Information processing method and information processing device

Abstract

This information processing method causes at least one controller (25, 27) to execute: a process (S1) of determining whether or not a first vehicle (3) is targeted by road rage of a second vehicle (100) or whether there is a risk for the first vehicle due to dangerous driving of the second vehicle; a process (S4) of acquiring information on a road attribute of a road on which the first vehicle is currently traveling; and a process (S7) of, when it is determined that the first vehicle is targeted by road rage of the second vehicle or when it is determined that there is a risk for the first vehicle due to dangerous driving of the second vehicle, selecting a road with a road attribute capable of suppressing road rage or dangerous driving of the second vehicle, as a target course to be traveled by the first vehicle, in accordance with the road attribute of the road on which the first vehicle is currently traveling.

Description

Information processing method and information processing device

[0001] The present invention relates to an information processing method and an information processing device.

[0002] The tailgating prevention system described in Patent Document 1 listed below detects that a first vehicle is being tailgated by a second vehicle, and causes the first vehicle to change lanes or stop on the side of the road.

[0003] JP 2019-119371 A

[0004] When a first vehicle is subjected to road rage by a second vehicle or when the first vehicle is at risk due to reckless driving by the second vehicle, there is a risk that the road rage or reckless driving cannot be suppressed even if the first vehicle changes lanes or stops on the shoulder of the road. The present invention aims to suppress road rage by a second vehicle against a first vehicle or reckless driving by the second vehicle that poses a risk to the first vehicle.

[0005] In one aspect of the information processing method of the present invention, at least one controller performs the following processes: determining whether a first vehicle is being tailgated by a second vehicle or whether there is a risk to the first vehicle due to the reckless driving of the second vehicle; acquiring information on the road attributes of the road on which the first vehicle is currently traveling; and, if it is determined that the first vehicle is being tailgated by the second vehicle or that there is a risk to the first vehicle due to the reckless driving of the second vehicle, selecting, as a target route for the first vehicle to travel, a road having road attributes that can suppress tailgating or reckless driving by the second vehicle, depending on the road attributes of the road on which the first vehicle is currently traveling.

[0006] According to the present invention, it is possible to suppress tailgating by a second vehicle toward a first vehicle and dangerous driving by the second vehicle that poses a risk to the first vehicle.

[0007] FIG. 1 is a schematic configuration diagram of an example of a vehicle dispatch system. FIG. 2 is a block diagram of an example of the functional configuration of a first controller. (a) and (b) are explanatory diagrams of a method for suppressing tailgating driving. (a) and (b) are explanatory diagrams of a method for suppressing tailgating driving. (a) and (b) are explanatory diagrams of a method for suppressing tailgating driving. (a) and (b) are explanatory diagrams of a method for suppressing tailgating driving. (a) and (b) are explanatory diagrams of a method for suppressing tailgating driving. A block diagram of an example of the functional configuration of a second controller. A block diagram of an example of the functional configuration of a third controller. A flowchart of an example of an information processing method. A flowchart of an example of a need determination process.

[0008] FIG. 1 is a schematic diagram of an example of a vehicle dispatch system according to an embodiment. The vehicle dispatch system 1 according to the embodiment is a system that dispatches vehicles (hereinafter sometimes referred to as "service vehicles") to be used for a passenger transport service (transportation service) that transports a user in response to a vehicle dispatch request in which the user requests the dispatch of a vehicle. The vehicle dispatch system 1 includes a server device 2, a service vehicle 3, and a terminal device 4 carried by the user. Hereinafter, the passenger transport service provided by the vehicle dispatch system 1 may be simply referred to as the "passenger transport service." The service vehicle 3 is an example of a "first vehicle" as defined in the claims.

[0009] The server device 2 includes a communication device 20, a map database (map DB) 21, a user information database (user information DB 22), a reservation information database (reservation information DB) 23, and a first controller 25. The communication device 20 provides a communication function between the first controller 25 and an external device. The communication method used by the communication device 20 may be, for example, wired communication or wireless communication via a public mobile communication network, satellite communication, road-to-vehicle communication with the service vehicle 3, or the like. The first controller 25 transmits and receives data to and from the service vehicle 3 and the terminal device 4 via the communication device 20.

[0010] The map DB 21 stores map information including information about roads in an area where the passenger transport service is provided. For example, the map information may be a navigation map that can be used to calculate a route from a boarding point where a user boards the service vehicle 3 to a destination. The user information DB 22 stores user information that is information about users who use the passenger transport service. The user information may be required information (such as the user's name, address, and payment account) and identification information entered by the user when creating an account for the passenger transport service.

[0011] The reservation information DB 23 stores reservation information for passenger transportation services. For example, the reservation information DB 23 stores necessary reservation information such as user identification information, desired boarding point, destination (desired disembarking point), and number of passengers. The first controller 25 executes information processing in the server device 2. The first controller 25 may include a processor 25a and peripheral components such as a storage device 25b. The processor 25a may be, for example, a CPU or an MPU. This also applies to the processors 37a and 43a described below. The storage device 25b may include any of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 25b may include memory such as ROM and RAM used as a main storage device, a register, and a cache memory. This also applies to the storage devices 37b and 43b described below. The functions of the first controller 25 described below are realized, for example, by the processor 25a executing a computer program stored in the storage device 25b.

