Information processing device, system using same, and vehicle

Abstract

The present invention provides an information processing device that can generate, at a relatively low cost, control information for causing a vehicle to drive autonomously at a high level. [Solution] The system has a route setting unit that sets a driving route between a single designated waiting point and each of two or more designated destination points, and a control information generation unit that generates control information to be provided to a vehicle capable of autonomous driving, the control information allowing the vehicle to drive autonomously only along the driving routes set by the route setting unit between the waiting point and each of the specified number of destination points.

Description

[Technical Field]

[0001] The present invention relates to an information processing device that generates control information for causing a vehicle to drive autonomously, a system using the same, and an autonomously driven vehicle. [Background technology]

[0002] Autonomous driving refers to driving in which a system, rather than a human, performs all of the recognition, prediction, judgment, and operation related to driving operations, allowing the vehicle to drive automatically. Control information for a vehicle to perform this autonomous driving can be generated by machine learning (e.g., reinforcement learning) so that the vehicle can drive normally in the environment in which the vehicle will be driving (including the expected configuration of roads (driving routes), the status of other vehicles, the status of pedestrians, the status of traffic lights, installed traffic signs, etc., and the status of the vehicle) (see Patent Document 1). Furthermore, the control information (e.g., a decision table) can be generated by comprehensively extracting expected rules (rules based on the Road Traffic Act, rules for when suddenly encountering various objects, priority rules on narrow roads, etc.) in the environment in which the vehicle will be driving, and so that the vehicle can drive normally in accordance with each of these rules (see Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-35222 [Patent Document 2] Japanese Patent Application Publication No. 2019-74885 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when generating control information for autonomously driving a vehicle along an arbitrary driving route (route-free), various environments and rules for roads of various scales (highways, national highways, highways, town roads, village roads, back roads, etc.) must be taken into consideration, resulting in a huge number of environments and rules to be considered. In particular, generating control information for autonomously driving a vehicle at a higher level (e.g., level 4 or higher) while assuming such a large number of environments and rules requires a huge amount of time and money.

[0005] Meanwhile, in recent years, the increase in elderly drivers and the decline in public transportation due to aging and labor shortages have become social issues (an increase in the number of people with mobility issues). While it is said that there are currently millions of people with mobility issues, public transportation is expected to become even more inconvenient due to declining service due to profitability and driver shortages, especially as the aging population accelerates and the number of people relinquishing their driver's licenses increases. For example, while on-demand and autonomous shared buses are being promoted, they are unable to provide end-to-end transportation services for seniors from their homes to their destinations (e.g., hospitals, government offices, banks, train stations, etc.). Another option is to offer ride-sharing services that provide end-to-end transportation for seniors. However, these services would require fees comparable to those of taxis, making them difficult for seniors to use on a daily basis.

[0006] The present invention has been made in consideration of these circumstances, and provides an information processing device that can generate control information that allows vehicles to drive autonomously at a higher level at a relatively low cost, thereby providing a solution for those who are vulnerable to road traffic.

[0007] The present invention also provides a system using such an information processing device.

[0008] Furthermore, the present invention provides a vehicle that can be produced at a relatively low cost and is capable of autonomous driving according to control information that allows the vehicle to drive autonomously at a higher level, thereby providing a solution for vulnerable road users. [Means for solving the problem]

[0009] The information processing device of the present invention is configured to include a route setting unit that sets a driving route between a specified single waiting point and each of two or more specified destination points, and a control information generation unit that generates control information to be provided to a vehicle capable of autonomous driving, the control information causing the vehicle to drive autonomously only along the driving routes set by the route setting unit between the waiting point and each of the specified number of destination points.

[0010] With this configuration, a driving route is set between a single designated waiting point and each of two or more designated destination points. Then, control information is generated to cause the vehicle to drive automatically only along the set driving route. The control information is provided to the vehicle that is capable of driving automatically in accordance with the control information.

[0011] The system of the present invention includes a terminal device having an information transmitting unit that transmits waiting point information representing a single waiting point input from an operation unit and destination point information representing each of two or more predetermined destination points input from the operation unit, and an information processing device that acquires the waiting point information and the destination point information transmitted from the terminal device, wherein the information processing device has a route setting unit that sets a driving route between the waiting point represented in the waiting point information and each of the predetermined number of destination points represented in the destination point information, and a control information generation unit that generates control information to be provided to a vehicle capable of autonomous driving, causing the vehicle to drive autonomously only along the driving routes set by the route setting unit between the waiting point and each of the predetermined number of destination points.

