Information processing method and information processing device

Abstract

An information processing method according to the present invention causes at least one controller to execute: processing (S1) of detecting whether or not a first vehicle is being tailgated by a second vehicle or whether or not the first vehicle is being assaulted by an occupant of the second vehicle; processing (S7) of detecting a hideaway that is a place where the first vehicle can hide; and processing (S9) of supporting driving of the first vehicle such that the first vehicle hides in the hideaway, in a case in which the first vehicle is being tailgated by the second vehicle or the first vehicle is being assaulted by an occupant of the second vehicle.

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 is caused to perform the following processes: detecting whether a first vehicle is being tailgated by a second vehicle or whether the first vehicle is being attacked by an occupant of the second vehicle; detecting a hiding location where the first vehicle can hide; and assisting the driving of the first vehicle so that the first vehicle hides in the hiding location when the first vehicle is being tailgated by the second vehicle or is being attacked by an occupant of the second vehicle.

[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. (a) and (b) are explanatory diagrams of a method for suppressing tailgating. FIG. 1 is a block diagram of an example of the functional configuration of a second controller. FIG. 2 is a block diagram of an example of the functional configuration of a third controller. FIG. 3 is a flowchart of an example of an information processing method. FIG. 4 is 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 plurality of service vehicles 3A, 3B, etc., 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 3A is an example of a "first vehicle" as defined in the claims. In the following description, the service vehicles 3A, 3B, etc. may be collectively referred to as the "service vehicles 3."

[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, or road-to-vehicle communication with the service vehicle 3. The first controller 25 transmits and receives data between the service vehicle 3 and the terminal device 4 via the communication device 20. The first controller 25 may also receive video information from infrastructure cameras installed on the road 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 an ambient 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 display element 36, a second controller 37, and an actuator 38. The ambient environment sensor 30 detects the ambient 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 ambient environment sensor 30 may include, for example, a camera that captures images of the ambient environment of the service vehicle 3. Furthermore, for example, the ambient environment sensor 30 may include a distance measuring device such as a laser range finder, radar, or laser radar such as LiDAR. The ambient environment sensor 30 may include a microphone that detects sounds around the service vehicle 3. The ambient environment sensor 30 outputs detected information about the ambient environment of the service vehicle 3 (hereinafter, sometimes referred to as "ambient environment information") 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 display element 36 is provided on all or part of the outer surface of the body of the service vehicle 3 in place of paint and displays a color visible from outside the service vehicle 3. For example, the display element 36 may have a layered structure in which, from the side closest to the body of the service vehicle 3 toward the outside, a reflector, a liquid crystal display, and a translucent layer are provided. The liquid crystal display may be a flexible display (e.g., electronic paper) so that it can be attached to the body (mainly a steel plate) instead of conventional paint. The liquid crystal display is connected to the second controller 37 and changes the displayed color based on a control signal from the second controller 37. For example, adhesives known to those skilled in the art, such as those used in existing liquid crystal display devices, may be used to bond the liquid crystal display to the reflector and to the body. Glass or the like may be attached as the translucent layer on the liquid crystal display, or a translucent layer may be formed on the liquid crystal display by spray painting.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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 3A and current location information of the terminal device 4 transmitted from the service vehicle 3A and the terminal device 4. The service vehicle dispatch unit 62 determines the service vehicle 3A to be dispatched to the user based on the reservation information and the current location information of the service vehicle 3A. The target driving route setting unit 63 determines the boarding point where the user will board the service vehicle 3A 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 unit also calculates the estimated time at which the service vehicle 3A 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 3A will arrive at the destination (estimated arrival time). The target travel route transmitting unit 64 transmits information on the boarding point, destination, target travel route, scheduled meeting time, and scheduled arrival time to the service vehicle 3A and the terminal device 4.