[0012] The service vehicle 3 is a vehicle that operates in response to requests from users of the passenger transport service (a so-called on-demand transportation vehicle), and may be, for example, a shared taxi or a robot taxi. The service vehicle 3 may be an autonomous vehicle that is automatically driven by the second controller 37 according to route information transmitted from the server device 2 without the involvement of a driver. The service vehicle 3 may also be a manually driven vehicle that is driven by a driver (human). In this case, the service vehicle 3 can present the route information transmitted from the server device 2 to the driver, thereby assisting the driver in driving the service vehicle 3 according to the route information. In this specification, an example will be described in which the service vehicle 3 is an autonomous vehicle.

[0013] The service vehicle 3 includes a surrounding environment sensor 30, a vehicle sensor 31, a positioning device 32, a map database (map DB) 33, a communication device 34, a human-machine interface (HMI) 35, a second controller 37, and an actuator 38. The surrounding environment sensor 30 detects the surrounding environment of the service vehicle 3, such as the relative position of the service vehicle 3 and an object present around the service vehicle 3, the distance between the service vehicle 3 and the object, and the direction in which the object is present. The surrounding environment sensor 30 may include, for example, a camera that captures images of the surrounding environment of the service vehicle 3. Furthermore, for example, the surrounding environment sensor 30 may include a ranging device such as a laser range finder (LRF), radar, or LiDAR (Light Detection and Ranging) laser radar. The surrounding environment sensor 30 may include a microphone that detects sounds around the service vehicle 3. The surrounding environment sensor 30 outputs surrounding environment information, which is information about the detected surrounding environment of the service vehicle 3, to the second controller 37.

[0014] The vehicle sensor 31 detects various information (vehicle state) obtained from the service vehicle 3. For example, the vehicle sensor 31 may include a vehicle speed sensor that detects the traveling speed (vehicle speed) of the service vehicle 3, a wheel speed sensor that detects the rotational speed of each tire equipped on the service vehicle 3, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) in three axial directions of the service vehicle 3, a steering angle sensor that detects the steering angle, a gyro sensor that detects the angular velocity generated in the service vehicle 3, and a yaw rate sensor that detects the yaw rate. The vehicle sensor 31 outputs vehicle state information to the second controller 37. The positioning device 32 measures the current position and attitude of the service vehicle 3. For example, the positioning device 32 may include a Global Navigation System (GNSS) receiver. The positioning device 32 may also include an inertial navigation system. The positioning device 32 outputs the measured current position information to the second controller 37. The map DB 33 stores map information. The map information may include navigation map data and high-precision map data suitable as a map for automated driving (hereinafter simply referred to as "high-precision map").

[0015] The communication device 34 provides a communication function between the service vehicle 3 and an external device. The communication method used by the communication device 34 may be, for example, wireless communication via a public mobile communication network, satellite communication, road-to-vehicle communication, etc. The service vehicle 3 transmits and receives data to and from the server device 2 and the terminal device 4 via the communication device 34. The HMI 35 is an interface device that exchanges information between a user in the service vehicle 3 and the second controller 37. For example, the HMI 35 may include a display device visible to the user as an interface that presents visual information. The HMI 35 may also include a speaker or buzzer as an interface that presents auditory information. The HMI 35 may also include an interface (e.g., a touch panel, a button, a switch) that accepts operational input from the user. If the service vehicle 3 is a manually driven vehicle that is manually driven by a driver, the HMI 35 may also be used as an interface device that exchanges information between the driver and the second controller 37.

[0016] The second controller 37 is an electronic control unit (ECU) that controls the service vehicle 3. The second controller 37 includes a processor 37a and peripheral components such as a storage device 37b. The functions of the second controller 37 described below are realized, for example, by the processor 37a executing a computer program stored in the storage device 37b. For example, if the service vehicle 3 is an autonomous vehicle, the second controller 37 performs autonomous driving control to drive the service vehicle 3 along route information transmitted from the server device 2 based on ambient environment information and vehicle state information from the ambient environment sensor 30, the positioning results of the positioning device 32, and the high-precision map in the map DB 33. The actuator 38 operates the steering device, drive device, and braking device of the service vehicle 3 in response to control signals generated by the second controller 37 to generate vehicle behaviors of the service vehicle 3, thereby automatically driving the service vehicle 3. The actuator 38 includes a steering actuator, an accelerator opening actuator, and a brake control actuator.

[0017] The terminal device 4 is an information processing device used by a user of the passenger transportation service. The terminal device 4 may be, for example, a portable personal digital assistant or a small, easily portable computer. The terminal device 4 includes a positioning device 40, a communication device 41, an HMI 42, and a third controller 43. The positioning device 40 measures the current location of the terminal device 4 (i.e., the user's current location). For example, the positioning device 40 may include a GNSS receiver. The positioning device 40 outputs current location information of the terminal device 4 (i.e., the user's current location information) to the third controller 43. The communication device 41 provides a communication function between the terminal device 4 and an external device. The communication method used by the communication device 41 may be, for example, wireless communication via a public mobile communication network, satellite communication, or the like. The terminal device 4 transmits and receives data to and from the server device 2 and the service vehicle 3 via the communication device 41.