[0012] With this configuration, the terminal device transmits, via the information transmitting unit, waiting point information representing a single waiting point input from the operation unit and destination point information representing each of two or more predetermined destination points input from the operation unit. When the information processing device acquires the waiting point information and the destination point information transmitted from the terminal device, it sets a driving route between the waiting point represented by the waiting point information and each of the predetermined number of destination points represented by the destination point information. Then, control information is generated to cause the vehicle to automatically drive only along the set driving route. The control information generated by the information processing device is provided to the vehicle capable of automatic driving in accordance with the control information.

[0013] In the system of the present invention, the information transmitting unit of the terminal device transmits the waiting point information and the destination point information to the information processing device via a predetermined network, and the information processing device can be configured to have an information receiving unit that receives the waiting point information and the destination point information transmitted from the terminal device via the network.

[0014] With this configuration, the information processing device can directly acquire (receive) waiting point information representing a single waiting point and destination point information representing each of two or more predetermined destination points transmitted from the terminal device via a predetermined network such as the Internet.

[0015] The vehicle of the present invention is an autonomously driven vehicle, and is configured to have a control unit that causes the vehicle to autonomously drive only along the driving routes set between the waiting point and each of the specified number of destination points, in accordance with the control information generated by the information processing device described above.

[0016] With this configuration, the vehicle can automatically drive only along the travel routes set between a single waiting point and each of a predetermined number of destination points.

[0017] The vehicle of the present invention may be configured to have a destination point acquisition unit that acquires destination point information representing one of the predetermined number of destination points at a waiting point, and the control unit causes the vehicle to automatically drive from the waiting point to the destination point represented by the destination point information acquired by the destination point acquisition unit along a driving route set between the waiting point and the destination point.

[0018] With this configuration, when destination point information representing one of a predetermined number of destination points is acquired at a waiting point, the vehicle automatically drives from the waiting point to the destination point represented by the acquired destination point information, along a driving route set between the waiting point and the destination point.

[0019] In the vehicle according to the present invention, the destination point acquisition unit may include an information receiving unit that receives the destination point information transmitted from an external device.

[0020] With this configuration, when destination point information indicating one of a predetermined number of destination points transmitted from an external device such as a smartphone is acquired at a waiting point, the vehicle automatically drives from the waiting point to the destination point indicated by the acquired destination point information along a travel route set between the waiting point and the destination point. As a result, at the destination point, the external device can call a vehicle waiting at the waiting point.

[0021] The vehicle of the present invention may have a signal receiving unit that receives a return signal transmitted from an external device, and a return judgment unit that judges whether the return signal has been received by the signal receiving unit at the destination point, and the control unit may be configured to automatically drive the vehicle from the destination point to the waiting point along a driving route set between the destination point and the waiting point when the return judgment unit judges that the return signal has been received by the signal receiving unit.

[0022] With this configuration, when it is determined that a return signal transmitted from an external device has been received by the signal receiving unit at any of a predetermined number of destination points, the vehicle automatically travels from the destination point to a waiting point along a travel route set between the destination point and the waiting point. As a result, at the destination point, the external device can return the vehicle to the waiting point. [Effects of the Invention]

[0023] According to the information processing device of the present invention, control information is generated for causing a vehicle to drive autonomously only along routes set between a single designated waiting point and each of two or more predetermined (limited) destination points, rather than along any arbitrary driving route. Therefore, the environment and rules that must be taken into consideration are limited, and control information for causing a vehicle to drive autonomously at a high level within the range of the limited driving routes can be generated at a relatively low cost.

[0024] Furthermore, according to the system of the present invention, the information processing device generates control information for causing the vehicle to drive autonomously only along the driving routes set between a single waiting point represented by waiting point information and destination point information input by operation into a terminal device separate from the information processing device, rather than along any arbitrary driving route. Therefore, the environments and rules that need to be considered are limited, and control information for causing the vehicle to drive autonomously at a high level within the limited driving route range can be generated at a relatively low cost.

[0025] Furthermore, the vehicle of the present invention can be generated at relatively low cost within a limited range of driving routes set between a waiting point and each of two or more predetermined destination points, and can provide a vehicle capable of driving autonomously according to control information that allows the vehicle to drive autonomously at a higher level.

[0026] Furthermore, the information processing device, system, and vehicle of the present invention can provide a solution for vulnerable road users, such as the elderly, by providing an end-to-end shuttle service between a waiting point (e.g., home) that can be set within the user's living area and two or more predetermined destination points (e.g., hospitals, government offices, banks, train stations, etc.). [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a block diagram showing a system (including an information processing device) according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the configuration of an information processing device in the system shown in FIG. [Figure 3] FIG. 2 is a sequence diagram showing the flow of operations in the system shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of preset waiting points and a predetermined number (for example, five) of destination points. [Figure 5] FIG. 5 is a block diagram showing an example of the configuration of devices mounted on a vehicle that runs autonomously in accordance with control information generated by the system shown in FIG. [Figure 6] 6 is a flowchart (part 1) showing the flow of processing in the control device shown in FIG. 5. [Figure 7] 6 is a flowchart (part 2) showing the flow of processing in the control device shown in FIG. 5. [Figure 8] 6 is a flowchart (part 3) showing the flow of processing in the control device shown in FIG. 5. DETAILED DESCRIPTION OF THE INVENTION

[0028] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0029] A system including an information processing device according to an embodiment of the present invention is configured as shown in FIG.

