 35 determines that the dismounting intention information has been received (S501 “Yes” in FIG. 9), the proposal unit 35 sets, for the rideshare passenger who will dismount, vehicle allocation information (starting point Ps, scheduled boarding time, destination point Pd) with the possible stop point as the starting point Ps, and selects another vehicle Ce as the vehicle for the rideshare passenger (S502 in FIG. 9). FIG. 9 is a flowchart showing the operation of the proposal unit 35 and the like. The proposal unit 35 also transmits the allocation information to the second controller 29 of the selected vehicle Ce via the communication device 11 (S503 in FIG. 9). As another example, the proposal unit 35 may search for alternative transportation means (such as a bus or train) available near the possible stop point and transmit information on the searched alternative transportation means to the second controller 29 of the vehicle Ce via the communication device 11. As a result, the suggestion unit 35 causes the second controller 29 to perform processing such as displaying information about alternative transportation means on the HMI 26.

[0035] (3-1) The meeting position setting unit 33 may set the meeting position Pw at a location where an ambulance vehicle will arrive earlier than the vehicle Ce, or at a location where the ambulance vehicle will arrive within a predetermined time after the arrival of the vehicle Ce. This reduces the time the vehicle Ce is parked at the meeting position Pw. Here, ambulance vehicles are exempt from parking ban regulations, but the vehicle Ce is not exempt even if an occupant is in poor health. Therefore, by reducing the time the vehicle Ce is parked, the vehicle Ce can be prevented from being subject to parking violation enforcement.

[0036] As an example, the meeting position setting unit 33 sets the meeting position Pw based on the position information of the ambulance vehicle, the position information of the hospital, real-time traffic information, road map data stored in the map DB 12, the reset target route R1, and the ambulance vehicle's travel route R2 so that the ambulance vehicle will arrive within a predetermined time (e.g., 5 minutes) after the arrival of the vehicle Ce at the latest (S601 in FIG. 10). FIG. 10 is a diagram obtained by modifying a part of the flowchart of FIG. 4, and is a flowchart showing the operation of the meeting position setting unit 33 and the like. In addition, the meeting position setting unit 33 transmits the set meeting position Pw and the like (e.g., the meeting position Pw, the reset target route R1, and the departure point Ps, scheduled boarding time, and destination point Pd of the occupants other than the specific occupant (ridesharer)) to the second controller 29 of the vehicle Ce via the communication device 11 (S602 in FIG. 10). As a result, the vehicle Ce causes the specific occupant to get off at the meeting position Pw based on the meeting position Pw etc. transmitted from the communication device 11.

[0037] (3-2) In this case, the travel control unit 42 may determine, while the vehicle Ce is heading toward the meeting position Pw, whether the vehicle Ce will arrive at the meeting position Pw earlier than the ambulance vehicle, and if it determines that the vehicle Ce will arrive earlier, may stop the vehicle Ce at a possible stopping point before the meeting position Pw. This allows the vehicle Ce to stop in a location where there are no parking prohibitions, for example, when it is predicted that the vehicle Ce will arrive at the meeting position Pw earlier and the time the vehicle Ce will be parked at the meeting position Pw will be longer. This prevents the vehicle Ce from being caught for a parking violation and allows the vehicle Ce to wait for the arrival of the emergency vehicle.

[0038] As an example, the meeting position setting unit 33 determines whether the vehicle Ce will arrive at the meeting position Pw earlier than the ambulance vehicle based on the position information of the ambulance vehicle and the hospital, traffic information, the target route R1, and the travel route R2 (S701 in FIG. 10). If the meeting position setting unit 33 determines that the vehicle Ce will arrive at the meeting position Pw earlier ("Yes" in S701 in FIG. 10), it resets the meeting position Pw to a possible stop point that is closer to the vehicle Ce than the current meeting position Pw (S702 in FIG. 10). The possible stop point may be, for example, a parking lot or other location without parking prohibitions. The meeting position setting unit 33 also retransmits the reset meeting position Pw, etc. to the second controller 29 of the vehicle Ce via the communication device 11 (S703 in FIG. 10). As a result, the vehicle Ce causes the specified occupant to disembark at the meeting position Pw based on the meeting position Pw, etc. transmitted from the communication device 11. Next, the position information transmitting unit 34 transmits again information about the reset meeting position Pw and the travel route R2 to the ambulance vehicle via the communication device 11 (S704 in FIG. 10).

