Vehicle train, operation planning device, linking operation system, ride-sharing service providing method, operation planning method, and operation planning program

Abstract

Each vehicle in a vehicle train (90) comprising a vehicle group consisting of a plurality of vehicles is either a towing vehicle (100) included in a towing-vehicle group or a towed vehicle (200) included in a towed-vehicle group. The vehicles of the vehicle group are linked in series along the travel direction of the vehicle train (90). A towing vehicle (100) included in the towing-vehicle group is disposed at the head of the vehicle train (90) in the travel direction of the vehicle train (90). Each towing vehicle (100) in the towing-vehicle group travels by automatic driving. Each towed vehicle (200) in the towed-vehicle group is an ultra-compact mobility vehicle and travels by the power of the towing vehicles (100) in the towing-vehicle group while traveling in the vehicle train (90).

Description

Vehicle train, operation planning device, coupled operation system, ride-sharing service providing method, operation planning method, and operation planning program

[0001] The present disclosure relates to a vehicle train, an operation planning device, a coupled operation system, a ride-sharing service providing method, an operation planning method, and an operation planning program.

[0002] In Japan, outside urban areas, public transportation is basically not sufficiently developed, so it is particularly necessary to provide means of transportation for vulnerable road users. As such means of transportation, driverless buses and ride-sharing services have been considered. Patent Document 1 discloses a mobile body capable of autonomous driving, a passenger vehicle towed by the mobile body, and a loading platform. Also, ride-sharing by the mobile body is suggested.

[0003] Japanese Patent Application Laid-Open No. 2015-092320

[0004] Driverless buses have the problem that the initial cost and operating cost are relatively high. Also, in conventional ride-sharing services, a shortage of drivers has occurred or may occur due to aging, etc., and thus there is a possibility that it may not be a fundamental solution depending on the region. Also, in order to lower the hurdle for introducing means of transportation, it is desirable to utilize vehicles that can be owned or possessed by individuals or families. The present disclosure aims to provide a means of transportation that utilizes vehicles with relatively low initial and operating costs, does not require a driver, and can be owned or possessed by individuals or families, particularly for vulnerable road users.

[0005] The vehicle convoy according to this disclosure is a vehicle convoy comprising a group of vehicles, wherein each vehicle in the group is either a towing vehicle included in a group of towing vehicles consisting of one or more towing vehicles, or a towed vehicle included in a group of towed vehicles consisting of one or more towed vehicles, each vehicle in the group is connected in series along the direction of travel of the vehicle convoy, a towing vehicle included in the group of towing vehicles is positioned at the front of the vehicle convoy in the direction of travel of the vehicle convoy, each towing vehicle in the group of towing vehicles drives by automatic driving, and each towed vehicle in the group of towed vehicles is an ultra-compact mobility vehicle that drives using the power of each towing vehicle in the group of towing vehicles while the vehicle convoy is in motion.

[0006] The vehicle convoy described herein consists of one or more towing vehicles and one or more towed vehicles. Each towing vehicle operates autonomously. Each towed vehicle is an ultra-compact mobility vehicle. Since each towing vehicle only needs to be able to tow an ultra-compact mobility vehicle, the initial and operating costs of each towing vehicle are relatively low. The initial and operating costs of each towed vehicle are also relatively low. Furthermore, ultra-compact mobility vehicles are vehicles that can be owned or occupied by individuals or households. Therefore, according to this disclosure, it is possible to provide a means of transportation that utilizes vehicles that have relatively low initial and operating costs, do not require a driver, and can be owned or occupied by individuals or households, particularly for those with limited mobility.