[0030] In FIG. 1, the system includes a user terminal device 10 equipped with an operation unit operable by a user, and an information processing device 20 and a management device 30 each operated by a service provider. The user terminal device 10 is, for example, a personal computer or a smartphone, and is configured with various hardware and software, and has a communication function (including an information transmission unit) as well as a function for processing various types of information. The information processing device 20 is a computer configured with various hardware and software, and generates control information for causing an autonomously driven vehicle 100 to drive itself autonomously, as described below. The information processing device 20 is also capable of transmitting and receiving information to and from the user terminal device 10 via the Internet N. The management device 30 is a computer configured with various hardware and software, and stores and manages user information identifying a user and information related to services provided to the user (including waiting point information and destination point information, described below).

[0031] As shown in FIG. 2 , the information processing device 20 includes a processing unit 21, a control information generating unit 22, a storage unit 23, and a communication unit 24. The communication unit 24 transmits and receives information to and from the user terminal device 10 via the Internet N. The processing unit 21 performs various processes according to a program. As will be described later, the control information generating unit 22 generates control information for causing the autonomously driven vehicle 100 to perform the autonomous driving. The storage unit 23 stores various information such as programs for executing the processes in the processing unit 21 and the control information generating unit 22, tables required for executing the processes, and various information generated in the processes in the processing unit 21 and the control information generating unit 22 (including control information for causing the vehicle 100 to perform the autonomous driving). The processing unit 21, the control information generating unit 22, and the storage unit 23 can transfer information between each other. In particular, the processing unit 21 can transmit and receive information to and from the management device 20.

[0032] The processing unit 21 and the control information generating unit 22 may be physically separate computers or may be configured within a single computer.

[0033] In a system configured as described above, processing proceeds according to the procedure shown in FIG.

[0034] A person (user) who wishes to use an autonomously driven vehicle 100 performs an operation on the user terminal device 10 to access a service site provided by an information processing device 20 (processing unit 21) of a service provider. In accordance with an operation by the user on the user terminal device 10 (operation unit) that has accessed this service site, waiting point information representing a single waiting point WP and destination point information representing each of two or more predetermined number of destination points, as will be described later, are transmitted from the user terminal device 10 (information transmission unit) to the information processing device 20 via the Internet N.

[0035] The waiting point WP and a predetermined number of destination points described above can be determined, for example, as shown in Fig. 4. In Fig. 4, the location of the home parking lot can be determined as the waiting point WP, and the locations of a predetermined number (for example, 10 or less) of facilities that the user (for example, an elderly person) regularly uses within a living area E (for example, a range of about a 5-10 km radius from the home) of the user (for example, the elderly person) centered on the home (waiting point WP) can be determined as destination points. Specifically, the locations of government offices, hospitals, the nearest train station, banks, and supermarkets can be determined as five destination points Dst1 to Dst5.

[0036] The location (destination) of each facility is determined as a parking location within that facility. Also, by specifying the waiting point WP and each of the destination points Dst1 to Dst5 in the map app, you can identify the waiting point WP (parking location at home) and the five destination points Dst1 to Dst5 (parking locations within each facility).

[0037] Returning to FIG. 3, in the information processing device 20, when the user information, waiting point information (waiting point WP: home), and destination point information (destinations Dst1 to Dst5: facilities to be used) transmitted from the user terminal device 10 are received by the communication unit 24 (information receiving unit) via the Internet N, the information is provided to the processing unit 21. The processing unit 21 transfers the user information, waiting point information, and destination point information to the management device 30. The management device 30 stores and manages service information including the waiting point information indicating the waiting point WP (home parking lot) and the destination point information indicating each of the five destination points Dst1 to Dst5, in association with the user information.

