Control device, system, vehicle, program, and control method

Abstract

To make it possible to sufficiently detect hopping onto a vehicle.SOLUTION: A control device 20 includes a control unit that detects, as a passenger candidate 11, a person moving toward a stop spot 13 at a detection speed Sd or higher within a detection range Rd around the stop spot 13 where a vehicle 12 that transports passengers stops, and that adjusts the detection range Rd or the detection speed Sd according to a situation related to the vehicle 12.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control device, a system, a vehicle, a program, and a control method.

Background Art

[0002] Patent Document 1 discloses an apparatus that performs image processing on home image information and outputs a notification such as "boarding while the vehicle is in motion is dangerous" when boarding while the vehicle is in motion is detected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, boarding while the vehicle is in motion, that is, sudden boarding, cannot be sufficiently detected.

[0005] An object of the present disclosure is to enable sufficient detection of sudden boarding.

Means for Solving the Problems

[0006] The control device according to the present disclosure is a control unit that detects a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle that transports passengers stops as a passenger candidate, and includes a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle.

[0007] The program according to the present disclosure is to detect a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle that transports passengers stops as a passenger candidate, and Adjusting the detection range or the detection speed according to the situation related to the vehicle causing a computer to execute an operation including this.

[0008] The control method according to the present disclosure detecting, as a passenger candidate, a person moving toward the stop point at a speed equal to or higher than the detection speed within a detection range around the stop point where the vehicle transporting passengers stops Adjusting the detection range or the detection speed according to the situation related to the vehicle including this.

Advantages of the Invention

[0009] According to the present disclosure, it is possible to sufficiently detect boarding.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

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

[0012] In each figure, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0013] Referring to FIG. 1, the configuration of the system 10 according to this embodiment will be described.

[0014] The system 10 according to this embodiment includes at least one control device 20 and at least one vehicle 12 that transports passengers. The control device 20 can communicate with the vehicle 12 via the network 40.

[0015] The control device 20 is installed in a facility such as a data center. The control device 20 is a computer such as a server belonging to a cloud computing system or other computing system.

[0016] The vehicle 12 is, for example, an automobile of any type such as a gasoline vehicle, a diesel vehicle, a hydrogen vehicle, an HEV, a PHEV, a BEV, or an FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. The vehicle 12 is an AV in this embodiment, but it may be driven by a driver or the driving may be automated at any level. "AV" is an abbreviation for autonomous vehicle. The level of automation is, for example, any one of levels 1 to 5 in the SAE level classification. "SAE" is the abbreviation of Society of Automotive Engineers. The vehicle 12 may also be a vehicle dedicated to MaaS. "MaaS" is an abbreviation for Mobility as a Service.

[0017] Network 40 includes the Internet, at least one WAN, at least one MAN, or any combination thereof. "WAN" is an abbreviation for wide area network. "MAN" is an abbreviation for metropolitan area network. Network 40 may include at least one wireless network, at least one optical network, or any combination thereof. The wireless network is, for example, an ad hoc network, a cellular network, a wireless LAN, a satellite communication network, or a terrestrial microwave network. "LAN" is an abbreviation for local area network.

[0018] Referring to FIG. 1, the outline of this embodiment will be described.

[0019] The control device 20 detects a person moving toward the parking point 13 at a detection speed Sd or higher within the detection range Rd around the parking point 13 where the vehicle 12 stops as a passenger candidate 11. By default, the detection range Rd is set to a certain range centered on the parking point 13, such as a circle with a radius of 40 meters centered on the parking point 13. By default, the detection speed Sd is set to a speed higher than the average walking speed of a human, such as 5 kilometers per hour. The control device 20 adjusts the detection range Rd or the detection speed Sd according to the situation Sv related to the vehicle 12.

[0020] According to this embodiment, boarding can be detected sufficiently. Boarding means getting into the vehicle 12 at a speed higher than the average walking speed of a human within a certain period until the scheduled departure time of the vehicle 12 departs, but may include getting into the vehicle 12 at a speed less than or equal to the average walking speed of a human immediately before the scheduled departure time, or getting into the vehicle 12 after the scheduled departure time.