[0039] (4) When it is determined that a ride-sharing is taking place in the vehicle Ce, if the destination point Pd of the specific occupant is the destination point Pd of the specific occupant that is the first stop on the target route R1 set by the travel route setting unit 31 after the occupant's poor health is detected by the poor health detection unit 40, the meeting point setting unit 33 may set a meeting point Pw between the current location of the vehicle Ce and the destination point Pd of the specific occupant. This allows, for example, if the occupant (specific occupant) who is feeling unwell is on his / her way home, to be transferred from the vehicle Ce to an ambulance near the home of the specific occupant, increasing the possibility that a hospital near the home of the specific occupant will be the hospital to which the specific occupant is transported.

[0040] As an example, the meeting position setting unit 33 determines whether or not a carpool is taking place in the vehicle Ce based on the information set by the vehicle allocation planning unit 30 (S801 in FIG. 11). FIG. 11 is a flowchart showing the operation of the meeting position setting unit 33 and the like. When the meeting position setting unit 33 determines that a carpool is taking place in the vehicle Ce ("Yes" in S801 in FIG. 11), the meeting position setting unit 33 uses the positioning device 23 and the map DB 24 to determine whether or not the destination point Pd that will be passed through first if the vehicle Ce travels along the target route R1 set by the travel route setting unit 31 after the occupant's poor health is detected by the poor health detection unit 40 (i.e., the next destination point Pd that the vehicle Ce was heading for when the poor health was detected) is the destination point Pd of the specific occupant (S802 in FIG. 11). Furthermore, when it is determined that the destination point Pd is the specific occupant's destination point (S802 "Yes" in FIG. 11), the meeting point setting unit 33 sets a meeting point Pw between the current location of the vehicle Ce and the specific occupant's destination point Pd (S803 in FIG. 11). As the meeting point Pw, for example, in addition to a position on the target route R1, a position deviating from the target route R1 can also be used.

[0041] (Second embodiment) Next, a vehicle dispatch system 1 according to a second embodiment of the present disclosure will be described. The schematic configuration of the vehicle dispatch system 1 according to the second embodiment and the functional configuration of the second controller 29 are the same as those in FIGS. 1 and 2, and therefore will not be illustrated. FIG. 12 is a diagram showing the functional configuration of the first controller 14. FIG. 13 is a diagram in which a part of the flowchart in FIG. 3 has been modified, and is a flowchart showing the operation of the vehicle dispatch planning unit 30 and the like. In FIGS. 12 and 13, parts corresponding to those in FIGS. 2 and 3 are assigned the same reference numerals, and duplicate explanations will be omitted.

[0042] In the second embodiment, the "point on the reset target route R1" where the meeting position Pw is set by the meeting position setting unit 33 includes an area (hereinafter also referred to as a "neighborhood area") where the deviation distance from the target route R1 is within a predetermined value (e.g., 20 m). That is, the meeting position setting unit 33 shown in FIG. 12 sets the meeting position Pw in the neighborhood area of ​​the target route R1 reset by the travel route resetting unit 32 (S106 in FIG. 13) in the process of FIGS. 3 and 13. At this time, the meeting position setting unit 33 may set the meeting position Pw in consideration of the travel efficiency of the ambulance. As the travel efficiency of the ambulance, for example, the time required for the ambulance to travel from its current location to the meeting position Pw, transfer the specific occupant, and then travel to the hospital (hereinafter also referred to as the "ambulance travel time") can be used. As an example, the meeting position setting unit 33 sets, as the meeting position Pw, a point in the vicinity of the target route R1 where the time required for the ambulance to travel is the shortest or equal to or shorter than a predetermined time.

[0043] In the second embodiment, as shown in FIG. 12, the first controller 14 includes a travel route re-re-setting unit 36 ​​(broadly speaking, a "re-re-setting unit"). When the meeting position Pw is set by the meeting position setting unit 33, the travel route re-re-setting unit 36 ​​re-sets the target route R1 so as to pass through the set meeting position Pw and the destination point Pd of the passenger (shared passenger) other than the specific passenger. As an example, when the meeting position Pw is set, the travel route re-re-setting unit 36 ​​re-sets as the target route R1 a route that passes through the set meeting position Pw and all of the departure point Ps and destination point Pd of the shared passenger (S901 in FIG. 13). Furthermore, the meeting position setting unit 33 transmits the set meeting position Pw, the re-reset target route R1, and the departure point Ps, scheduled boarding time, and destination point Pd of the occupants other than the specific occupant to the second controller 29 of the vehicle Ce via the communication device 11 (S902 in FIG. 13). That is, the re-reset target route R1 is not transmitted, but the re-reset target route R1 is transmitted. As a result, the vehicle dispatch management device 10 causes the vehicle Ce to autonomously travel according to the re-reset target route R1, and directs the vehicle Ce to the meeting position Pw and the destination point Pd, respectively.