[0038] After transferring the user information, waiting point information, and destination point information to the management device 20, the processing unit 21 sets, based on the map information, a travel route between the waiting point WP indicated by the waiting point information provided from the user terminal device 10 and each of the five destination points Dst1 to Dst5 indicated by the destination point information (route setting unit). For example, as shown in FIG. 4, between the waiting point WP (home) and each of the destination points Dst1 to Dst5 (government office, hospital, station, bank, supermarket), travel routes (outbound) R11, R21, R31, R41, R51 are set from the waiting point WP to each of the destination points Dst1 to Dst5, and travel routes (returnbound) R12, R22, R32, R42, R52 are set from each of the destination points Dst1 to Dst5 to the waiting point WP. Note that the travel route (outbound) from the waiting point WP to the destination point Dst and the travel route (returnbound) from the same destination point Dst to the waiting point WP may be the same or different.

[0039] The processing unit 21 then acquires environmental information representing the environment for the autonomously driven vehicle, including road structure, installed traffic signs, traffic light status, expected other vehicle status, expected pedestrian status, and parking status at waiting points WP and destination points Dst1 to Dst5 along the limited number of travel routes R11 to R51 and R12 to R52. This environmental information can be obtained from map information or actual on-site surveys. The processing unit 21 also comprehensively extracts various vehicle driving rules (e.g., rules based on regulations such as the Road Traffic Act, rules based on driving etiquette, rules for avoiding obstacles, rules for driving at intersections without traffic lights) that may be expected along each of the limited number of travel routes R11 to R51 and R12 to R52. These rules can also be obtained based on road structure, installation status of road signs, traffic lights, convex mirrors, and the like, as well as traffic regulations and driving etiquette, obtained from map information and actual on-site surveys. Then, the processing unit 21 transfers to the control information generation unit 22 route information representing the set driving routes R11-R11, R12-R52, environmental information on the set driving routes R11-R11, R12-R52, and the vehicle driving rules that can be expected on each of the set driving routes R11-R11, R12-R52.

[0040] Based on the route information, environmental information, and rules sent from the processing unit 21, the control information generation unit 22 generates control information for causing the vehicle 100 to autonomously drive along a limited number of driving routes R11 to R51 and R12 to R52 represented by the route information. For example, by using a reinforcement learning technique, the control information generation unit 22 can generate control information (final agents) for causing the vehicle 100 to autonomously drive along each driving route represented by the route information in the environment represented by the environmental information by sequentially updating, based on rewards, an agent (policy) for causing the vehicle 100 to drive along each driving route represented by the route information without any problems. In addition, the control information generation unit 22 can generate information such as a decision table for determining, in accordance with the rules, the driving behavior of the vehicle 100 in the environment that occurs along each driving route represented by the route information, as control information for causing the vehicle 100 to autonomously drive.

[0041] In this way, the control information generation unit 22 generates control information (agents, decision tables, etc.) for causing the vehicle 100 to autonomously drive only along the driving routes R11 to R51 and R12 to R52 set by the processing unit 21 between the waiting point WP and each of the five destination points Dst1 to Dst5. When the generation of this control information is completed, the control information generation unit 22 transfers the control information to the processing unit 21. Then, the processing unit 21 causes the communication unit 24 to transmit a completion notification to the user terminal device 10 via the Internet N. At this time, the processing unit 21 transfers the completion notification to the management device 30, as well as the generated control information or an identification number for the control information, for example. Upon receiving the completion notification and the control information or the identification number, the management device 30 turns on a completion flag in association with user information that identifies the requesting user, and stores and manages the control information itself and the identification number that identify the control information in association with the user information. When the management device 30 stores and manages a management number that identifies the control information, the control information is stored in another recording medium (not shown) in association with the management number.

[0042] As described above, when the service provider generates control information for causing vehicle 100 to travel autonomously, the service provider installs the control information in vehicle 100, completing vehicle 100 that can travel autonomously only along routes R11-R51 and R12-R52 set between waiting point WP and each of five destination points Dst1-Dst5 (government office, hospital, nearest station, bank, supermarket). Then, vehicle 100 is delivered to a user identified by user information managed by management device 30.

[0043] According to the system described above, control information for autonomous driving of vehicle 100 can be generated by considering only the environment within the range of limited driving routes R11-R51 and R12-R52 set between waiting point WP (home) and each of five destination points Dst1-Dst5 (government office, hospital, nearest station, bank, supermarket) and the rules that may arise within that range, rather than an arbitrary driving route. Therefore, control information for autonomous driving of vehicle 100 at a higher level (for example, level 4 or higher) can be generated at lower cost than when autonomous driving along an arbitrary driving route (route free) is assumed.

[0044] Furthermore, such a system allows the user to acquire a vehicle 100 that is capable of autonomous driving at a higher level, even if only within a limited range, in a custom-made manner.

[0045] Furthermore, it will be possible to easily and inexpensively provide end-to-end transportation services for those with mobility issues, such as the elderly, between a waiting point that can be set within their living area (e.g., their home) and destinations that they use on a daily basis (e.g., hospitals, government offices, banks, train stations, etc.), although the number of such destinations is relatively small.