[0018] The HMI 42 is an interface device that exchanges information between the terminal device 4 and the user. The HMI 42 may include a display device as an interface for presenting visual information. The HMI 35 may also include an interface for presenting auditory information (such as a speaker or buzzer) and an interface for accepting user input. The third controller 43 is an electronic control unit that controls the operation of the terminal device 4. The third controller 43 includes a processor 43a and peripheral components such as a storage device 43b. When reserving a passenger transportation service, the terminal device 4 accepts the user's input of reservation information via the HMI 42. For example, the user inputs necessary information including the user's identification information, desired boarding point, destination (desired disembarking point), number of passengers, etc. The third controller 43 generates a vehicle dispatch request for submitting a passenger transportation service reservation based on the input information. The third controller 43 transmits the vehicle dispatch request information to the server device 2 via the communication device 41.

[0019] FIG. 2 is a block diagram of an example of the functional configuration of the first controller 25. The reservation information acquisition unit 60 acquires information on the dispatch request transmitted by the terminal device 4 as reservation information and stores it in the reservation information DB 23. The location information acquisition unit 61 acquires current location information of the service vehicle 3 and current location information of the terminal device 4 transmitted from the service vehicle 3 and the terminal device 4. The service vehicle dispatch unit 62 determines the service vehicle 3 to be dispatched to the user based on the reservation information and the current location information of the service vehicle 3. The target driving route setting unit 63 determines the boarding point where the user will board the service vehicle 3 based on the desired boarding point in the reservation information, and sets a target driving route for traveling from the boarding point to the destination. The target driving route setting unit 63 also calculates the estimated time at which the service vehicle 3 will arrive at the boarding point as the estimated meeting time. The estimated arrival time calculation unit 65 calculates the time at which the service vehicle 3 will arrive at the destination (estimated arrival time). The target driving route transmission unit 64 transmits information on the boarding point, destination, target driving route, estimated meeting time, and estimated arrival time to the service vehicle 3 and the terminal device 4.

[0020] The second controller 37 of the service vehicle 3 transmits the ambient environment information detected by the ambient environment sensor 30 to the server device 2. The tailgating determination unit 66 determines, based on the ambient environment information, whether the service vehicle 3 is being tailgated by another vehicle in the vicinity, or whether there is a risk to the service vehicle 3 due to dangerous driving by another vehicle in the vicinity. In the following description, another vehicle engaging in tailgating or dangerous driving may be referred to as a "tailgating vehicle." A tailgating vehicle is an example of a "second vehicle" described in the claims. The fact that the service vehicle 3 is being tailgated by a tailgating vehicle and the fact that there is a risk to the service vehicle 3 due to dangerous driving by the tailgating vehicle may be collectively referred to as "the service vehicle 3 is being tailgated by a tailgating vehicle," and tailgating and dangerous driving may be collectively referred to as "tailgating."

[0021] For example, the tailgating determination unit 66 may determine that the service vehicle 3 is being tailgated by a tailgating vehicle if other vehicles around the service vehicle 3 behave unnaturally, frequently and repeatedly approach the service vehicle 3, if a vehicle ahead of the service vehicle 3 frequently brakes suddenly or blocks the path, if other vehicles around the service vehicle 3 frequently honk their horns or their occupants yell, if an occupant of the other vehicle gets out of the vehicle and approaches the service vehicle 3, or if the vehicle makes contact with the service vehicle 3. The tailgating determination unit 66 may transmit tailgating notification information to the service vehicle 3 or the terminal device 4 notifying that it has been determined that the service vehicle 3 is being tailgated by a tailgating vehicle.

[0022] The road attribute acquisition unit 67 acquires road attributes of the road on which the service vehicle 3 is currently traveling and road attributes of roads surrounding the current location of the service vehicle 3. For example, the road attribute acquisition unit 67 may acquire static information such as the number of lanes, width, lane type (main lane, ramp way), and the presence or absence of police facilities, street lights, road shoulders, and private houses along the road from the map DB 21 as road attributes. The road attribute acquisition unit 67 may acquire this static information from public information such as the Internet. The road attribute acquisition unit 67 may also acquire dynamic information such as the presence or absence of police vehicles parked along the road, the number of pedestrians, and illumination at night as road attributes. The road attribute acquisition unit 67 may acquire this dynamic information from surrounding environment information, police information, and traffic volume information received from the service vehicle 3.

[0023] The positional relationship determination unit 68 determines the relative positional relationship between the service vehicle 3 and the tailgating vehicle based on the surrounding environment information received from the service vehicle 3. In the following description, the relative positional relationship between the service vehicle 3 and the tailgating vehicle may be simply referred to as the "positional relationship." For example, the positional relationship may include the relative positional relationship in the front-to-rear direction (i.e., the direction in which the road extends). That is, the positional relationship determination unit 68 may determine whether the tailgating vehicle is traveling in front (including diagonally forward), behind (including diagonally behind), or to the side of the service vehicle 3. Furthermore, for example, the positional relationship may include the relationship between the driving lane of the service vehicle 3 and the driving lane of the tailgating vehicle (i.e., whether or not the two are in the same lane). Furthermore, for example, the positional relationship may include the distance between the service vehicle 3 and the tailgating vehicle.