[0021] In this embodiment, the situation Sv includes whether a user who plans to board the vehicle 12 has already boarded, whether there is a driver who drives the vehicle 12, a passenger who responds to an emergency, or an operator who remotely operates the vehicle 12, or both of them.

[0022] Referring to FIG. 2, the configuration of the control device 20 according to this embodiment will be described.

[0023] The control device 20 includes a control unit 21, a storage unit 22, and a communication unit 23.

[0024] The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for field-programmable gate array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. While controlling each part of the control device 20, the control unit 21 executes processing related to the operation of the control device 20.

[0025] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM or a ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. The RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. The ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used for the operation of the control device 20 and data obtained by the operation of the control device 20.

[0026] The communication unit 23 includes at least one communication interface. The communication interface is, for example, a LAN interface. The communication unit 23 communicates with the vehicle 12. The communication unit 23 receives data used for the operation of the control device 20 and transmits data obtained by the operation of the control device 20.

[0027] The functions of the control device 20 are realized by executing the program according to this embodiment on a processor as the control unit 21. That is, the functions of the control device 20 are realized by software. The program causes a computer to execute the operation of the control device 20, thereby causing the computer to function as the control device 20. That is, the computer functions as the control device 20 by executing the operation of the control device 20 according to the program.

[0028] The program can be stored in a non-transitory computer-readable medium. The non-transitory computer-readable medium is, for example, a flash memory, a magnetic recording device, an optical disk, a magneto-optical recording medium, or a ROM. The distribution of the program is performed, for example, by selling, transferring, or lending a portable medium such as an SD card storing the program, a DVD, or a CD-ROM. "SD" is an abbreviation of Secure Digital. "DVD" is an abbreviation of digital versatile disc. "CD-ROM" is an abbreviation of compact disc read only memory. The program may be stored in the server's storage and distributed by transferring the program from the server to other computers. The program may be provided as a program product.

[0029] The computer stores, for example, a program stored in a portable medium or a program transferred from a server, once, in the main memory device. Then, the computer reads the program stored in the main memory device with a processor and executes the process according to the read program with the processor. The computer may directly read the program from the portable medium and execute the process according to the program. The computer may sequentially execute the process according to the received program each time a program is transferred from the server to the computer. The process may be executed by a so-called ASP type service that realizes the function only by execution instructions and result acquisition without transferring the program from the server to the computer. "ASP" is an abbreviation of application service provider. The program is information for use in processing by an electronic computer and includes those conforming to the program. For example, data that is not a direct instruction to the computer but has a property of defining the computer's processing corresponds to "those conforming to the program".

[0030] Some or all of the functions of the control device 20 may be realized by a programmable circuit or a dedicated circuit as the control unit 21. That is, some or all of the functions of the control device 20 may be realized by hardware.

[0031] Referring to FIG. 3, the operation of the control device 20 according to the present embodiment will be described. This operation corresponds to the control method according to the present embodiment.

[0032] In step S1, the control unit 21 of the control device 20 determines whether the vehicle 12 has stopped at the stop point 13. The specific procedure of this process will be described.

[0033] The communication unit 23 of the control device 20 receives the position data D1 from the vehicle 12. The position data D1 is data indicating the position of the vehicle 12 measured by a GNSS receiver mounted on the vehicle 12. "GNSS" is an abbreviation for global navigation satellite system. GNSS is, for example, GPS, QZSS, BDS, GLONASS, or Galileo. "GPS" is an abbreviation for Global Positioning System. "QZSS" is an abbreviation for Quasi-Zenith Satellite System. The satellites of QZSS are called quasi-zenith satellites. "BDS" is an abbreviation for BeiDou Navigation Satellite System. "GLONASS" is an abbreviation for Global Navigation Satellite System. The control unit 21 of the control device 20 acquires the position data D1 received by the communication unit 23. The control unit 21 refers to the map data D2 and determines whether the position of the vehicle 12 indicated by the acquired position data D1 matches the parking location 13. The map data D2 is data defining the parking location 13. The map data D2 may be pre-stored in the storage unit 22 of the control device 20 or may be stored in an external system such as GIS on the Internet. "GIS" is an abbreviation for geographic information system. When the control unit 21 determines that the position of the vehicle 12 matches the parking location 13, it determines that the vehicle 12 has stopped at the parking location 13. When the control unit 21 determines that the position of the vehicle 12 does not match the parking location 13, it determines that the vehicle 12 is not stopped at the parking location 13.