[0021] The second controller 37 of the service vehicle 3A transmits the ambient environment information detected by the ambient environment sensor 30 to the server device 2. The tailgating determination unit 66 determines whether the service vehicle 3A is being tailgated by a nearby vehicle or whether the service vehicle 3A is being attacked by an occupant of a nearby vehicle based on the ambient environment information. In the following description, a tailgating vehicle or a vehicle whose occupant attacks the service vehicle 3A may be referred to as a "tailgating vehicle." A tailgating vehicle is an example of a "second vehicle" described in the claims. For example, the tailgating determination unit 66 may determine that the service vehicle 3A is being tailgated by a tailgating vehicle if the nearby vehicles behave unnaturally, frequently approach the service vehicle 3A, a vehicle ahead of the service vehicle 3A frequently brakes suddenly or blocks the path, or the nearby vehicles frequently honk their horns or their occupants yell.

[0022] In addition, the tailgating determination unit 66 may determine that the service vehicle 3A is being attacked by an occupant of the tailgating vehicle when an occupant of another vehicle gets off and approaches or makes contact with the service vehicle 3A. In the following description, the service vehicle 3A being tailgated by the tailgating vehicle and the service vehicle 3A being attacked by the occupant of the tailgating vehicle are collectively referred to as "the service vehicle 3A being tailgated by the tailgating vehicle," and tailgating and attack may be collectively referred to as "tailgating." The tailgating determination unit 66 may transmit tailgating notification information to the service vehicle 3A or the terminal device 4 notifying that it has been determined that the service vehicle 3A is being tailgated by the tailgating vehicle.

[0023] When the tailgating determination unit 66 detects tailgating by a tailgating vehicle, the evasive driving support unit 67 supports the driving of the service vehicle 3A so that the service vehicle 3A attempts to avoid the tailgating by the tailgating vehicle. In the following description, the driving behavior of the service vehicle 3A that encourages the avoidance of tailgating by the tailgating vehicle may be referred to as a "tailgating avoidance behavior." For example, the tailgating avoidance behavior may be changing the route of the service vehicle 3A to be different from the route of the tailgating vehicle or changing the driving route of the service vehicle 3A so that the route of the service vehicle 3A is different from the route of the tailgating vehicle or so that the service vehicle 3A travels on a road with attributes that can suppress tailgating. The tailgating determination unit 66 may change the target driving route of the service vehicle 3A so that the route of the service vehicle 3A is different from the route of the tailgating vehicle or so that the service vehicle 3A travels on a road with attributes that can suppress tailgating by the tailgating vehicle, and transmit the changed target driving route to the service vehicle 3A.

[0024] For example, the tailgating avoidance behavior may be a driving behavior in which the relative longitudinal positional relationship between the service vehicle 3A and the tailgating vehicle is changed to a positional relationship that is expected to suppress tailgating (for example, the service vehicle 3A traveling behind the tailgating vehicle), or the service vehicle 3A changes lanes, or stops on the shoulder of the road. The evasive driving assistance unit 67 may generate a control signal to cause the second controller 37 of the service vehicle 3A to execute a driving operation that realizes these driving behaviors and transmit it to the service vehicle 3A. In the following description, the control signal that causes the second controller 37 to execute a specific driving operation of the service vehicle 3A may be referred to as "driving operation instruction information." If the service vehicle 3A is a manually driven vehicle, the evasive driving assistance unit 67 may generate guidance information that prompts the driver to perform a driving operation that realizes these driving behaviors and transmit it to the service vehicle 3A. In the following description, the guidance signal that prompts the driver to perform a specific driving operation of the service vehicle 3A may be referred to as "driving operation guidance information."

[0025] The risk determination unit 68 determines whether the risk of tailgating by the tailgating vehicle exceeds a threshold. For example, if the evasive driving assistance unit 67 causes the service vehicle 3A to take action to avoid tailgating, but the tailgating by the tailgating vehicle does not end, the risk of tailgating may be determined to exceed a threshold. When the risk determination unit 68 determines that the risk of tailgating exceeds the threshold, the first controller 25 detects a hiding place where the service vehicle 3A can escape from the tailgating vehicle and hide, and supports the driving of the service vehicle 3A so that the service vehicle 3A travels to the hiding place and stops there. For example, the first controller 25 transmits driving operation instruction information or driving operation guide information to the service vehicle 3A to drive the service vehicle 3A to the hiding place and stop there. Figures 3(a) and 3(b) are explanatory diagrams of an example of a method for suppressing tailgating in an embodiment. In this example, a parking space near other parked or stopped vehicles is used as a hiding place.