[0007] A diagram showing an example configuration of the coupled operation system 50 according to Embodiment 1. A table showing the user reservation list information 91 according to Embodiment 1. A table showing the operation plan according to Embodiment 1. A diagram showing an example configuration of the vehicle train 90 according to Embodiment 1. A diagram explaining the vehicle train 90 according to Embodiment 1, where (a) is a diagram showing the vehicle train 90 and (b) is a diagram showing the towed vehicle 200. A diagram showing an example configuration of the towing vehicle 100 according to Embodiment 1. A diagram explaining the control of the towed vehicle 200 according to Embodiment 1, where (a) is a diagram showing the case where the towed vehicle 200 is steered and (b) is a diagram showing the case where the towed vehicle 200 is not steered. A diagram explaining the control of the towed vehicle 200 according to Embodiment 1. A diagram explaining the coupling process according to Embodiment 1. A diagram showing an example hardware configuration of the operation planning device 80 according to Embodiment 1. A flowchart showing the operation of the coupled operation system 50 according to Embodiment 1. A diagram showing an example of the operation of the vehicle train 90 according to Embodiment 1. A diagram showing an example of the operation of the vehicle train 90 according to Embodiment 1. A diagram showing an example of the operation of the vehicle train 90 according to Embodiment 1. This figure shows an example of the hardware configuration of the operation planning device 80 according to a modified example of Embodiment 1.

[0008] In the description and drawings of the embodiments, the same elements and corresponding elements are denoted by the same reference numeral. The descriptions of elements denoted by the same reference numeral are omitted or simplified as appropriate. The arrows in the figures mainly indicate the flow of data or processing. Also, "part" may be read as "circuit," "device," "equipment," "process," "step," "procedure," "processing," or "circuitry" as appropriate. The functions of each part of each device may be realized by firmware, software, hardware, or a combination thereof.

[0009] Embodiment 1. This embodiment will be described in detail below with reference to the drawings.

[0010] ***Configuration Description*** Figure 1 shows an example configuration of the coupled operation system 50 according to this embodiment. As shown in this figure, the coupled operation system 50 includes an operation planning device 80 and a train of vehicles 90. The coupled operation system 50 may also include a reservation system and a payment center as shown in [Reference 1]. The coupled operation system 50 is also called a coupled operation reservation and planning system.

[0011] The operation planning device 80 includes a plan generation unit 81 and a communication unit 82. The operation planning device 80 may also include a fare calculation unit as shown in [Reference 1]. The operation planning device 80 may also use the database used by the operation planning device as shown in [Reference 1].

[0012] [Reference 1] Japanese Patent Publication No. 2023-090052

[0013] The plan generation unit 81 generates an operation plan in which the train of vehicles 90 operates within the target area in a manner that satisfies at least one of the reservations indicated in the reservation list information 91, based on the reservation list information 91 and a map indicating the target area. More specifically, the plan generation unit 81 generates an operation plan based on the operating status of the train of vehicles 90, 3D map information for autonomous driving, an existing operation plan for the train of vehicles 90, the reservation list information 91, and the position of each vehicle, and generates operation plan information indicating the generated operation plan. In this case, the plan generation unit 81 may generate a new operation plan, or it may generate an operation plan by appropriately modifying an existing operation plan. In other words, generating an operation plan includes modifying the operation plan. The 3D map information corresponds to a map indicating the target area. The plan generation unit 81 may generate an operation plan in a manner that adopts as many of the reservations indicated in the reservation list information 91 as possible. With regard to operation plans corresponding to ride-sharing services, the plan generation unit 81 may generate an operation plan in the same manner as the plan generation unit shown in [Reference 1]. The plan generation unit 81 may appropriately modify the operation plan of the train 90 if there are additions, modifications, or deletions of reservations during the operation of the train 90. As a specific example, the process when the operation plan of the train 90 is generated as an existing operation plan and a reservation corresponding to the train 90 is added to the reservation list information 91 as a new reservation will be described. In this case, the plan generation unit 81 calculates the similarity between the existing operation plan and the new reservation. If the similarity is equal to or greater than the modifiable similarity, the plan generation unit 81 generates a modified operation plan in which the train 90 operates within the target area, based on the location of the train 90, each reservation corresponding to the existing operation plan, the new reservation, and the map, so as to satisfy each reservation corresponding to the existing operation plan and the new reservation. The plan generation unit 81 changes the operation plan of the train 90 from the existing operation plan to the modified operation plan. The similarity is, as a specific example, the similarity in [Reference 1]. The modifiable similarity may be defined in any way.