[0046] It should be noted that the user information, waiting point information, and destination point information are transmitted from the user terminal device 10 to the information processing device 20 (communication unit 24) via the Internet N, but this is not limiting. For example, the information can be transmitted by email from the user terminal device 10 to a terminal device (which may be the information processing device 20) installed at the service providing company. In this case, the information processing device 20 at the service providing company can acquire the user information, waiting point information, and destination point information received by email through manual input operations.

[0047] Next, a description will be given of a vehicle 100 that is equipped with control information generated by the above-described system and is capable of autonomous driving.

[0048] The vehicle 100 is equipped with various devices as shown in FIG.

[0049] In Figure 5, the vehicle 100 is equipped with a map information storage unit 101 that stores map information provided from an external device or an in-vehicle navigation device, a GPS unit 102 that outputs a detection signal according to the position of the vehicle 100, a vehicle sensor 103 that outputs a detection signal according to the state of the vehicle (vehicle speed, acceleration, etc.), a camera 104 that takes an image of a predetermined area around the vehicle 100 and generates surrounding image information, a radar 105 that outputs a signal according to an obstacle in front of the vehicle, and a group of sensors 106 that detect other environmental objects relative to the vehicle 100.

[0050] The vehicle 100 also has a control device 110 (a control unit in the present invention). The control device 110 is configured as a whole by a computer including various hardware and software. The control information (software) generated as described above is installed in the control device 110, and the control device 110 controls the steering mechanism 131, accelerator mechanism 132, and braking mechanism 133 in accordance with the control information, thereby causing the vehicle 100 to automatically drive.

[0051] Furthermore, the vehicle 100 has an operation unit 120 that can be operated by the occupant, and a communication unit 121 that can communicate with a mobile terminal (for example, a smartphone: an external device). Operation information from the operation unit 120 based on the operation of the occupant and information from the mobile terminal received by the communication unit 121 are provided to the control device 110.

[0052] The control device 110 will now be described in more detail.

[0053] The control device 110 has a driving state detection module 111, an environment detection module 112, a control unit 113, and a driving control unit 114. The driving state detection module 111 generates position information indicating the driving position (current position) of the vehicle 100 based on a detection signal from the GPS unit 102, generates vehicle speed information indicating the speed and acceleration of the vehicle 100 based on a detection signal from the vehicle sensor 103, and acquires the position information and vehicle speed information as vehicle state information indicating the driving state of the vehicle 100. Note that the position information (current position) may be information indicating latitude and longitude, information indicating a position on a road map obtained from the map information storage unit 101, or information indicating a position in another coordinate system. The driving state detection module 111 provides the acquired vehicle state information to the control unit 113.

[0054] The environment detection module 112 generates surrounding environment information representing the environment including road conditions (road configuration, conditions of other vehicles, conditions of pedestrians, conditions of traffic lights, installed traffic signs, etc.) in a predetermined surrounding area of ​​the vehicle 100, based on road map information from the map storage unit 101, detection signals from the GPS unit 102, surrounding image information from the camera 104, information about obstacles ahead from the radar 105, and detection signals from the sensor group 106. The environment detection module 112 provides the acquired surrounding environment information to the control unit 113.

[0055] The control unit 113 determines the driving mode that the vehicle 100 should take at the current location (current time) based on the vehicle state information provided from the driving state detection module 111, the surrounding environment information provided from the environment detection module 112, the operation information provided from the operation unit 120, and the information transmitted from the mobile terminal via the communication unit 121, and provides the driving mode that should be taken at the current location (current time) to the driving control unit 114. The driving control unit 114 controls the driving of the vehicle 100, specifically, controls the steering mechanism 31, the accelerator mechanism 32, and the braking mechanism 33, so that the vehicle 100 drives in the driving mode provided by the control unit 113.

[0056] The control unit 113 determines the driving mode that the vehicle 100 should currently take in the following manner, according to the control information installed as described above (control information obtained by reinforcement learning, control information based on comprehensively obtained rules).

[0057] The driving mode that the vehicle 100 should take in the driving state (including the current position, speed, and acceleration) represented by the vehicle state information provided by the driving state detection module 111 under the environment (including road conditions such as road configuration, other vehicle conditions, pedestrian conditions, traffic light conditions, and installed traffic signs) represented by the surrounding environment information provided by the environment detection module 112 is determined according to control information (reinforcement learning agent (policy) judgment) obtained by reinforcement learning, and also according to control information (rule-based judgment) based on comprehensively obtained rules. Then, the control unit 113 determines the final driving mode based on the two types of driving modes determined according to the two types of control information, and provides the finally determined driving mode to the driving control unit 114 (see, for example, JP 2023-41119 A).