[0026] When the risk of tailgating exceeds a threshold, the first controller 25 detects a possible hiding place that exists within a predetermined distance range from the current position of the service vehicle 3A based on the surrounding environment information received from the service vehicle 3A and the image information from the infrastructure camera. In the example of Fig. 3(a), a possible stopping space PH near another parked or stopped vehicle 200 is detected as a possible hiding place. The first controller 25 transmits driving operation instruction information and driving operation guide information to the service vehicle 3A to drive the service vehicle 3A to the possible hiding place PH and stop the service vehicle 3A at the possible hiding place, as shown by the dashed line Tr in Fig. 3(b).

[0027] See FIG. 2 . The hiding place detection unit 69 detects possible hiding places within a predetermined distance range from the current position of the service vehicle 3A based on surrounding environment information and video information from an infrastructure camera. For example, the hiding place detection unit 69 may detect, as a possible hiding place, a possible stopping space near another vehicle that has attributes identical to or similar to the attributes of the service vehicle 3A and is parked or stopped. The attributes of the service vehicle 3A may include multiple attributes such as the vehicle type, model number, size, or body color. For example, the hiding place detection unit 69 may prioritize other vehicles that have more attributes similar to or identical to the attributes of the service vehicle 3A from among the multiple attributes of the other vehicles, and detect a possible stopping space near the selected other vehicle as a possible hiding place.

[0028] For example, the hiding place detection unit 69 may detect a possible hiding place as a stopping space near a parked or stopped large vehicle or a tree, bush, or building that shields the service vehicle 3A from a tailgating vehicle. For example, the hiding place detection unit 69 may assist the driving of another service vehicle 3B having the same or similar attributes as the first vehicle so that the other service vehicle 3B moves to the vicinity of the current location of the service vehicle 3A. For example, the hiding place detection unit 69 may transmit to the other service vehicle 3B a target driving route from the current location of the other service vehicle 3B to a destination set near the current location of the service vehicle 3A. The hiding place detection unit 69 may detect a possible hiding place as a stopping space near the other service vehicle 3B.

[0029] The hiding timing detection unit 70 detects the timing when the service vehicle 3A is in the blind spot from the perspective of the tailgating vehicle as the hiding timing. For example, as shown in FIG. 3B, the hiding timing detection unit 70 may detect the hiding timing immediately after the service vehicle 3A turns left at an intersection. The same applies to a right turn. Furthermore, for example, when the service vehicle 3A is traveling on a road with heavy traffic, the hiding timing detection unit 70 may detect the hiding timing when a large vehicle, train, or streetcar passes by the service vehicle 3A.

[0030] For example, the lurking timing detection unit 70 may transmit to the service vehicle 3A driving operation instruction information or driving operation guidance information for making a left or right turn at an intersection on the target driving route of the service vehicle 3A in order to create an opportunity for the service vehicle 3A to be in a blind spot from the tailgating vehicle. See FIGS. 4( a) and 4(b). For example, assume that the currently set target driving route for the service vehicle 3A is a driving route RT1 that travels straight through the intersection C4 of roads RD1 and RD4 and the intersection C1 of roads RD1 and RD2 as shown in FIG. 4(a). For example, the lurking timing detection unit 70 may transmit to the service vehicle 3A driving operation instruction information or driving operation guidance information for making the service vehicle 3A turn at the intersections C1 to C4 that are not turned at on the target driving route RT1, as shown in FIG. 4(b), and for making the service vehicle 3A travel a detour through the roads RD2 to RD4, as shown in FIG. 4(b).