[0014] The operation plan is a plan for the operation of each vehicle and the train of vehicles 90. The length of the train of vehicles 90 may be changed during the operation. When the length of the train of vehicles 90 is not changed during the operation, as a specific example, the operation plan includes the route of the train of vehicles 90, the time when the train of vehicles 90 departs from its starting point, each stop of the train of vehicles 90, the time when the train of vehicles 90 passes through each stop, and the time when the train of vehicles 90 arrives at its destination. Time zones may be used for each time. Each stop is the point where each user boards a passenger vehicle, the point where each user disembarks from a passenger vehicle, the point where each cargo is loaded onto a cargo vehicle, or the point where cargo is unloaded from a cargo vehicle. The vehicles connected to the train of vehicles 90 may be changed as appropriate according to the maximum number of passengers and maximum cargo capacity during the operation. In cases where the length of the train 90 is changed along the way, as a specific example, the operation plan includes the route of the train 90, the time the train 90 departs from its starting point, the time the train 90 passes through each intermediate point, the time the train 90 arrives at its destination, the departure time of each towed vehicle 200, the towed vehicles 200 that connect at each intermediate point, the towed vehicles 200 that detach at each intermediate point, and the destination of the towed vehicles 200 that detach at each intermediate point. In this case, the train 90 may consist only of towing vehicles 100 near the starting point and at the destination. The positions where each vehicle in the train 90 is connected may be determined appropriately based on each vehicle connected to the train 90 in the operation plan and each vehicle that detaches from the train 90 in the operation plan, so as simple as possible the overall connection and detachment processes during the operation of the train 90. The operation plan may be a combination of an operation plan for when the length of the train 90 does not change along the way and an operation plan for when the length of the train 90 changes along the way. In this case, each vehicle that is coupled along the way may be used as a vehicle for ride-sharing service. The operation plan may include plans for coupling other trains 90 to train 90 and plans for uncoupling trains 90 from train 90, and may also include operation plans for two or more trains 90.The operation plan may include the configuration of the train 90 at each point. The operation plan for each towed vehicle 200 that makes up the train 90 may be generated separately from the operation plan for the train 90 as a whole. The expression "operation plan for train 90" is a general term encompassing both the operation plan for the train 90 as a whole and the operation plans for each vehicle that makes up the train 90.

[0015] The reservation list information 91 is information that indicates each reservation. Figure 2 shows a specific example of the reservation list information 91. Figure 3 shows an example of an operation plan corresponding to Figure 2. A reservation is a reservation for a user to use the train 90. A reservation corresponding to a target user may include, as a specific example, information indicating the departure point, departure time, destination, arrival time, purpose, and whether or not the target user will use a towed vehicle 200 owned or occupied by the target user when using the train 90. The target user is each individual user. The reservation may also include detailed information about the towed vehicle 200. The detailed information about the towed vehicle 200 may, as a specific example, indicate the size of the towed vehicle 200 and the maximum speed of the towed vehicle 200. If the target user does not use a towed vehicle 200 owned or occupied by the target user, the target user will use a vehicle that is already in the train 90 at the time of the user's use. The reservation does not necessarily include an arrival time. Each reservation may be the same as the boarding reservation shown in [Reference 1].

[0016] Each reservation may be a reservation to use the ride-sharing service using the train of vehicles 90. The following paragraph will explain the case where each reservation is a reservation to use the ride-sharing service using the train of vehicles 90. The departure point corresponding to each reservation is the point where the user corresponding to each reservation boards the train of vehicles 90. The destination point corresponding to each reservation is the point where the user corresponding to each reservation disembarks from the train of vehicles 90. Each stop of the train of vehicles 90 in the operation plan is either the departure point or the destination point of the user corresponding to at least one reservation.