[0034] Instead of the position data D1, the first image M1 may be used. The first image M1 is an image of the parking spot 13 taken by a camera installed at or around the parking spot 13. The camera is arranged, for example, on the road shoulder. In such a modification, the communication unit 23 of the control device 20 receives the first image M1 from the camera or an external system that manages the camera. The control unit 21 of the control device 20 acquires the first image M1 received by the communication unit 23. The control unit 21 analyzes the acquired first image M1 to determine whether the vehicle 12 has stopped at the parking spot 13. As a method for image analysis, a known method can be used. Machine learning such as deep learning may be used.

[0035] When it is determined that the vehicle 12 has stopped at the parking spot 13, the process of step S2 is executed. When it is determined that the vehicle 12 has not stopped at the parking spot 13, the process of step S1 is executed again.

[0036] In step S2, the control unit 21 of the control device 20 determines the situation Sv related to the vehicle 12. As a specific procedure of this process, the first procedure and the second procedure will be described. In the present embodiment, at least one of these two procedures is applied.

[0037] In the first step, the situation Sv includes whether the user who plans to board the vehicle 12 has already boarded. The communication unit 23 of the control device 20 receives the second image M2 from the vehicle 12. The second image M2 is an image of the interior of the vehicle 12 taken by a camera mounted on the vehicle 12. The control unit 21 of the control device 20 acquires the second image M2 received by the communication unit 23. The control unit 21 analyzes the acquired second image M2 to determine whether there is a passenger in the vehicle 12. If it is determined that there is a passenger, the face or other characteristic part of the passenger is recognized. As a method of image analysis, a known method can be used. Machine learning such as deep learning may be used. When the control unit 21 determines that there is a passenger in the vehicle 12, it refers to the reservation data D3 to determine whether the passenger matches the user who reserved the vehicle 12. The reservation data D3 is data that defines the facial features or other features of the user who reserved the vehicle 12. The reservation data D3 may be stored in advance in the storage unit 22 of the control device 20, or may be registered in an external system such as a reservation system on the Internet. When the control unit 21 determines that the passenger in the vehicle 12 matches the user who reserved the vehicle 12, it determines that the user who plans to board the vehicle 12 has already boarded. When the passenger in the vehicle 12 does not match the user who reserved the vehicle 12, the control unit 21 determines that the user who plans to board the vehicle 12 has not yet boarded. Even when the control unit 21 determines that there is no passenger in the vehicle 12, it determines that the user who plans to board the vehicle 12 has not yet boarded.

[0038] In the second procedure, the situation Sv includes whether there is a driver driving the vehicle 12, a passenger responding to an emergency, or an operator remotely operating the vehicle 12. The communication unit 23 of the control device 20 receives the situation data D4 from the vehicle 12. The situation data D4 is data indicating whether there is a driver, a passenger, or an operator. For example, by default, the situation data D4 is set to data indicating that there is no driver. When the presence of the driver is detected by a first sensor mounted on the vehicle 12 or the presence of the driver is reported via an input device mounted on the vehicle 12 when the driver gets into the vehicle 12, the situation data D4 is set to data indicating that there is a driver. The first sensor is, for example, a camera or a biometric sensor. The input device is, for example, a physical key, a capacitive key, a pointing device, a touch screen provided integrally with a display, or a microphone. Alternatively, by default, the situation data D4 is set to data indicating that there is no passenger. When the presence of the passenger is detected by a first sensor mounted on the vehicle 12 or the presence of the passenger is reported via an input device mounted on the vehicle 12 when the passenger gets into the vehicle 12, the situation data D4 is set to data indicating that there is a passenger. Alternatively, by default, the situation data D4 is set to data indicating that there is no operator. When a signal from the operator is received by a communication device mounted on the vehicle 12 when the operator starts remotely operating the vehicle 12, the situation data D4 is set to data indicating that there is an operator. The communication device is, for example, a device compatible with a mobile communication standard such as LTE, 4G standard, or 5G standard, a wireless LAN communication standard such as IEEE802.11, or a short-range wireless communication standard such as Bluetooth (registered trademark). "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. "IEEE" is an abbreviation for Institute of Electrical and Electronics Engineers. The control unit 21 of the control device 20 acquires the situation data D4 received by the communication unit 23.The control unit 21 refers to the acquired situation data D4 to determine whether there is a driver, a passenger, or an operator.