[0031] When the hiding timing detection unit 70 detects the hiding timing, the hiding operation support unit 71 supports the driving of the service vehicle 3A so that the service vehicle 3A hides in the hiding location by transmitting to the service vehicle 3A driving operation instruction information or driving operation guide information for driving the service vehicle 3A to the hiding location detected by the hiding location detection unit 69 and stopping the service vehicle 3A at the hiding location. Note that, if the hiding location is a bush, for example, the hiding operation support unit 71 may transmit to the service vehicle 3A a body color change signal for changing the color of the body of the service vehicle 3A to the same color or a similar color to the color of the bush surrounding the service vehicle 3A. Furthermore, for example, the hiding operation support unit 71 may detect the color of objects present around the hiding location based on surrounding environment information or image information from an infrastructure camera. The hiding operation support unit 71 may transmit to the service vehicle 3A a body color change signal for changing the color of the body of the service vehicle 3A to the same color or a similar color to the color of the objects surrounding the service vehicle 3A.

[0032] When the service vehicle 3A starts traveling again from the hiding place after hiding in the hiding place, the concealment operation support unit 71 changes the currently set target traveling route to a route that reaches the destination from the hiding place, and transmits the changed target traveling route to the service vehicle 3A. For example, after the service vehicle 3A starts traveling again from the hiding place, the concealment operation support unit 71 may determine whether or not a tailgating vehicle that was tailgating the service vehicle 3A before hiding is present around the service vehicle 3A based on surrounding environment information and video information from an infrastructure camera. If a tailgating vehicle is present around the service vehicle 3A, the concealment operation support unit 71 may detect other vehicles or large vehicles similar to the service vehicle 3A based on the surrounding environment information and video information from an infrastructure camera, and transmit driving operation instruction information or driving operation guide information to the service vehicle 3A to cause the service vehicle 3A to travel near these other vehicles or large vehicles.

[0033] Note that the hiding operation support unit 71 may support the driving of the service vehicle 3A so that the service vehicle 3A hides at the possible hiding location when it is predicted that the delay in the arrival time of the service vehicle 3A at the destination due to the service vehicle 3A hiding at the possible hiding location will be equal to or less than a predetermined allowable delay time. Hereinafter, the predetermined allowable delay time may be referred to as the "allowable time." On the other hand, when it is predicted that the delay time will be equal to or more than the allowable delay time, it may determine, based on the user's request information, whether to not support the driving of the service vehicle 3A so that the service vehicle 3A hides at the possible hiding location, or to support the driving of the service vehicle 3A so that the service vehicle 3A hides at the possible hiding location even if the delay time exceeds the allowable delay time.

[0034] The delay time calculation unit 72 estimates the delay in the arrival time due to the service vehicle 3A hiding in a hiding location (the time required to arrive at the destination if the service vehicle 3A hides - the time required to arrive at the destination if the service vehicle 3A does not hide). For example, the delay time calculation unit 72 may estimate the time required to create an opportunity for the service vehicle 3A to be in a blind spot from the tailgating vehicle, the time required to detect a hiding location, and the waiting time at the hiding location. The delay time calculation unit 72 may estimate these times based on past performance data and historical data for the current location of the service vehicle 3A. Furthermore, for example, the delay time calculation unit 72 may estimate the time required to return from the hiding location to the shortest route to the destination. The delay time calculation unit 72 may estimate the delay time by adding up some or all of the estimated required times and waiting times.

[0035] Furthermore, the user's request information may be information for selecting, for example, whether the user wishes to have the service vehicle 3A hide in a possible hiding location even if the delay in arrival at the destination exceeds the allowable time, or whether the user wishes to continue traveling along the currently set target traveling route without hiding in a possible hiding location if the delay exceeds the allowable time. For example, the user request receiving unit 73 may receive the user's request information in advance before detecting tailgating by the tailgating vehicle 100. For example, the request information and allowable time information 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. For example, the request information and allowable time information 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.

[0036] Furthermore, for example, the user request receiving unit 73 may receive the user's request information when it predicts that the delay time is equal to or longer than the allowable time. In this case, the delay time notifying unit 74 may transmit the delay time to the service vehicle 3A or the terminal device 4 when it predicts that the delay time is equal to or longer than the allowable time, thereby notifying the user of the delay time. When the user inputs the request information into the HMI 35 of the service vehicle 3A 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 3A or the terminal device 4.