[0017] Each reservation may be a reservation to use the train 90 using an individual mobile vehicle that will become the towed vehicle 200 of the towed vehicle group. In the following paragraph, we will explain the case where each reservation is a reservation to use the train 90 using an individual mobile vehicle that will become the towed vehicle 200 of the towed vehicle group. The plan generation unit 81 includes in the operation plan the departure point and departure time of the individual mobile vehicle corresponding to the target reservation, the point and time at which the individual mobile vehicle corresponding to the target reservation connects to the train 90, and the travel route of the individual mobile vehicle corresponding to the target reservation from the departure point to the point at which the individual mobile vehicle corresponding to the target reservation connects to the train 90. In addition, if the individual mobile vehicle corresponding to the target reservation leaves the train 90 before arriving at the destination of the train 90, the plan generation unit 81 includes in the operation plan the point and time at which the individual mobile vehicle corresponding to the target reservation leaves the train 90, and the travel route of the individual mobile vehicle corresponding to the target reservation after it has left the train 90. The target reservation is each reservation in at least one other reservation. The departure point corresponding to the target reservation is the point where the user corresponding to the target reservation begins using the individual vehicle corresponding to the target reservation. The destination point corresponding to the target reservation is the point where the user corresponding to the target reservation ends using the individual vehicle corresponding to the target reservation. Each stop in the vehicle convoy 90 in the operation plan is either the point where the individual vehicle corresponding to the target reservation connects to the vehicle convoy 90, or the point where the individual vehicle corresponding to the target reservation leaves the vehicle convoy 90.

[0018] The vehicle convoy 90 can be used for two purposes: transporting passengers and transporting luggage. The passengers using the vehicle convoy 90 may use a ride-sharing service or have a towed vehicle 200 owned or occupied by the passenger towed. The specific uses are either "passenger transport" or "luggage transport." When the use is "passenger transport," the reservation may include the number of passengers. In this case, the reservation may also include information related to the passenger's needs, such as wheelchair use. If the passenger needs are specified in the reservation, a towed vehicle 200 capable of fulfilling the specified needs will be connected to the vehicle convoy 90. When the use is "luggage transport," the reservation may include the number of luggage items and the size of each item. In this case, the reservation may also include information related to the luggage transport needs, such as whether freezing or refrigeration is required. If the luggage transport needs are specified in the reservation, a towed vehicle 200 capable of fulfilling the specified needs will be connected to the vehicle convoy 90. There is essentially an arbitrary range for both the departure time and the arrival time. In other words, the departure time refers to the period from the start time to the end time of the time when the user wishes to begin using the vehicle convoy 90 or towed vehicle 200 at the departure point. The arrival time refers to the period from the start time to the end time of the time when the user wishes to end using the vehicle convoy 90 or towed vehicle 200 at the destination point.

[0019] Users may transmit information indicating their reservation for the train 90 by operating an application installed on their smartphone or other device. Alternatively, an application may be installed on the device of the towed vehicle 200, and users may transmit information indicating their reservation for the train 90 by operating the application through the screen of the towed vehicle 200. It should be noted that it may not be possible to operate the train 90 in accordance with the user's wishes. In this case, the user may modify their reservation or cancel their reservation.

[0020] The communication unit 82 receives information from users indicating a reservation for the train 90 and transmits operation plan information to the train 90, which indicates the operation plan generated by the plan generation unit 81. Each received reservation is managed by the reservation list information 91. If the operation plan for the train 90 is changed from the existing operation plan to a revised operation plan, the communication unit 82 may notify each user corresponding to the existing operation plan of the times at each stopover point used by each user in the revised operation plan.