[0024] When the tailgating determination unit 66 determines that the service vehicle 3 is being tailgated by a tailgating vehicle, the target route determination unit 69 selects, according to the road attributes of the road on which the service vehicle 3 is currently traveling, a road having road attributes that can suppress the tailgating of the tailgating vehicle as the target route on which the service vehicle 3 should travel. Also, when the tailgating determination unit 66 determines that the service vehicle 3 is being tailgated by a tailgating vehicle, the target positional relationship determination unit 70 selects, as the target positional relationship between the service vehicle 3 and the tailgating vehicle, a positional relationship that can suppress the tailgating of the tailgating vehicle. For example, the target positional relationship determination unit 70 may select the target positional relationship based on one or both of the road attributes of the road on which the service vehicle 3 is currently traveling and the current positional relationship between the service vehicle 3 and the tailgating vehicle.

[0025] For example, if the road on which the service vehicle 3 and the tailgating vehicle 100 are traveling has a single lane as shown in Fig. 3(a), the target route determination unit 69 may select a road with multiple lanes as the target route as shown in Fig. 3(b). Also, if the tailgating vehicle 100 is a preceding vehicle of the service vehicle 3 traveling on a single lane as shown in Fig. 3(a), and the distance between the tailgating vehicle 100 and the service vehicle 3 is relatively short, the target positional relationship determination unit 70 may select, as the target positional relationship as shown in Fig. 3(b), a positional relationship in which the driving lanes of the tailgating vehicle 100 and the driving lanes of the service vehicle 3 are different and the distance between them is longer.

[0026] For example, as shown in FIG. 4( a), if the road on which the service vehicle 3 and the tailgating vehicle 100 are currently traveling is a road with multiple lanes, and the tailgating vehicle 100 is a following vehicle traveling in the same lane as the service vehicle 3, the target positional relationship determination unit 70 may select, as the target positional relationship, a positional relationship in which the tailgating vehicle 100 travels ahead of the service vehicle 3, as shown in FIG. 4( b). In addition, a positional relationship in which the tailgating vehicle 100 and the service vehicle 3 travel in different lanes and the separation distance is longer may be selected as the target positional relationship. Furthermore, the target traveling path determination unit 69 may select, as the target traveling path, a road having road attributes that can realize a positional relationship that can suppress tailgating. In the example of FIG. 4( b), by selecting a target traveling path with multiple lanes, the tailgating vehicle 100, which is a following vehicle, can overtake the service vehicle 3, thereby realizing a target positional relationship in which the tailgating vehicle 100 travels ahead of the service vehicle 3. Furthermore, the target route determination unit 69 may realize a target positional relationship in which the tailgating vehicle 100 travels ahead of the service vehicle 3 by selecting, as the target route, a route that detours around part of the initially set target travel route. For example, as shown in Figure 5, while the initially set target travel route T1 is a route that continues traveling on road R, a route T2 that temporarily detours around road R may be selected as the target route to detour the service vehicle 3. This allows the tailgating vehicle 100 that performs tailgating to go ahead, thereby realizing a target positional relationship in which the tailgating vehicle 100 travels ahead of the service vehicle 3.

[0027] As shown in FIG. 6 , when the service vehicle 3 and the tailgating vehicle 100 are traveling on the main lane LM of a highway and are being tailgated by the tailgating vehicle 100 following behind, the target route determination unit 69 may select a ramp way leading to a service area or parking area as the target route, as shown by the dashed-dotted line T3, as a road with road attributes that can realize a positional relationship that suppresses tailgating. This allows the tailgating vehicle 100, which is tailgating from behind, to go ahead, thereby realizing a positional relationship that suppresses tailgating. As shown in FIG. 7 , when the service vehicle 3 and the tailgating vehicle 100 are traveling on a single-lane ramp way and the service vehicle 3 is being tailgated (e.g., obstructing the road) by the tailgating vehicle 100 following behind, the target route determination unit 69 may select the main lane LM with multiple lanes as shown by the dashed-dotted line T4 as the target route. This allows the service vehicle 3 to overtake the tailgating vehicle 100 that is tailgating from behind, thereby realizing a positional relationship that can suppress tailgating.

[0028] For example, the target route determination unit 69 may select, as the target route, a road along which police facilities exist or a road on which a police vehicle is parked on the shoulder. For example, as shown in FIG. 8( a), when the service vehicle 3 and the tailgating vehicle 100 are traveling on a road with multiple lanes, the target route determination unit 69 may select, as the target route, a road along which police facilities 101 exist, as shown in FIG. 8( b). When the tailgating vehicle 100 is a vehicle following the service vehicle 3 (i.e., when the service vehicle 3 is being tailgated by the tailgating vehicle 100 from behind), the target route determination unit 69 may select, as the target route, a road along which police facilities 101 exist. When the tailgating vehicle 100 is a vehicle preceding the service vehicle 3 (i.e., when the service vehicle 3 is being tailgated by the tailgating vehicle 100 from ahead), the target route determination unit 69 may select, as the target route, a road along which police facilities 101 exist.