[0039] In step S3, the control unit 21 of the control device 20 adjusts the detection range Rd or the detection speed Sd according to the situation Sv determined in step S2. As specific procedures of this process, four procedures shown in FIGS. 4 to 7 will be described. In the present embodiment, at least one of these four procedures is applied.

[0040] In the procedure shown in FIG. 4, the situation Sv includes whether a user who is scheduled to board the vehicle 12 has already boarded. In step S301, the control unit 21 of the control device 20 refers to the determination result obtained in the first procedure of the process in step S2. If it is determined in step S2 that the user who is scheduled to board the vehicle 12 has not yet boarded, the process of step S302 is executed. In step S302, the control unit 21 expands the detection range Rd. Specifically, the control unit 21 changes the detection range Rd to a range wider than the default range, such as a circle with a radius of 80 meters centered on the stop point 13. If it is determined in step S2 that the user who is scheduled to board the vehicle 12 has already boarded, the control unit 21 does not change the detection range Rd in the example of FIG. 4, but may narrow the detection range Rd as an alternative example.

[0041] In the procedure shown in FIG. 5, the situation Sv includes whether a user who is scheduled to board the vehicle 12 has already boarded. In step S311, the control unit 21 of the control device 20 refers to the determination result obtained in the first procedure of the process in step S2. If it is determined in step S2 that the user who is scheduled to board the vehicle 12 has not yet boarded, the process of step S312 is executed. In step S312, the control unit 21 decreases the detection speed Sd. Specifically, the control unit 21 changes the detection speed Sd to a speed equal to or lower than the average walking speed of a human, such as 4 kilometers per hour. If it is determined in step S2 that the user who is scheduled to board the vehicle 12 has already boarded, the control unit 21 does not change the detection speed Sd in the example of FIG. 5, but may increase the detection speed Sd as an alternative example.

[0042] In the procedure shown in FIG. 6, the situation Sv includes whether there is a driver driving the vehicle 12, a passenger responding to an emergency, or an operator remotely operating the vehicle 12. In step S321, the control unit 21 of the control device 20 refers to the determination result obtained in the second procedure of the process in step S2. When it is determined in step S2 that there is a driver, a passenger, or an operator, the process of step S322 is executed. In step S322, the control unit 21 expands the detection range Rd. Specifically, the control unit 21 changes the detection range Rd to a range wider than the default range, such as a circle with a radius of 80 meters centered on the stop point 13. When it is determined in step S2 that there is no driver, a passenger, or an operator, the control unit 21 does not change the detection range Rd in the example of FIG. 6, but the detection range Rd may be narrowed as an alternative example.

[0043] In the procedure shown in FIG. 7, the situation Sv includes whether there is a driver driving the vehicle 12, a passenger responding to an emergency, or an operator remotely operating the vehicle 12. In step S331, the control unit 21 of the control device 20 refers to the determination result obtained in the second procedure of the process in step S2. When it is determined in step S2 that there is a driver, a passenger, or an operator, the process of step S332 is executed. In step S332, the control unit 21 decreases the detection speed Sd. Specifically, the control unit 21 changes the detection speed Sd to a speed equal to or lower than the average walking speed of a human, such as 4 kilometers per hour. When it is determined in step S2 that there is no driver, a passenger, or an operator, the control unit 21 does not change the detection speed Sd in the example of FIG. 7, but the detection speed Sd may be increased as an alternative example.

[0044] In step S4, the control unit 21 of the control device 20 detects a person moving toward the stop point 13 within the detection range Rd at a speed equal to or higher than the detection speed Sd as a passenger candidate 11. The specific procedure of this process will be described.