[0044] In this case, the traveling control unit 42 determines whether, while autonomous traveling according to the target route R1 is being performed, the vehicle Ce has received from the vehicle dispatch management device 10 the reset target route R1, as well as the departure point Ps, planned boarding time, and destination point Pd of the passengers (shared passengers) other than the specified passenger. If the traveling control unit 42 determines that the reset target route R1 and other information have been received, the traveling control unit 42 uses the external sensor 21, the vehicle sensor 22, the positioning device 23, and the map DB 24 to generate a control signal for the actuator 28 so that the vehicle Ce travels autonomously according to the received target route R1. That is, while the first embodiment uses the reset target route R1 to realize the autonomous traveling of the vehicle Ce, the second embodiment uses the reset target route R1 instead. As a result, the vehicle Ce transfers the specified passenger to an ambulance and transports the shared passengers.

[0045] (Effects of the second embodiment) (1) The "reset target route R1" where the rendezvous position Pw is set by the rendezvous position setting unit 33 includes an area where the deviation distance from the target route R1 is within a predetermined value. Furthermore, when the rendezvous position Pw is set, the travel route re-resetting unit 36 ​​re-sets the target route R1 so that it passes through the set rendezvous position Pw and the destination points Pd of occupants other than the specific occupant. This allows the rendezvous position Pw to be set at a position deviating from the target route R1.

[0046] (2) The travel route re-setting unit 36 ​​re-sets the target route R1 in consideration of the travel efficiency of the ambulance vehicle, thereby enabling the unwell occupant (specific occupant) to be transported to the hospital efficiently.

[0047] (Variation) (1) The meeting position setting unit 33 may set the meeting position Pw based on information provided by traffic infrastructure equipment installed in the vicinity. Examples of such traffic infrastructure equipment include ITS wireless roadside devices installed at intersections, which communicate with vehicles equipped with communication capabilities and collect and provide information on the positions and speeds of vehicles traveling in the vicinity. This allows the setting of a meeting position Pw that reflects real-time traffic information. As an example, in the process of S107 in FIGS. 3 and 13, the meeting position setting unit 33 determines the degree of congestion based on the information provided by the traffic infrastructure equipment, and sets the meeting position Pw to a point with a low degree of congestion in the vicinity of the target route R1 reset by the travel route resetting unit 32.

[0048] (2) The meeting position setting unit 33 may set the meeting position Pw based on information provided by vehicles traveling in the nearby area. For example, the information provided by the vehicles may be an on-board communication device that is installed in the vehicle and communicates with vehicles (other vehicles) equipped with communication functions to provide information on the vehicle's position and speed. This allows the meeting position Pw to be set reflecting real-time traffic information. As an example, in the process of S107 in FIGS. 3 and 13, the meeting position setting unit 33 determines the degree of congestion based on information provided by vehicles (other vehicles) traveling in the nearby area, and sets a point with a low degree of congestion in the nearby area of ​​the target route R1 reset by the travel route resetting unit 32 as the meeting position Pw.

[0049] (3) Furthermore, in the first and second embodiments, an example was shown in which the first controller 14 realized the functions of the vehicle dispatch planner 30, the travel route setting unit 31, the travel route resetter 32, the meeting position setting unit 33, the location information transmitter 34, the suggester 35, the travel route re-resetting unit 36, etc., and the second controller 29 realized the functions of the poor health detector 40, the poor health level determiner 41, the travel controller 42, etc., but other configurations may also be employed. For example, any of the above functions may be realized by either the first controller 14 or the second controller 29.

[0050] (4) In the first and second embodiments, an example is shown in which the poor physical condition of an occupant of the vehicle Ce is detected based on video image data obtained from the in-vehicle camera 27. However, other configurations may also be adopted. For example, a stop switch may be provided inside the vehicle, and when operation of the stop switch by an occupant is detected, it may be determined that the occupant's poor physical condition has been detected. [Explanation of symbols]

[0051] 1...vehicle dispatch system, 2...vehicle dispatch control device, 10...vehicle dispatch management device, 11...communication device, 13...user information DB, 14...first controller, 14a...processor, 14b...storage device, 20...vehicle control device, 21...external sensor, 22...vehicle sensor, 23...positioning device, 24...map DB, 25...communication device, 26...HMI, 27...in-vehicle camera, 28...actuator, 29...second controller, 29a...processor, 29b...storage device, 30...vehicle dispatch planning unit, 31...travel route setting unit, 32...travel route resetting unit, 33...alignment position setting unit, 34...position information transmission unit, 35...suggestion unit, 36...travel route repeat resetting unit, 40...illness detection unit, 41...illness level determination unit, 42...travel control unit