[0029] For example, as shown in Figure 9(a), when the service vehicle 3 and the tailgating vehicle 100 are traveling on a road with multiple lanes and a police vehicle 102 stopped on the shoulder of the opposite lane is detected based on the surrounding environment information received from the service vehicle 3, the target path determination unit 69 may select the opposite lane in which the police vehicle 102 will stop as the target path, as shown in Figure 9(b). The target path determination unit 69 may select the lane in which the police vehicle 102 will stop as the target path when the tailgating vehicle 100 is a preceding vehicle of the service vehicle 3 (i.e., when the service vehicle 3 is tailgated by the tailgating vehicle 100 from the front), or may select the lane in which the police vehicle 102 will stop as the target path when the tailgating vehicle 100 is a following vehicle of the service vehicle 3 (i.e., when the service vehicle 3 is tailgated by the tailgating vehicle 100 from the rear).

[0030] If there are multiple candidate target routes, the target route determination unit 69 may select as the target route a road with multiple lanes rather than a road with a single lane, may select as the target route a road with nearby police facilities or police vehicles rather than a road with a narrow width, may select as the target route a road with heavy pedestrian traffic rather than a road with little pedestrian traffic, may select as the target route a road with shoulders rather than a road without shoulders, or may select as the target route a road with higher illumination at night.

[0031] See FIG. 2 . The target driving route changing unit 71 changes the target driving route of the service vehicle 3 so that the service vehicle 3 can reach the destination by traveling (via) the target driving route selected by the target driving route determination unit 69. For example, the target driving route changing unit 71 may change the target driving route of the service vehicle 3 to a route different from the original target driving route at intersections, branches, or roundabouts that exist on the original target driving route (i.e., the target driving route set before the tailgating of the tailgating vehicle 100 was detected) so that the service vehicle 3 can reach the destination via the target driving route. Furthermore, for example, the target driving route changing unit 71 may change the target driving route so that the service vehicle 3 makes a U-turn, travels through the point where the police vehicle 102 stops, and then reaches the destination from the point where the police vehicle 102 stops, as shown by the dashed-dotted line T5 in FIG. 9( b). The target driving route transmitting unit 64 transmits information about the changed target driving route to the service vehicle 3 and the terminal device 4.

[0032] The positional relationship change unit 72 determines a driving operation of the service vehicle 3 to realize the target positional relationship determined by the target positional relationship determination unit 70. For example, if a relative positional relationship in which the tailgating vehicle 100 is located in front of the service vehicle 3 is determined as the target positional relationship, a driving operation to decelerate the service vehicle 3 may be determined. The positional relationship change unit 72 generates driving operation instruction information for causing the second controller 37 to execute the determined driving operation and transmits it to the service vehicle 3. If the service vehicle 3 is a manually driven vehicle, the positional relationship change unit 72 may generate guidance information for prompting the driver to perform the determined driving operation and transmit it to the service vehicle 3.

[0033] The target travel path determination unit 69 may calculate the delay time of the arrival time at the destination when traveling to the destination along the target travel path changed to pass through the candidate target travel path (the required time when traveling through the candidate target travel path minus the required time when traveling along the original target travel path). The target travel path determination unit 69 may select a target travel path for which the delay time is predicted to be equal to or less than a predetermined allowable delay time (hereinafter referred to as the "allowable time"). When the target travel path determination unit 69 can only select target travel paths whose delay time exceeds the allowable time, the target travel path change unit 71 may determine, based on user request information, whether to not change the original target travel path (not travel along the target travel path) or to change the target travel path so that the arrival time at the destination is delayed along the target travel path even if the delay time exceeds the allowable time. For example, the user request information may be information for selecting either a desire to suppress tailgating even if the arrival time at the destination is delayed beyond the allowable time, or a desire to continue traveling along the original target travel path without suppressing tailgating if the delay time exceeds the allowable time.

[0034] For example, the user request receiving unit 73 may receive user request information in advance before detecting tailgating by the tailgating vehicle 100. For example, the request information and information on the allowable time entered by the user when creating an account for the passenger transportation service may be received from the terminal device 4 and stored in the user information DB 22. Alternatively, for example, the request information and information on the allowable time entered by the user when reserving the passenger transportation service may be received from the terminal device 4 and stored in the reservation information DB 23. The allowable time may be set individually for each user. Furthermore, for example, the user request receiving unit 73 may receive user request information when the target route determination unit 69 determines that only target routes whose delay time exceeds the allowable time can be selected. In this case, the delay time notification unit 74 may transmit the delay time to the service vehicle 3 or the terminal device 4 when it determines that only target routes whose delay time exceeds the allowable time can be selected, thereby notifying the user of the delay time. When the user inputs request information into the HMI 35 of the service vehicle 3 or the HMI 42 of the terminal device 4 , the user request receiving unit 73 may receive the request information transmitted by the service vehicle 3 or the terminal device 4 .