[0037] 5 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 travel route reception unit 82 receives target travel route information transmitted from the target travel route transmission unit 64. In the case of the other service vehicle 3B described above, the target travel route reception unit 82 also receives target travel route information transmitted from the hiding place detection unit 69. The driving assistance control unit 83 executes driving assistance control to assist the driving of the service vehicle 3 based on the received target travel route.

[0038] 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 a 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. When the tailgating determination unit 66 or the concealment operation support unit 71 receives a changed target driving route, the driving assistance control unit 83 may execute autonomous driving control to drive the service vehicle 3A along the changed target driving trajectory.

[0039] When 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 urge the driver to drive the service vehicle 3 so that the service vehicle 3 travels along the target driving route. When the driving assistance control unit 83 receives a target driving route changed by the tailgating driving determination unit 66 or the concealment operation support unit 71, the driving assistance control unit 83 may display the changed target driving route on the HMI 35, and urge the driver to drive the service vehicle 3A so that the service vehicle 3A travels along the changed target driving route.

[0040] If the service vehicle 3A is an autonomously driven vehicle, the driving assistance control unit 83 receives driving operation instruction information from the hiding place detection unit 69, the hiding timing detection unit 70, and the hiding operation support unit 71 of the server device 2. The driving assistance control unit 83 may drive and control the actuator 38 so that the service vehicle 3 is driven in accordance with the driving operation specified by the driving operation instruction information. If the service vehicle 3A is a manually driven vehicle, the driving assistance control unit 83 may display the driving operation guidance information received from the hiding place detection unit 69, the hiding timing detection unit 70, and the hiding operation support unit 71 on the HMI 35 to prompt the driver to perform the driving operation specified by the driving operation guidance information.

[0041] 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. The body color control unit 85 changes the color of the body of the service vehicle 3A to be the same color as or similar to the color of the grass or objects around the service vehicle 3A by controlling the display element 36 based on the body color change signal transmitted from the server device 2. The emergency reporting unit 86 reports the tailgating by the tailgating vehicle to the police when the tailgating determination unit 84 determines that the service vehicle 3A is being tailgated by a tailgating vehicle or when tailgating notification information is received from the server device 2.

[0042] When the service vehicle 3A receives driving operation instruction information or driving operation guide information for hiding the service vehicle 3A in a possible hiding location, the response notification unit 87 may output visual information or an audio message from the HMI 35 notifying the user that measures have been taken to hide the service vehicle 3A in the possible hiding location. Furthermore, the emergency notification unit 86 may output visual information or an audio message from the HMI 35 notifying the user that a police report has been made. The user request input unit 88 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 88 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 3A 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 .

[0043] 6 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 the user making the 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 86, the response notification unit 87, and the user request input unit 88 of the service vehicle 3A.

[0044] FIG. 7 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 notifies the police. In step S3, the first controller 25 determines whether the tailgating could be avoided by taking evasive action such as changing the route. If the tailgating could be avoided (step S3: Y), the process ends. If the tailgating cannot be avoided (step S3: N), the process proceeds to step S4. In step S4, the first controller 25 determines whether the delay time caused by the service vehicle 3A hiding in a hiding location is within the allowable time. If the delay time is within the allowable time (step S4: Y), the process proceeds to step S7. If the delay time is not equal to or less than the allowable time (step S4: N), the process proceeds to step S5. In step S5, the first controller 25 executes a need determination process for determining the user's need information.

[0045] FIG. 8 is a flowchart of an example of the 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, in accordance with the desire information received in advance, whether the user desires the service vehicle 3A to be hidden even if the delay time exceeds the allowable time. 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, in accordance with the received desire information, whether the user desires the service vehicle 3A to be hidden even if the delay time exceeds the allowable time. The desire determination process then ends.