[0058] The control unit 113 (control device 110) executes the process more specifically according to the procedures shown in Figures 6 to 8. Note that, as shown in Figure 4, a case will be described in which a single waiting point WP (home) and five destination points Dst1 to Dst5 (government office, hospital, nearest station, bank, supermarket) are specified, and travel routes R11 to S51 and S12 to S52 are set between the waiting point WP and each of the five destination points Dst1 to Dst5.

[0059] 6, when a start operation is performed on vehicle 100 parked in a home parking lot (waiting point WP), control unit 113 starts processing. When control unit 113 (control device 110) confirms that the current location is the waiting point WP (home) based on the location information from traveling state detection module 111 (YES in S11), it checks whether destination information has been received by communication unit 121 (destination point acquisition unit / information receiving unit) (S12), and repeatedly determines whether any of the five destination points Dst1 to Dst5 described above has been selected by operation unit 120 (S13). Here, when the occupant (user: for example, an elderly person) performs a selection operation on the operation unit 120 to select a destination point to which the vehicle is heading, for example, destination point Dst2 (hospital) (YES in S13), the control unit 113 (control device 110) identifies the driving route R21 (outbound route) set between the waiting point WP (home) and destination point Dst2 (hospital) (S14), and repeatedly determines whether a start operation has been performed on the operation unit 120 (S15).

[0060] Here, when a start operation is performed using the operation unit 120 (YES in S15), the control unit 113 activates the control information (control information obtained by reinforcement learning and control information based on comprehensively obtained rules) (S16). Thereafter, the control unit 113 determines whether the vehicle 100 has arrived at the destination point Dst2 (hospital) based on the position information from the driving state detection module 111 (S18), and, in accordance with the control information, causes the vehicle 100 to automatically drive along a predetermined driving route R21 (outbound) from the waiting point WP (home) to the target point Dst2 (hospital) together with the driving control unit 114 (S17). Then, when the control unit 113 determines that the vehicle 100 has arrived at the destination point Dst2 (hospital parking lot) (YES in S18), it stops the vehicle 100 (S19). Thereafter, the control unit 113 starts a timer for a predetermined time (for example, about one minute) from the time the vehicle stops, and proceeds to the processing shown in FIG. 8. When the predetermined time has elapsed (time-up: YES in S31), the control based on the control information is terminated.

[0061] This allows a user (e.g., an elderly person) to ride in vehicle 100 from their home (waiting point WP) to their regular hospital (destination point Dst2) (end-to-end) without having to drive the vehicle themselves.

[0062] When a user returns home (waiting point WP) from a hospital (destination point Dst2), the user gets into the vehicle 100 parked at the destination point Dst2 (hospital parking lot) and performs a start-up operation. Then, the control unit 113 (control device 110) of the vehicle 100 determines whether the current location is the wait point WP (home) based on the position information from the driving state detection module 111 (S11). If the control unit 113 determines that the current location is not the wait point WP (home) (NO in S11), the control unit 113 proceeds to the processing of FIG. 7 and identifies one of the five destination points Dst1 to Sst5, destination point Dst2 (hospital), as the current location based on the position information from the driving state detection module 111 (S21). Then, the control unit 113 identifies a predetermined travel route R22 (return route) between the destination point Dst2 (hospital) and the wait point WP (home) (S22), and repeatedly determines whether a start operation has been performed on the operation unit 120 (S23).

[0063] Here, when the occupant (user: for example, an elderly person) performs a start operation on the operation unit 120 (YES in S23), the control unit 113 activates the control information (S24). Thereafter, the control unit 113 determines whether the vehicle 100 has arrived at the waiting point WP (home) based on the position information from the driving state detection module 111 (S26), and in accordance with the control information, together with the driving control unit 114, causes the vehicle 100 to automatically drive along a predetermined driving route R22 (return route) from the destination point Dst2 (hospital) to the waiting point WP (home) (S25). Then, when the control unit 13 determines that the vehicle 100 has arrived at the waiting point WP (home parking lot) (YES in S26), it stops the vehicle 100 (S27). Thereafter, the control unit 113 ends the control based on the control information.

[0064] This allows a user (e.g., an elderly person) who has completed their business at destination point Dst2 (hospital) to ride vehicle 100 from destination point Dst2 (hospital) to their home (waiting point WP) (end-to-end) without having to drive the vehicle themselves.