[0045] The communication unit 23 of the control device 20 receives the observation data D5 from the vehicle 12. The observation data D5 is data indicating an observation result obtained by observing a person moving within the detection range Rd by a second sensor mounted on the vehicle 12. The second sensor is, for example, a camera, a radar, or a LiDAR. "LiDAR" is an abbreviation for light detection and ranging. The control unit 21 of the control device 20 acquires the observation data D5 received by the communication unit 23. The control unit 21 analyzes the acquired observation data D5 to determine whether the observed person is moving toward the stop point 13 at a detection speed Sd or more. As a method of data analysis, a known method can be used. Machine learning such as deep learning may be used. When the control unit 21 determines that the observed person is moving toward the stop point 13 at a detection speed Sd or more, it detects that person as a passenger candidate 11.

[0046] Instead of the observation data D5, a third image M3 may be used. The third image M3 is an image of the detection range Rd photographed by a camera installed at or around the stop point 13. In such a modification, the communication unit 23 of the control device 20 receives the third image M3 from the camera or an external system that manages the camera. The control unit 21 of the control device 20 acquires the third image M3 received by the communication unit 23. The control unit 21 analyzes the acquired third image M3 to determine whether the observed person is moving toward the stop point 13 at a detection speed Sd or more. As a method of image analysis, a known method can be used. Machine learning such as deep learning may be used. When the control unit 21 determines that the observed person is moving toward the stop point 13 at a detection speed Sd or more, it detects that person as a passenger candidate 11.

[0047] If there is no person moving within the detection range Rd toward the stop point 13 at a detection speed Sd or more, the flow of FIG. 3 ends.

[0048] In step S5, the control unit 21 of the control device 20 outputs a message prompting the passenger candidate 11 to reduce the moving speed. The specific procedure of this process will be described.

[0049] The control unit 21 of the control device 20 causes the communication unit 23 to transmit the first instruction data D6. The first instruction data D6 is data instructing the vehicle 12 to output a message such as "Please do not board suddenly" or "Please wait a moment". The communication unit 23 transmits the first instruction data D6 to the vehicle 12. When the first instruction data D6 is received by the communication device mounted on the vehicle 12, a text message corresponding to the first instruction data D6 is displayed on the external display of the vehicle 12, or an audio message corresponding to the first instruction data D6 is output from the speaker mounted on the vehicle 12. The display is, for example, an LCD or an organic EL display. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electro luminescence.

[0050] In step S6, the control unit 21 of the control device 20 determines whether the passenger candidate 11 detected in step S4 has completed boarding the vehicle 12. The specific procedure of this process will be described.

[0051] The communication unit 23 of the control device 20 receives the fourth image M4 from the vehicle 12. The fourth image M4 is an image of the vicinity of the door of the vehicle 12 taken by the camera mounted on the vehicle 12. The control unit 21 of the control device 20 acquires the fourth image M4 received by the communication unit 23. The control unit 21 analyzes the acquired fourth image M4 to determine whether the passenger candidate 11 has completed boarding the vehicle 12. As a method of image analysis, a known method can be used. Machine learning such as deep learning may be used.

[0052] Instead of the fourth image M4, the fifth image M5 may be used. The fifth image M5 is an image of the vehicle 12 taken by a camera installed at or around the parking point 13. In such a modification, the communication unit 23 of the control device 20 receives the fifth image M5 from the camera or an external system that manages the camera. The control unit 21 of the control device 20 acquires the fifth image M5 received by the communication unit 23. The control unit 21 analyzes the acquired fifth image M5 to determine whether the passenger candidate 11 has completed boarding the vehicle 12. As a method of image analysis, a known method can be used. Machine learning such as deep learning may be used.

[0053] When it is determined that the passenger candidate 11 has completed boarding the vehicle 12, the flow of FIG. 3 ends. When it is determined that the passenger candidate 11 has not completed boarding the vehicle 12, the process of step S7 is executed.

[0054] In step S7, the control unit 21 of the control device 20 continues to keep the vehicle 12 stopped even after the scheduled departure time when the vehicle 12 departs from the parking point 13. The specific procedure of this process will be described.

[0055] The control unit 21 of the control device 20 causes the communication unit 23 to transmit the second instruction data D7. The second instruction data D7 is data for instructing the vehicle 12 to continue stopping. The communication unit 23 transmits the second instruction data D7 to the vehicle 12. When the second instruction data D7 is received by the communication device mounted on the vehicle 12, the vehicle 12 continues to stop according to the second instruction data D7.