Claims

1. a route setting unit that sets a target route that passes through a desired drop-off point of a vehicle occupant; a control unit that causes the vehicle to autonomously travel according to the target route set by the route setting unit; a detection unit that detects poor physical condition of an occupant of the vehicle; a resetting unit that resets the target route to a route that passes through the desired drop-off locations of the passengers other than the specific passenger who is detected to be in poor health when the detection unit detects that the passenger is in poor health while the passenger is sharing the vehicle with a plurality of passengers who have different desired drop-off locations; a position setting unit that sets a meeting position between the vehicle and an ambulance vehicle at any point on the target route that has been reset by the reset unit; an information transmission unit that directly or indirectly transmits information about the meeting position set by the position setting unit to the ambulance vehicle; When the target route is reset by the resetting unit during execution of autonomous traveling along the target route, the control unit performs stopping control to stop the vehicle at the meeting position set by the position setting unit while continuing the autonomous traveling along the reset target route. Vehicle control system.

2. When it is determined that the vehicle is not being used for carpooling or that the specific occupant is seriously ill, the position setting unit sets the meeting position to a point where the movement efficiency of the ambulance vehicle is higher than when it is determined that the vehicle is being used for carpooling and the specific occupant is not seriously ill. The vehicle control system of claim 1 .

3. When it is determined that a ride-sharing is taking place in the vehicle, the control unit checks whether any of the ride-sharing passengers other than the specific passenger has an intention to get off the vehicle, and when an intention to get off is confirmed from any of the ride-sharing passengers, the control unit stops the vehicle at a possible stopping point around the vehicle. The vehicle control system of claim 1 .

4. The resetting unit resets, as the target route, a route that passes through desired drop-off locations of occupants of the vehicle, excluding the specific occupant and the ride-share occupant whose intention to get off has been confirmed. The vehicle control system according to claim 3 .

5. A proposal unit is provided that proposes dispatching another vehicle or alternative transportation means to the ride-share passenger whose intention to get off has been confirmed, with the possible stopping point where the vehicle is to be stopped as a boarding point. The vehicle control system according to claim 3 .

6. The position setting unit sets the meeting position to a point where the ambulance vehicle will arrive earlier than the vehicle, or to a point where the ambulance vehicle will arrive within a predetermined time after the arrival of the vehicle. The vehicle control system of claim 1 .

7. The control unit determines whether the vehicle will arrive at the meeting position earlier than the ambulance vehicle while the vehicle is heading to the meeting position, and if it determines that the vehicle will arrive earlier, stops the vehicle at a possible stopping point before the meeting position. The vehicle control system of claim 6.

8. When it is determined that a ride-sharing is taking place in the vehicle, if the desired drop-off point that is first passed through on the target route set by the route setting unit after the detection unit detects that the occupant is in poor health is the desired drop-off point of the specific occupant, the position setting unit sets the meeting point between the current location of the vehicle and the desired drop-off point of the specific occupant. The vehicle control system of claim 1 .

9. the point on the reset target route at which the rendezvous position is set by the position setting unit includes a nearby area that is an area where a deviation distance from the target route is within a predetermined value; and a re-setting unit that, when the meeting point is set, re-sets the target route so that the route passes through the set meeting point and the desired drop-off points of the passengers other than the specified passenger. The vehicle control system of claim 1 .

10. The position setting unit sets the meeting position in consideration of the movement efficiency of the ambulance. The vehicle control system of claim 9.

11. The position setting unit sets the meeting position based on information provided from a traffic infrastructure device installed in the vicinity area. The vehicle control system of claim 9.

12. The position setting unit sets the meeting position based on information provided from a vehicle traveling within the nearby area. The vehicle control system of claim 9.

13. A vehicle control method for setting a target route that is a route that passes through a desired drop-off location of a vehicle occupant, and autonomously driving the vehicle according to the set target route, comprising: When a vehicle is being shared with a plurality of occupants with different desired drop-off locations, if it is detected that one of the occupants is in poor physical condition, the system resets the target route to a route that passes through the desired drop-off locations of the occupants other than the specific occupant whose poor physical condition has been detected, sets a meeting point between the vehicle and an ambulance vehicle at any point on the reset target route, and transmits information about the set meeting point directly or indirectly to the ambulance vehicle. Furthermore, when the target route is reset during the execution of autonomous traveling according to the target route, a stopping control is performed to stop the vehicle at the set meeting position while continuing the autonomous traveling according to the reset target route. Vehicle control method.

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