[0035] FIG. 10 is a block diagram of an example of the functional configuration of the second controller 37 of the service vehicle 3. The sensor information transmission unit 80 transmits surrounding environment information detected by the surrounding environment sensor 30 to the server device 2. The position information transmission unit 81 transmits current position information of the service vehicle 3 to the server device 2. The target driving route reception unit 82 receives target driving route information from the server device 2. The driving assistance control unit 83 executes driving assistance control to assist the driving of the service vehicle 3 based on the target driving route received from the server device 2. For example, if the service vehicle 3 is an autonomous vehicle, the driving assistance control unit 83 may execute autonomous driving control to drive the service vehicle 3 along the target driving route. For example, the driving assistance control unit 83 may calculate a target driving trajectory for driving the service vehicle 3 based on the current position and attitude of the service vehicle 3, route information, a high-precision map, the surrounding environment of the service vehicle 3, and vehicle state information detected by the vehicle sensor 31. The driving assistance control unit 83 may drive the actuator 38 so that the service vehicle 3 drives along the target driving trajectory. For example, if the service vehicle 3 is a manually driven vehicle, the driving assistance control unit 83 may display the target driving route received from the server device 2 on the HMI 35 and assist the driver in driving the service vehicle 3 so that the service vehicle 3 travels along the target driving route.

[0036] When the service vehicle 3 is an autonomously driven vehicle, the driving assistance control unit 83 executes driving operations of the service vehicle 3 to realize the target positional relationship determined by the target positional relationship determination unit 70, based on driving operation instruction information received from the positional relationship change unit 72 of the server device 2. When the service vehicle 3 is a manually driven vehicle, the driving assistance control unit 83 displays the guidance information received from the positional relationship change unit 72 on the HMI 35 to prompt the driver to perform driving operations to realize the target positional relationship determined by the target positional relationship determination unit 70. The function and operation of the tailgating determination unit 84 are similar to the function and operation of the tailgating determination unit 66 of the server device 2. When the tailgating determination unit 84 determines that the service vehicle 3 is being tailgated by a tailgating vehicle or when the emergency reporting unit 85 receives tailgating notification information, the emergency reporting unit 85 reports the tailgating by the tailgating vehicle to a police agency.

[0037] When the target driving route receiving unit 82 receives the target driving route changed by the target driving route changing unit 71, the response notification unit 86 may output visual information or an audio message from the HMI 35 notifying the user that a response has been taken to change the target driving route to prevent tailgating by tailgating vehicles (i.e., the target driving route determination unit 69 has selected a target driving route). Also, the emergency notification unit 85 may output visual information or an audio message from the HMI 35 notifying the user that a police report has been issued. The user request input unit 87 outputs visual information or an audio message from the HMI 35 notifying the user of the delay time transmitted from the delay time notification unit 74. The user request input unit 87 accepts operation of the HMI 42 by a user to input request information and transmits the input request information to the server device 2. Note that, among the processes executed in the vehicle dispatch system 1, the processes assigned to the first controller 25 of the server device 2 and the second controller 37 of the service vehicle 3 are merely examples, and the present invention is not limited to the above assignments. The second controller 37 may execute part or all of the processing of the first controller 25 in the above description, and the first controller 25 may execute part or all of the processing of the second controller 37 .

[0038] 11 is a block diagram of an example of the functional configuration of the third controller 43 of the terminal device 4. The reservation information generation unit 90 accepts input operations on the HMI 42 by a user making a reservation and generates a vehicle dispatch request for applying for a reservation for a passenger transportation service. The reservation information generation unit 90 transmits the generated vehicle dispatch information to the server device 2. The location information transmission unit 91 transmits current location information of the terminal device 4 to the server device 2. The target driving route display unit 92 displays information on the boarding point, destination, and target driving route received from the server device 2 on the HMI 42. The scheduled time display unit 93 displays information on the scheduled meeting time and scheduled arrival time received from the server device 2 on the HMI 42. The functions and operations of the emergency reporting unit 94, the response notification unit 95, and the user request input unit 96 are similar to the functions and operations of the emergency reporting unit 85, the response notification unit 86, and the user request input unit 87 of the service vehicle 3.

[0039] 12 is a flowchart of an example of an information processing method. In step S1, the first controller 25 determines whether the service vehicle 3 is being tailgated by a tailgating vehicle. If the service vehicle 3 is not being tailgated by a tailgating vehicle (step S1: N), the process returns to step S1. If the service vehicle 3 is being tailgated by a tailgating vehicle (step S1: Y), the process proceeds to step S2. In step S2, the second controller 37 reports the incident to the police. In step S3, the first controller 25 determines the positional relationship between the service vehicle 3 and the tailgating vehicle. In step S4, the first controller 25 acquires road attributes of the road on which the service vehicle 3 is traveling and the surrounding roads.