[0065] Next, the vehicle 100, which has been driven autonomously from the waiting point WP by the processing of the processing unit 113 in accordance with the procedure shown in Fig. 6 as described above and which has arrived at, for example, a destination point Dst3 (nearest station), can be returned by the user to the waiting point WP (home) from the destination point Dst3 (nearest station). Specifically, when the vehicle 100 is parked at the destination point Dst3 (the parking lot of the nearest station) (Fig. 6, S19), the user operates a mobile terminal (for example, a smartphone) to send a return signal before the predetermined time (for example, about one minute) has elapsed (time-up) since the vehicle 100 was parked. 8, when the communication unit 121 (signal receiving unit) receives the return signal from the mobile terminal (NO in S31, YES in S32 (return determination unit)), the processing unit 113 identifies a travel route R32 from the destination point Dst3 (nearest station) to the waiting point WP (home) (S33). When the return travel route R32 is identified in this way, the processing unit 113 repeatedly determines whether or not a situation allows starting based on environmental information and the like acquired from the environment detection module 112 (S34).

[0066] Here, if it is determined that the situation allows starting (YES in S34), the control unit 113 activates the control information (control information obtained by reinforcement learning and control information based on comprehensively obtained rules) (S35). Thereafter, the control unit 113 determines whether the vehicle 100 has arrived at the waiting delay WP (home) based on the position information from the driving state detection module 111 (S37), and together with the driving control unit 114, causes the unmanned vehicle 100 to automatically drive along a predetermined driving route R32 (return route) from the destination point Dst3 (nearest station) to the waiting point WP (home) in accordance with the control information (S36). Then, if the control unit 113 determines that the vehicle 100 has arrived at the waiting point WP (home) (YES in S37), it stops the vehicle 100 (S38). Then, the control unit 113 ends the control based on the control information.

[0067] This allows a user (for example, an elderly person) who has arrived at destination point Dst3 (nearest station) to return vehicle 100 to waiting point WP (home) by automatic driving without having to park it at destination point Dst3 (nearest station parking lot).The user can then travel from the nearest station to the destination station by train.

[0068] A user who returns to the nearest station (destination point Dst3) by train can call vehicle 100 waiting at waiting point WP (home) to destination point Dst3 (nearest station). Specifically, when a start signal is sent from a mobile terminal (e.g., a smartphone) to control device 110 of vehicle 100, control unit 113 starts processing according to the procedure shown in Fig. 6. After sending the start signal from the mobile terminal, the user sends destination point information indicating destination point Dst3 (nearest station) from the mobile terminal.

[0069] 6, the control unit 113 confirms that the vehicle 100 is at the waiting point WP (home) based on the position information from the traveling state detection module 111 (YES in S11), and then determines whether a destination point has been selected (S13), and repeatedly determines whether the communication unit 121 (destination point acquisition unit / information receiving unit) has received destination point information from the mobile terminal (S13). Here, when the control unit 113 determines that the destination point information has been received from the mobile terminal (YES in S12), it specifies a traveling route R31 (outbound route) from the waiting point WP to the destination point Dst3 (nearest station) (S14), and repeatedly determines whether a situation allows departure based on environmental information and the like acquired from the environment detection module 112 (S15).

[0070] Here, if it is determined that the situation allows the vehicle 100 to depart (YES in S15), the control unit 113 activates the control information (control information obtained by reinforcement learning and control information based on comprehensively obtained rules) (S16). Thereafter, the control unit 113 determines whether the vehicle 100 has arrived at the destination point Dst3 (nearest station) based on the position information from the driving state detection module 111 (S18), and, in accordance with the control information, together with the driving control unit 114, causes the unmanned vehicle 100 to autonomously drive along a predetermined driving route R31 (outbound) from the waiting point WP (home) to the destination point Dst3 (nearest station) (S17). Then, if the control unit 113 determines that the vehicle 100 has arrived at the destination point Dst3 (nearest station) (YES in S18), it stops the vehicle 100 (S19). Then, after a predetermined time (for example, about one minute) has elapsed since the vehicle 100 stopped (time-up: YES in S31 in FIG. 8), the control unit 118 ends the control based on the control information.

[0071] This allows the unmanned vehicle 100 to travel automatically along the travel route R31 from the waiting point WP (home) to the destination point Dst3 (the nearest station parking lot) where the user is waiting.

[0072] When the user gets into vehicle 100 that has arrived at destination point Dst3 (nearest station) and performs a start operation, control unit 113 (control device 110) of vehicle 100 starts processing in accordance with the procedure shown in Fig. 6. Then, after confirming that the current location is not waiting point WP (home) based on the position information from driving state detection module 111 (NO in S11 of Fig. 6), control unit 113 proceeds to the processing of Fig. 7, and identifies destination point Dst3 (nearest station), one of five destination points Dst1 to Sst5, as the current location based on the position information from driving state detection module 111 (S21). Thereafter, control unit 113 executes processing in accordance with the processing procedure (S22 to S27) described above, and together with driving control unit 114, causes vehicle 100 carrying the user to automatically travel along driving route R32 from destination point Dst3 (nearest station) to waiting point WP (home).