[0021] Figures 4 and 5(a) show an example configuration of a train of vehicles 90. The train of vehicles 90 comprises a group of vehicles. The train of vehicles 90 operates according to the operation plan for the train of vehicles 90 generated by the operation planning device 80. Each vehicle in the group of vehicles is either a towing vehicle 100 included in the towing vehicle group or a towed vehicle 200 included in the towed vehicle group. The towing vehicle group consists of one or more towing vehicles 100. Each towing vehicle 100 in the towing vehicle group operates by automatic driving. The towed vehicle group consists of one or more towed vehicles 200. At least one towed vehicle 200 in the towed vehicle group may carry a person. Each vehicle in the group of vehicles is connected in series along the direction of travel of the train of vehicles 90. At the front of the train of vehicles 90 in the direction of travel of the train of vehicles 90 is a towing vehicle 100 included in the towing vehicle group. The term "vehicle" is sometimes used as a general term for the towing vehicles 100 and the towed vehicles 200. If each vehicle in the train of vehicles 90 has a front and rear, the front of each vehicle in the train of vehicles 90 and the front of the train of vehicles 90 may be aligned with respect to the direction of travel of the train of vehicles 90. In cases where the power 120 of one towing vehicle 100 is insufficient to tow all the towed vehicles 200 that make up the train of vehicles 90, the train of vehicles 90 may consist of multiple towing vehicles 100. Some of the vehicles that make up the train of vehicles 90 may function as towing vehicles 100 at one point in time and as towed vehicles 200 at another point in time. The direction of travel of the train of vehicles 90 is from the rear to the front of the train of vehicles 90. The direction of travel of the train of vehicles 90 may also be along a curve corresponding to the trajectory of the train of vehicles 90. The front and rear of the train of vehicles 90 are appropriately determined based on the structure of the towing vehicles 100 and the towed vehicles 200. The train of vehicles 90 may travel in the direction of travel, both forward and backward. When there are two or more towing vehicles 100 in a single train of vehicles 90, each towing vehicle 100 other than the leading towing vehicle 100 may be positioned anywhere in the train of vehicles 90. It is possible to connect one or more vehicles between two adjacent vehicles in the train of vehicles 90, or at the rear or front of the train of vehicles 90.Any one or more vehicles that make up the vehicle convoy 90 can detach from the vehicle convoy 90. A vehicle convoy to which one or more vehicles have been newly attached is also called vehicle convoy 90. A vehicle convoy from which one or more vehicles have detached is called vehicle convoy 90 if it includes one or more towing vehicles 100 and one or more towed vehicles 200. However, a towing vehicle 100 is assumed to be at the front of the vehicle convoy 90 in the direction of travel. There are no particular restrictions on the attachment and detachment of each vehicle. Specifically, each vehicle attached to vehicle convoy 90 does not need to detach from vehicle convoy 90 during the operation of vehicle convoy 90, and each vehicle that has detached from vehicle convoy 90 may be attached to vehicle convoy 90 again. Vehicle convoy 90 may be used for ride-sharing services. A method of providing ride-sharing services using vehicle convoy 90 is considered a method of providing ride-sharing services. When the train 90 is not in operation, each vehicle may be stored in a vehicle pool, a parking lot of a facility, or a parking lot of a private home. The train 90 may operate according to a static timetable from a departure point to a destination point, or it may operate according to a dynamically generated timetable in response to reservations or demand forecasts. Vehicle pools are, for example, located on the premises of an administrative facility or on the premises of a company that manages each vehicle. There may be multiple vehicle pools, and the train 90 may consist of multiple vehicles stored in multiple vehicle pools.

[0022] The towing vehicle 100 is equipped with a coupling operation control system 110, a power unit 120, and a coupler 130. The towing vehicle 100 is capable of automatic operation and is equipped with various devices to achieve automatic operation according to the operation plan. When operating automatically, the towing vehicle 100 utilizes various data to achieve automatic operation according to the operation plan. Specific examples of these devices include various sensors for observing the area around the towing vehicle 100 and various sensors for measuring the position of the towing vehicle 100. Specific examples of the data include 3D map information, information indicating the planned trajectory of the towing vehicle 100, and time information. The planned trajectory is a general term encompassing the planned trajectory of a single vehicle and the planned trajectory of a coupled vehicle. The planned trajectory of a single vehicle is the planned trajectory of each vehicle when each vehicle operates independently. The planned trajectory of a coupled vehicle is the planned trajectory of the vehicle train 90. The number of wheels on the towing vehicle 100 is, for example, three or four. The towing vehicle 100 may be capable of carrying a person. The towing vehicle 100 may also be capable of carrying cargo. The towing vehicle 100 may be capable of being driven by human operation. The size of the towing vehicle 100 is, as a specific example, a size that meets the standards for ultra-compact mobility, as shown in Figure 6. Figure 6 shows an example of a towing vehicle 100 with a seating capacity of two people. The towing vehicle 100 may also be an ultra-compact mobility vehicle similar to the towed vehicle 200.