[0046] 6 . If the user does not wish to hide the service vehicle 3A (step S6: N), the processing ends without performing driving assistance to hide the service vehicle 3A in a possible hiding location. If the user wishes to hide the service vehicle 3A (step S6: Y), the processing proceeds to step S7. In step S7, the first controller 25 determines whether or not a possible hiding location has been detected. If a possible hiding location has not been detected (step S7: N), the processing returns to step S7. If a possible hiding location has been detected (step S7: Y), the processing proceeds to step S8. In step S8, the first controller 25 determines whether or not a hiding timing has been detected. If a hiding timing has not been detected (step S8: N), the processing returns to step S8. If a hiding timing has been detected (step S8: Y), the processing proceeds to step S9. In step S9, the first controller 25 transmits to the service vehicle 3A driving operation instruction information and driving operation guide information for hiding the service vehicle 3A in a possible hiding location. In step S10, the first controller 25 determines whether the tailgating vehicle has safely passed the service vehicle 3A. If the tailgating vehicle has not passed the service vehicle 3A (step S10: N), the process returns to step S3. If the tailgating vehicle has passed the service vehicle 3A (step S10: Y), the process ends.

[0047] Effects of the Embodiments (1) At least one controller executes the following processes: detecting whether a first vehicle is being tailgated by a second vehicle or whether the first vehicle is being attacked by an occupant of the second vehicle; detecting a hiding location where the first vehicle can hide; and, when the first vehicle is being tailgated by the second vehicle or attacked by an occupant of the second vehicle, assisting the driving of the first vehicle so that the first vehicle hides in the hiding location. This can prevent tailgating of the first vehicle by the second vehicle and dangerous driving of the second vehicle that poses a risk to the first vehicle. Furthermore, in recent years, there have been incidents of attacks on unmanned service vehicles that transport users in response to user dispatch requests in some countries. The information processing method according to the embodiment can prevent attacks on unmanned service vehicles.

[0048] (2) At least one controller may detect a timing when the first vehicle is in a blind spot from the second vehicle as a hiding timing, and may assist the driving of the first vehicle so that the first vehicle hides in a hiding location at the hiding timing. For example, the hiding timing may be immediately after the first vehicle makes a right or left turn at an intersection, when the first vehicle is traveling on a busy road, or when a large vehicle, train, or streetcar passes by the first vehicle. This prevents the second vehicle from discovering the first vehicle attempting to hide in the hiding location. (3) The hiding location may be a parking space near a parked vehicle of the same model, model number, size, or color as the first vehicle, a parking space near a parked vehicle of a similar model, size, or color to the first vehicle, a parking space near a parked or stopped large vehicle, or a parking space near a tree, bush, or structure that shields the first vehicle from the second vehicle. This makes it difficult to find the first vehicle hiding.

[0049] (4) The at least one controller may change the color of the body of the first vehicle to be the same color as or similar to the color of the grass or objects surrounding the hiding place by controlling the color of a display element arranged on the outer surface of the body of the first vehicle. This makes it difficult to find the hiding first vehicle. (5) When the at least one controller finds a second vehicle after the first vehicle has started moving from the hiding place, the at least one controller may assist the driving of the first vehicle to travel near other vehicles similar to the first vehicle or large vehicles. This makes it possible to prevent the first vehicle from being found by the second vehicle after hiding.

[0050] (6) The first vehicle is a service vehicle that provides a transportation service for transporting users in response to vehicle dispatch requests from the users, and the at least one controller may execute a process of assisting the driving of other service vehicles similar to the first vehicle so that the other service vehicles move and stop near the current location of the first vehicle, and a process of assisting the driving of the first vehicle so that the first vehicle hides in a parking space near the other service vehicles. This makes it difficult to find the hiding first vehicle.

[0051] (7) At least one controller may assist the driving of the first vehicle so that the first vehicle hides at the hiding location when it is predicted that the delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location will be equal to or less than a predetermined allowable delay. When the at least one controller predicts that the delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location will be equal to or greater than the predetermined allowable delay, the at least one controller may determine, based on a user input, whether to not hide at the hiding location or to stay at the hiding location even if the delay exceeds the allowable delay. The at least one controller may notify the user of the delay. The at least one controller may accept a user input selecting either not to hide at the hiding location or to stay at the hiding location even if the delay exceeds the allowable delay, at the time it is predicted that the delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location will be equal to or greater than the predetermined allowable delay, or in advance. This prevents user dissatisfaction due to a delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location.