[0073] This allows a user who arrives at the nearest station by train to board the vehicle 100 that has been called to the destination point Dst3 (nearest station), and then return home via automatic driving of the vehicle 100 to the waiting point WP (home).

[0074] According to the vehicle 100 described above, limited driving routes R11 to R51, R12 to R51 set between the waiting point WP and each of the five destination points Dst1 to Dst5 (government office, hospital, nearest station, bank, supermarket) can be generated at a relatively low cost within the limited range, and the vehicle can be made to drive autonomously in accordance with control information, allowing the vehicle to drive autonomously at a high level.

[0075] Furthermore, the above-mentioned system (including the information processing device) and vehicle 100 can provide a solution for vulnerable road users, such as elderly people, by providing an end-to-end shuttle service between a waiting point (e.g., home) that can be set within the user's living area E and two or more predetermined destination points (e.g., hospitals, government offices, banks, train stations, etc.).

[0076] Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. The novel embodiments described above can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. [Industrial Applicability]

[0077] The system (information processing device) of the present invention can generate control information that allows vehicles to drive autonomously at a higher level at a relatively low cost, thereby having the effect of providing a solution for vulnerable road users, and is useful as a system (processing device) that generates control information that allows vehicles to drive autonomously. Furthermore, the vehicle of the present invention has the effect of being able to provide a solution for vulnerable road users, such as the elderly, by providing an end-to-end shuttle service between a waiting point (e.g., home) that can be set within the user's living area E and two or more predetermined destination points (e.g., hospitals, government offices, banks, train stations, etc.), and is useful as an autonomously driven vehicle. [Explanation of symbols]

[0078] 10 User terminal device 20 Information processing equipment 21 Processing section 22 Control information generation unit 23 Memory section 24 Communications Department 30 Management device 100 vehicles 101 Map information storage unit 102 GPS unit 103 Vehicle Sensor 104 Camera 105 Radar 106 Sensor Group 110 Control device 111 Driving condition detection module 112 Environmental Detection Module 113 Control Unit 114 Operation control unit 120 Operation section 121 Communications Department 131 Steering mechanism 132 Accelerator mechanism 133 Braking mechanism

Claims

1. a route setting unit that sets a travel route between a single designated waiting point and each of two or more designated predetermined destination points; An information processing device having: a control information generation unit that generates control information to be provided to a vehicle capable of autonomous driving, the control information being for causing the vehicle to drive autonomously only along the driving routes set by the route setting unit between the waiting point and each of the predetermined number of destination points.

2. a terminal device having an information transmitting unit that transmits waiting point information indicating a single waiting point input from an operation unit and destination point information indicating each of two or more predetermined destination points input from the operation unit; an information processing device that acquires the waiting point information and the destination point information transmitted from the terminal device, The information processing device includes: a route setting unit that sets a travel route between the waiting point indicated by the waiting point information and each of the predetermined number of destination points indicated by the destination point information; A system comprising: a control information generation unit that generates control information to be provided to a vehicle capable of autonomous driving, the control information allowing the vehicle to drive autonomously only along the driving routes set by the route setting unit between the waiting point and each of the predetermined number of destination points.

3. the information transmission unit of the terminal device transmits the waiting point information and the destination point information to the information processing device via a predetermined network, The information processing device includes:

3. The system according to claim 2, further comprising an information receiving unit that receives the waiting point information and the destination point information transmitted from the terminal device via the network.

4. An autonomous driving vehicle, A vehicle having a control unit that automatically drives the vehicle only along driving routes set between the waiting point and each of the predetermined number of destination points in accordance with the control information generated by the information processing device described in claim 1 or 2.

5. a destination point acquisition unit that acquires destination point information indicating any one of the predetermined number of destination points at a waiting point; The vehicle according to claim 4, wherein the control unit causes the vehicle to automatically drive from the waiting point to a destination point represented by the destination point information acquired by the destination point acquisition unit along a driving route set between the waiting point and the destination point.

6. The vehicle according to claim 5 , wherein the destination point acquisition unit includes an information receiving unit that receives the destination point information transmitted from an external device.

7. a signal receiving unit that receives a return signal transmitted from an external device; a return determination unit that determines whether the return signal is received by the signal receiving unit at the destination point, The vehicle according to claim 4, wherein the control unit, when determining that the return determination unit has received the return signal at the signal receiving unit, causes the vehicle to automatically drive from the destination point to the waiting point along a driving route set between the destination point and the waiting point.

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