[0023] The coupling operation control system 110 includes an automatic driving unit 111, a coupling instruction unit 112, an upper speed limit change unit 113, and a communication unit 114.

[0024] During coupled driving, the automatic driving unit 111 first calculates the planned coupled driving trajectory based on the operation plan of the train 90 generated by the operation planning device 80 and 3D map information, and generates coupled driving control information indicating the calculated planned coupled driving trajectory. Subsequently, the automatic driving unit 111 controls the towing vehicle 100 based on the coupled driving control information, estimates the position of the towing vehicle 100 based on various sensor information mounted on the towing vehicle 100, and performs automatic driving responsibilities such as avoiding hazardous objects and following all vehicles. At this time, the automatic driving unit 111 may also utilize various sensor information mounted on other vehicles. The automatic driving unit 111 is also called the automatic driving calculation unit.

[0025] The coupling instruction unit 112 instructs the automatic driving unit 111 and the coupler 130, etc., to couple the towing vehicle 100 with the vehicle to be coupled, or to detach the towing vehicle 100 from the vehicle to be coupled, according to the operation plan. The vehicle to be coupled is a different vehicle from the towing vehicle 100 equipped with the coupling instruction unit 112. As a specific example, the coupling instruction unit 112 instructs the automatic driving unit 111 to move the towing vehicle 100 so that the towing vehicle 100 is coupled with the vehicle to be coupled, and instructs the coupler 130 to perform a coupling lock. At this time, the coupling instruction unit 112 may transmit data indicating the position and movement plan of the towing vehicle 100 to the vehicle to be coupled via the communication unit 114, and may also receive data indicating the position and movement plan of the vehicle to be coupled. The coupling instruction unit 112 may instruct the movement of the towing vehicle 100 and the timing of coupling lock based on the inference results of the AI ​​(Artificial Intelligence) which has learned the movements of each vehicle in the coupling process. In addition, as a specific example, the coupling instruction unit 112 may instruct the automatic driving unit 111 to move the towing vehicle 100 to detach the vehicle to be coupled from the towing vehicle 100, and instruct the coupler 130 to release the coupling lock.

[0026] The upper speed limit change unit 113 changes the upper speed limit of the towing vehicle 100 according to the driving pattern of the vehicle convoy 90, user settings, or traffic regulations. The upper speed limit of the vehicle convoy 90 is, for example, 20 km / h or 30 km / h. The upper speed limit of the towing vehicle 100 alone may be higher than the upper speed limit of any of the towed vehicles 200 in the group of towed vehicles. The upper speed limit of the towing vehicle 100 alone may be higher than the upper speed limit of the vehicle convoy 90. The upper speed limit of the vehicle convoy 90 may be higher than the upper speed limit of any of the towed vehicles 200 in the group of towed vehicles. The upper speed limit of the towing vehicle 100 alone is, for example, 60 km / h.

[0027] The communication unit 114 communicates with the operation planning device 80 as appropriate. The communication unit 114 may also communicate with a vehicle other than the towing vehicle 100 equipped with the communication unit 114, or it may communicate with a communication terminal owned by the user.

[0028] The power source 120 is the power source that drives the towing vehicle 100, and also the power source that pulls the train of vehicles 90. The power source 120 may be a motor or an engine. The power source 120 may be the power source that drives all the wheels of the towing vehicle 100, or it may be the power source that drives only the two front or two rear wheels of the towing vehicle 100.

[0029] The coupler 130 is a device for connecting with the coupler of another vehicle. The towing vehicle 100 may be equipped with a coupler 130 not only at the rear of the towing vehicle 100, but also at the front of the towing vehicle 100.