[0056] When there is a driver driving the vehicle 12, the third instruction data D8 may be used instead of the second instruction data D7. The third instruction data D8 is data for instructing the driver to continue parking. In such a modification, the control unit 21 of the control device 20 causes the communication unit 23 to transmit the third instruction data D8. The communication unit 23 transmits the third instruction data D8 to the vehicle 12. When the third instruction data D8 is received by the communication device mounted on the vehicle 12, a text message corresponding to the third instruction data D8 is displayed on the display mounted on the vehicle 12, or an audio message corresponding to the third instruction data D8 is output from the speaker mounted on the vehicle 12. The display is, for example, an LCD or an organic EL display.

[0057] After step S7, the process of step S6 is executed again.

[0058] As described above, in the present embodiment, the control unit 21 of the control device 20 detects a person moving toward the parking point 13 at a detection speed Sd or higher within the detection range Rd around the parking point 13 where the vehicle 12 stops as a passenger candidate 11. The control unit 21 adjusts the detection range Rd or the detection speed Sd according to the situation Sv related to the vehicle 12.

[0059] According to the present embodiment, it is possible to sufficiently detect boarding. For example, when a user who plans to board has not yet boarded the vehicle 12, since there is a high possibility that the user will jump on the vehicle 12, the sensitivity to boarding can be increased by widening the detection range Rd or lowering the detection speed Sd. When there is a driver, a passenger, or an operator, it is easy to flexibly respond to boarding, that is, it is easy to ensure safety. Therefore, the sensitivity to boarding can be increased by widening the detection range Rd or lowering the detection speed Sd.

[0060] As a modification example of the present embodiment, when there is a driver who drives the vehicle 12, a passenger who responds to an emergency, or an operator who remotely operates the vehicle 12, when the control unit 21 of the control device 20 detects the passenger candidate 11, the control unit 21 may notify the driver, the passenger, or the operator of the presence of the passenger candidate 11. In such a modification example, the control unit 21 causes the communication unit 23 to transmit the notification data D9. The notification data D9 is data for notifying the driver, the passenger, or the operator of the presence of the passenger candidate 11. The communication unit 23 transmits the notification data D9 to the vehicle 12. When the communication device mounted on the vehicle 12 receives the notification data D9, a text message corresponding to the notification data D9 is displayed on the display mounted on the vehicle 12, or an audio message corresponding to the notification data D9 is output from the speaker mounted on the vehicle 12.

[0061] According to this modification example, it is possible to suppress the disruption of the schedule. For example, by notifying the driver, the passenger, or the operator in advance of a person who is likely to jump onto the vehicle 12, the driver, the passenger, or the operator can be made to make preparations so that the person can board safely. Therefore, it becomes easier to avoid a situation where the person is pinched by the door and a delay occurs.

[0062] As a modification example of this embodiment, when there is an operator who remotely operates the vehicle 12, the communication unit 23 of the control device 20 may transmit the video of the vehicle 12 or the parking location 13 until the passenger candidate 11 completes boarding to the terminal device used by the operator. The terminal device is, for example, a mobile device such as a mobile phone, a smartphone, or a tablet, or a PC. "PC" is an abbreviation for personal computer. In such a modification example, the control unit 21 causes the communication unit 23 to transmit the video M6 obtained as the fourth image M4 or in a manner similar to the fourth image M4, or obtained as the fifth image M5 or in a manner similar to the fifth image M5. The video M6 is the video of the vehicle 12 or the parking location 13 until the passenger candidate 11 completes boarding, but may further include the video of the interior of the vehicle 12 from when the passenger candidate 11 boards until they are seated. The communication unit 23 transmits the video M6 to the terminal device. When the terminal device receives the video M6, it displays the received video M6 on the display of the terminal device. The display of the terminal device is, for example, an LCD or an organic EL display.

[0063] According to this modification example, it is possible to suppress the disruption of the train schedule. For example, by allowing the operator to detect in advance a person who is about to jump onto the vehicle 12, the operator can be made to make preparations so that the person can board safely. Therefore, it becomes easier to avoid a situation where the person is pinched by the door and a delay occurs.