[0052] (8) When the at least one controller detects that the first vehicle is being tailgated by the second vehicle or that the first vehicle is being attacked by an occupant of the second vehicle, the at least one controller may notify the police. This can facilitate an early resolution of the tailgating. (9) The at least one controller may notify the user that it has assisted the first vehicle in hiding in a hiding place or that it has notified the police. This can reduce the user's anxiety caused by tailgating.

[0053] REFERENCE SIGNS LIST 1... Vehicle dispatch system, 2... Server device, 3, 3A, 3B... Service vehicles, 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 execute the following processes: a process for detecting whether a first vehicle is being tailgated by a second vehicle or whether the first vehicle is being attacked by an occupant of the second vehicle; a process for detecting a hiding location where the first vehicle can hide; and a process for assisting the driving of the first vehicle so that the first vehicle hides in the hiding location when the first vehicle is being tailgated by the second vehicle or the first vehicle is being attacked by an occupant of the second vehicle.

2. The information processing method described in claim 1, characterized in that the at least one controller detects a timing when the first vehicle is in a blind spot as seen from the second vehicle as a hiding timing, and assists the driving of the first vehicle so that the first vehicle hides in the hiding location at the hiding timing.

3. The information processing method described in claim 2, characterized in that the latency timing is immediately after the first vehicle turns right or left at an intersection, when the first vehicle is traveling on a road with heavy traffic, or when a large vehicle, train, or tram passes by the first vehicle.

4. An information processing method according to any one of claims 1 to 3, wherein the hiding place is a parking space near a parked vehicle of the same model, same model number, same size or same color as the first vehicle, a parking space near a parked vehicle of a similar model, similar size or similar color to the first vehicle, a parking space near a parked or stopped large vehicle, or a parking space near a tree, bush or building that shields the first vehicle from the second vehicle.

5. The information processing method described in claim 4, characterized in that the at least one controller changes the color of the body of the first vehicle to be the same color as or similar to the color of the grass or objects surrounding the hiding place by controlling the color of a display element arranged on the outer surface of the body of the first vehicle.

6. An information processing method as described in any one of claims 1 to 5, characterized in that, when the at least one controller detects the second vehicle after the first vehicle has started to move from the hiding place, it assists the driving of the first vehicle so that it travels near other vehicles similar to the first vehicle or large vehicles.

7. The information processing method described in any one of claims 1 to 6, characterized in that the first vehicle is a service vehicle provided for a transportation service that transports the user in response to the user's vehicle dispatch request, and the at least one controller executes a process of assisting the driving of another service vehicle similar to the first vehicle so that the other service vehicle moves close to the current position of the first vehicle and stops there, and a process of assisting the driving of the first vehicle so that the first vehicle hides in a parking space near the other service vehicle.

8. An information processing method according to any one of claims 1 to 7, characterized in that the at least one controller assists the driving of the first vehicle so that the first vehicle hides at the hiding location when it is predicted that the delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location will be less than a predetermined allowable delay.

9. The information processing method described in claim 8, characterized in that, when the at least one controller predicts that the delay in the arrival time of the first vehicle at its destination due to hiding in the hiding location will be equal to or greater than a predetermined allowable delay time, it decides, based on user input, whether to not hide in the hiding location or to hide in the hiding location 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 hide at the hiding location or to hide at the hiding location even if the delay time exceeds the allowable delay time, at a time when it is predicted that the delay in the arrival time of the first vehicle at the destination due to hiding at the hiding location will be equal to or greater than a predetermined allowable delay time, or in advance.

12. An information processing method described in any one of claims 1 to 10, characterized in that the at least one controller reports to the police when it detects that the first vehicle is being tailgated by the second vehicle or that the first vehicle is being attacked by an occupant of 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 it has assisted the driving of the first vehicle so that the first vehicle hides at the hiding place, or that it has notified the police.

14. An information processing device comprising at least one controller that executes the following processes: a process for detecting whether a first vehicle is being tailgated by a second vehicle or whether the first vehicle is being attacked by an occupant of the second vehicle; a process for detecting a hiding location where the first vehicle can hide; and a process for assisting the driving of the first vehicle so that the first vehicle hides in the hiding location when the first vehicle is being tailgated by the second vehicle or the first vehicle is being attacked by an occupant of the second vehicle.

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