[0040] In step S5, the first controller 25 determines whether a target positional relationship that can suppress tailgating can be selected without changing the target driving route. If the target positional relationship cannot be selected (step S5: N), the process proceeds to step S7. If the target positional relationship can be selected (step S5: Y), the process proceeds to step S6. In step S6, the first controller 25 assists the driving of the service vehicle 3 so that the positional relationship between the service vehicle 3 and the tailgating vehicle becomes the target positional relationship. Thereafter, the process proceeds to step S13. In step S7, the first controller 25 determines whether a target route exists that has road attributes that can suppress tailgating or that can realize a positional relationship that can suppress tailgating. If a target route does not exist (step S7: N), the process proceeds to step S13. If a target route exists (step S7: Y), the process proceeds to step S8. In step S8, the first controller 25 determines whether the delay time when traveling along the target route is less than or equal to the allowable time. If the delay time is not less than the allowable time (step S8: N), the process proceeds to step S10. If the delay time is less than the allowable time (step S8: Y), the process proceeds to step S9. In step S9, the first controller 25 changes the target driving route so that the target driving route passes through the target road in step S8. Thereafter, the process proceeds to step S13. In step S10, the first controller 25 executes a need determination process to determine the user's need information.

[0041] FIG. 13 is a flowchart of an example of a desire determination process. In step S20, the first controller 25 determines whether desire information has been received in advance. If desire information has not been received in advance (step S20: N), the process proceeds to step S22. If desire information has been received in advance (step S20: Y), the process proceeds to step S21. In step S21, the first controller 25 determines whether the user desires to travel along the target route in accordance with the desire information received in advance. The desire determination process then ends. In step S22, the first controller 25 notifies the user of the delay time. In step S23, the first controller 25 receives input of desire information by the user. In step S24, the first controller 25 determines whether the user desires to travel along the target route in accordance with the received desire information. The desire determination process then ends.

[0042] See Figure 12. If the user wishes to travel along the target route (step S11: Y), the process proceeds to step S9. If the user does not wish to travel along the target route (step S11: N), the process proceeds to step S12. In step S12, the first controller 25 maintains the service vehicle 3 traveling along the original target travel route. Thereafter, the process proceeds to step S13. In step S13, the first controller 25 determines whether or not the tailgating has been avoided. If the tailgating has still not been avoided (step S13: N), the process returns to step S3. If the tailgating has been avoided (step S13: Y), the process ends.

[0043] (Effects of the Embodiment) (1) At least one controller executes a process of determining whether a first vehicle is being tailgated by a second vehicle or whether there is a risk to the first vehicle due to reckless driving by the second vehicle, a process of acquiring information on road attributes of a road on which the first vehicle is currently traveling, and a process of selecting, if it is determined that the first vehicle is being tailgated by the second vehicle or if it is determined that there is a risk to the first vehicle due to reckless driving by the second vehicle, a road having road attributes that can suppress tailgating or reckless driving by the second vehicle as a target driving route on which the first vehicle should travel, in accordance with the road attributes of the road on which the first vehicle is currently traveling. This makes it possible to suppress tailgating by the second vehicle to the first vehicle and reckless driving by the second vehicle that poses a risk to the first vehicle.

[0044] (2) The first vehicle may be a vehicle used for a transportation service that transports users in response to a user's vehicle dispatch request. This prevents vehicles providing passenger transportation services from engaging in aggressive or dangerous driving. (3) At least one controller may detect a current relative longitudinal positional relationship between the first vehicle and the second vehicle, select a target relative longitudinal positional relationship between the first vehicle and the second vehicle based on the current relative longitudinal positional relationship and road attributes of the road on which the first vehicle is currently traveling, and assist the driving of the first vehicle so that the relative positional relationship between the first vehicle and the second vehicle becomes the target relative longitudinal positional relationship. This prevents aggressive or dangerous driving by the second vehicle.

[0045] (4) For example, when the road attribute of the road on which the first vehicle is currently traveling is a single lane, the at least one controller may select a road with multiple lanes as the target route. Furthermore, for example, the at least one controller may select a relative positional relationship in which the first vehicle is located behind the second vehicle as the target relative positional relationship in the longitudinal direction. Furthermore, for example, when the road attribute of the road on which the first vehicle is currently traveling is a single lane and the first vehicle is located behind the second vehicle, the at least one controller may select a road with multiple lanes as the target route. This can suppress tailgating and dangerous driving by the second vehicle. (5) At least one controller may select, as the target route, a road with multiple lanes over a road with a single lane, a road with a police facility or police vehicle nearby, a wide road over a narrow road, a road with a lot of pedestrian traffic over a road with little pedestrian traffic, a road with a shoulder over a road without a shoulder, or a road with higher illumination at night. This can suppress tailgating and dangerous driving by the second vehicle.

[0046] (6) At least one controller may select a target route such that the delay in the arrival time at the destination when the first vehicle travels along the target route is predicted to be equal to or less than a predetermined allowable delay. Furthermore, for example, when only a target route with a delay exceeding the allowable delay time is available, the at least one controller may determine, based on a user input, whether to not change the route of the first vehicle so that it travels along the target route or to continue traveling along the target route even if the delay exceeds the allowable delay time. The at least one controller may notify the user of the delay time. The at least one controller may accept a user input selecting either not changing the route of the first vehicle so that it travels along the target route or to continue traveling along the target route even if the delay exceeds the allowable delay time, at the time when it is determined that only a target route with a delay exceeding the allowable delay time is available, or in advance. This can prevent or reduce user dissatisfaction due to a delay in arrival time at the destination by suppressing tailgating.