[0030] The towed vehicle 200 is equipped with a standalone operation control system 210, a power unit 220, and a coupler 230. The towed vehicle 200 may be capable of autonomous driving. If the towed vehicle 200 is capable of autonomous driving, it is equipped with various devices for achieving autonomous driving and utilizes various data for achieving autonomous driving. The towed vehicle 200 may be driven by the operation of a person riding in it, or by remote control. The towed vehicle 200 is an ultra-compact mobility vehicle. The towed vehicle 200 may be a small vehicle mainly targeting the elderly. The towed vehicle 200 may be a passenger vehicle capable of carrying one or two people, a cargo vehicle capable of carrying luggage, a vehicle capable of carrying passengers and luggage, a vehicle that carries a drone, or a drone launch vehicle. Figure 5(b) shows an example of a towed vehicle 200 that is a passenger vehicle capable of carrying one person. The towed vehicle 200 may be a passenger vehicle capable of carrying two people, as shown in the towing vehicle 100 in Figure 5(a). The towed vehicle 200 may have two wheels, three, or four wheels. The number of wheels on the towed vehicle 200 may differ between when it is being towed and when it is traveling independently. At the coupling point where the vehicle to be coupled, which will become the towed vehicle 200 of the towed vehicle group, is coupled to the train 90, the vehicle to be coupled is automatically controlled to be the last vehicle in the train 90 in the direction of travel, or between two adjacent vehicles in the train 90. At the departure point where the vehicle to be decoupled leaves the train 90, the vehicle to be decoupled is automatically controlled to leave the train 90. The vehicle to be decoupled is the towed vehicle 200 that is included in the towed vehicle group and decouples from the train 90. Furthermore, if the vehicle to be withdrawn is not the last vehicle in the vehicle train 90 in the direction of travel, after the vehicle to be withdrawn has left the vehicle train 90, the vehicle in front of the vehicle to be withdrawn in that direction of travel and the vehicle behind the vehicle to be withdrawn in that direction of travel will be coupled together. When the towed vehicle 200 is coupled to the vehicle train 90, the towed vehicle 200 does not run on the power 220, but runs on the power of each towing vehicle 100, that is, it is towed by each towing vehicle 100.In this case, the towed vehicle 200 may travel (or be towed) at a speed exceeding the upper speed limit of the towed vehicle 200. Furthermore, when towed, the towed vehicle 200 may appropriately perform control of its body or wheels for the purpose of improving safety or improving user comfort. The ultra-compact mobility is the ultra-compact mobility specified in [Reference 2] and [Reference 3] as specific examples. That is, as a specific example, the specifications of the ultra-compact mobility are such that the length is 3.4 m or less, the width is 1.48 m or less, and the height is 2.0 m or less. However, the specifications of the ultra-compact mobility referred to in this application may slightly exceed the specifications specified in [Reference 3].

[0031] [Reference 2] "Guidelines for the Introduction of Ultra-Compact Mobility Vehicles - Towards the Realization of a New Social Life Through the Development and Utilization of New Mobility," Ministry of Land, Infrastructure, Transport and Tourism, Urban Bureau and Automobile Bureau, June 2012. [Reference 3] "About Ultra-Compact Mobility Vehicles," [online] Ministry of Land, Infrastructure, Transport and Tourism, [Accessed November 11, 2024], Internet <URL: https: / / www.mlit.go.jp / jidosha / jidosha_fr1_000043.html>

[0032] The standalone operation control system 210 includes an automatic driving unit 211, a coupling instruction unit 212, an upper speed limit change unit 213, and a communication unit 214.