[0064] As a modification example of this embodiment, when the control unit 21 of the control device 20 detects the passenger candidate 11, it may reduce the speed at which the door of the vehicle 12 closes. In such a modification example, the control unit 21 causes the communication unit 23 to transmit the fourth instruction data D10. The fourth instruction data D10 is data that instructs the vehicle 12 to reduce the speed at which the door of the vehicle 12 closes. The communication unit 23 transmits the fourth instruction data D10 to the vehicle 12. When the fourth instruction data D10 is received by the communication device mounted on the vehicle 12, the vehicle 12 reduces the speed at which the door of the vehicle 12 closes according to the fourth instruction data D10.

[0065] According to this modification example, the disorder of the diamonds can be suppressed. For example, by slowly closing the door of the vehicle 12, it becomes easier to avoid a situation where a person who jumps onto the vehicle 12 is pinched by the door and a delay occurs.

[0066] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks described in the block diagram may be integrated, or one block may be divided. Instead of executing two or more steps described in the flowchart in time series according to the description, they may be executed in parallel or in a different order according to the processing ability of the device that executes each step, or as necessary. In addition, changes can be made without departing from the spirit of the present disclosure.

[0067] For example, the control device 20 may be provided in the vehicle 12.

Explanation of Reference Numerals

[0068] 10 System 11 Passenger Candidate 12 Vehicle 13 Parking Location 20 Control Device 21 Control Unit 22 Storage Unit 23 Communication Unit 40 Network

Claims

1. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle for transporting passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle, The situation includes whether a user who is scheduled to board the vehicle has already boarded, and is a control device.

2. The control device according to claim 1, wherein the control unit expands the detection range when the user has not yet boarded.

3. The control device according to claim 1, wherein the control unit decreases the detection speed when the user has not yet boarded.

4. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle for transporting passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle, The situation includes whether there is a driver driving the vehicle, a crew member responding to an emergency, or an operator remotely operating the vehicle, The control device, wherein the control unit expands the detection range when the driver, the crew member, or the operator is present.

5. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle for transporting passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle, The situation includes whether there is a driver driving the vehicle, a crew member responding to an emergency, or an operator remotely operating the vehicle, The control device, wherein the control unit decreases the detection speed when the driver, the crew member, or the operator is present.

6. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a detection speed or higher within a detection range around the stop point where a vehicle for transporting passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle, and A communication unit that transmits an image of the vehicle or the stop point until the passenger candidate completes boarding to a terminal device used by an operator remotely operating the vehicle A control device comprising.

7. The control device according to any one of claims 1 to 6, wherein when the control unit detects the passenger candidate, the control unit outputs a message prompting the passenger candidate to reduce the moving speed.

8. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a speed equal to or higher than a detection speed within a detection range around the stop point where a vehicle that transports passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle. The control device according to claim 3, wherein when the control unit detects the passenger candidate, the control unit causes the vehicle to continue to stop until the passenger candidate completes boarding even after a scheduled departure time at which the vehicle departs from the stop point has passed.

9. A control unit that detects, as a passenger candidate, a person moving toward the stop point at a speed equal to or higher than a detection speed within a detection range around the stop point where a vehicle that transports passengers stops, the control unit comprising a control unit that adjusts the detection range or the detection speed according to the situation related to the vehicle. The control device according to claim 3, wherein when the control unit detects the passenger candidate, the control unit reduces the speed at which the door of the vehicle closes.

10. A control device according to any one of claims 1 to 9, and the vehicle comprising a system.

11. A vehicle comprising the control device according to any one of claims 1 to 9.

12. Detecting, as a passenger candidate, a person moving toward the stop point at a speed equal to or higher than a detection speed within a detection range around the stop point where a vehicle that transports passengers stops; Adjusting the detection range or the detection speed according to the situation related to the vehicle; causing a computer to execute an operation including wherein the situation includes whether a user scheduled to board the vehicle has already boarded.

13. Detecting, as a passenger candidate, a person moving toward the stop point at a speed equal to or higher than a detection speed within a detection range around the stop point where a vehicle that transports passengers stops; Adjusting the detection range or the detection speed according to the situation related to the vehicle; including wherein the situation includes a control method including whether a user scheduled to board the vehicle has already boarded.

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