[0047] (7) When the at least one controller determines that the first vehicle is being tailgated by the second vehicle or that there is a risk to the first vehicle due to dangerous driving by the second vehicle, the at least one controller may notify the police. This can facilitate early resolution of tailgating. (8) The at least one controller may notify the user that a target route has been selected or that the police have been notified. This can reduce the user's anxiety due to tailgating.

[0048] REFERENCE SIGNS LIST 1... Vehicle dispatch system, 2... Server device, 3... Service vehicle, 4... Terminal device, 25... First controller, 37... Second controller, 43... Third controller, 100... Tailgating vehicle

Claims

1. An information processing method characterized by having at least one controller perform the following processes: a process of determining whether a first vehicle is being tailgated by a second vehicle or whether there is a risk to the first vehicle due to reckless driving by the second vehicle; a process of acquiring information on the road attributes of the road on which the first vehicle is currently traveling; and a process of selecting, if it is determined that the first vehicle is being tailgated by the second vehicle or if it is determined that there is a risk to the first vehicle due to reckless driving by the second vehicle, a road having road attributes that can suppress tailgating or reckless driving by the second vehicle, as a target route on which the first vehicle should travel, in accordance with the road attributes of the road on which the first vehicle is currently traveling.

2. The information processing method according to claim 1, wherein the first vehicle is a vehicle provided for a transportation service that transports the user in response to a vehicle dispatch request from the user.

3. The information processing method described in claim 1 or 2, characterized in that the at least one controller selects a road with multiple lanes as the target route when the road attribute of the road on which the first vehicle is currently traveling is a single lane.

4. The information processing method described in any one of claims 1 to 3, characterized in that the at least one controller: detects the current relative longitudinal positional relationship between the first vehicle and the second vehicle; selects a target relative longitudinal positional relationship between the first vehicle and the second vehicle based on the current relative longitudinal positional relationship and road attributes of the road on which the first vehicle is currently traveling; and assists the driving of the first vehicle so that the relative positional relationship between the first vehicle and the second vehicle becomes the target relative longitudinal positional relationship.

5. The information processing method according to claim 4, characterized in that at least one controller selects a relative positional relationship in which the first vehicle is behind the second vehicle as the target relative positional relationship in the longitudinal direction.

6. The information processing method described in claim 4 or 5, characterized in that the at least one controller selects a road with multiple lanes as the target route when the road attribute of the road on which the first vehicle is currently traveling is a single lane and the first vehicle is located behind the second vehicle.

7. An information processing method according to any one of claims 1 to 6, characterized in that the at least one controller: selects, as the target route, a road with multiple lanes over a road with a single lane; selects a road with nearby police facilities or police vehicles; selects a wide road over a narrow road; selects a road with heavy pedestrian traffic over a road with little pedestrian traffic; selects a road with a shoulder over a road without a shoulder; or selects a road with higher illumination at night.

8. An information processing method described in any one of claims 1 to 7, characterized in that at least one controller selects the target route so that it is possible to predict that the delay in the arrival time at the destination when the first vehicle travels along the target route will be within a predetermined allowable delay time.

9. The information processing method described in claim 8, characterized in that, when the only target route available is one where the delay time exceeds the allowable delay time, the at least one controller determines, based on user input, whether to not change the route of the first vehicle so that it travels along the target route, or whether to travel along the target route even if the delay time exceeds the allowable delay time.

10. The information processing method according to claim 9, wherein said at least one controller notifies said user of said delay time.

11. The information processing method described in claim 9 or 10, characterized in that the at least one controller accepts a user input to select either not to change the route of the first vehicle so that it travels along the target route, or to travel along the target route even if the delay time exceeds the allowable delay time, at the time when it is determined that only the target route whose delay time exceeds the allowable delay time can be selected, or in advance.

12. An information processing method described in any one of claims 1 to 11, characterized in that the at least one controller reports to the police when it determines that the first vehicle is being tailgated by the second vehicle or when it determines that there is a risk to the first vehicle due to dangerous driving by the second vehicle.

13. An information processing method according to any one of claims 1 to 12, characterized in that the at least one controller notifies the user that the target route has been selected or that a police report has been made.

14. An information processing device characterized by having at least one controller that performs the following processes: a process of determining whether a first vehicle is being tailgated by a second vehicle or whether there is a risk to the first vehicle due to reckless driving by the second vehicle; a process of acquiring information on the road attributes of the road on which the first vehicle is currently traveling; and a process of selecting, if it is determined that the first vehicle is being tailgated by the second vehicle or if it is determined that there is a risk to the first vehicle due to reckless driving by the second vehicle, a road having road attributes that can suppress tailgating or reckless driving by the second vehicle, as a target route on which the first vehicle should travel, in accordance with the road attributes of the road on which the first vehicle is currently traveling.

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