[0033] When driving independently, the automatic driving unit 211 first calculates the planned independent driving trajectory based on the operation plan of the towed vehicle 200 generated by the operation planning device 80 and 3D map information, and generates independent driving control information indicating the calculated planned independent driving trajectory. Subsequently, the automatic driving unit 211 controls the towed vehicle 200 based on the independent driving control information, estimates the position of the towed vehicle 200 based on various sensor information mounted on the towed vehicle 200, and performs the responsibilities of automatic driving, such as avoiding hazardous objects. The automatic driving unit 211 may share coupled driving control information with the automatic driving unit 111. The automatic driving unit 211 is also called the automatic driving calculation unit. The towed vehicle 200 may drive to the coupling point by user operation, or it may drive to the coupling point under the control of the automatic driving unit 211. The towed vehicle 200 may drive from the detachment point by user operation, or it may drive from the detachment point under the control of the automatic driving unit 211.

[0034] Each towed vehicle 200 in the towed vehicle group may steer in accordance with the change in direction of each towed vehicle 200 when the vehicle train 90 changes direction. Specifically, the automatic driving unit 211 may generate steering information during coupled driving. The steering information is information indicating the steering of the towed vehicle 200 when entering a curve or turning left or right. The steering information may be static information generated based on the planned coupled driving trajectory, or it may be information dynamically generated during driving based on speed sensor data, acceleration sensor data, gyro sensor data, 3D map information, etc. The steering information may be information indicating steering control of all wheels of the towed vehicle 200, or it may be information indicating steering control of some of the wheels of the towed vehicle 200. When steering information is generated, steering control is executed as appropriate during coupled driving. When each towed vehicle 200 steers as appropriate, the vehicle train 90 can be made longer compared to when each towed vehicle 200 does not steer. Figure 7(a) shows the case where the towed vehicle 200 steers when changing direction. Figure 7(b) shows the case where the towed vehicle 200 does not steer when changing direction. When the towed vehicle 200 steers, as shown in Figure 7(a), the train of vehicles 90 can travel closer to the inside of the curve. On the other hand, when the towed vehicle 200 does not steer, as shown in Figure 7(b), the train of vehicles 90 needs to travel closer to the outside of the curve so that all towed vehicles 200 can turn the curve. Note that the automatic driving unit 211 may have the same functions as the automatic driving unit 111.

[0035] Each towed vehicle 200 in the towed vehicle group may tilt its body in accordance with the direction change of each towed vehicle 200 in response to the direction change of the vehicle train 90. Specifically, the automatic driving unit 211 may generate tilt information during coupled driving. The tilt information is information indicating the tilt of the vehicle body when entering a curve or turning left or right. As a specific example, the tilt of the vehicle body is set according to the turning trajectory so that the towed vehicle 200 is stable. The towed vehicle 200 may consist of an automatic driving chassis and a vehicle body, as shown in Figure 8. The vehicle body may be either a passenger vehicle body or a freight vehicle body and tilts by having a pendulum structure. The tilt information may be static information generated based on the planned coupled driving trajectory, or it may be information dynamically generated during driving based on speed sensor data, acceleration sensor data, gyro sensor data, 3D map information, etc.

[0036] The coupling instruction unit 212 is the same as the coupling instruction unit 112.

[0037] The upper speed limit change unit 213 is the same as the upper speed limit change unit 113. The upper speed limit of the towed vehicle 200 is, for example, 5 km / h or 6 km / h.

[0038] The communications unit 214 is the same as the communications unit 114.

[0039] Power source 220 is the power source that drives the towed vehicle 200. Power source 220 may be a motor or an engine. Power source 220 may drive all the wheels of the towed vehicle 100, or it may drive only the two front or rear wheels of the towed vehicle 100. The output of power source 220 may be less than the output of power source 120.

[0040] Coupler 230 is the same as coupler 130. Coupler 230 is present on at least one of the front and rear of the towed vehicle 200.

[0041] Each vehicle may be equipped with a camera to photograph the coupler, as shown in Figure 9. In this case, each part of each vehicle may use the camera to recognize the coupler of the vehicle to be coupled with, and perform power control to approach the vehicle to be coupled. In this case, the following coupling and uncoupling processes are performed as specific examples.

[0042] <Coupling Process> During the coupling process, first, the two vehicles to be coupled exchange control information and move closer together. Then, when the couplers of the two vehicles come into contact and the sensors inside the couplers detect coupling, a coupling lock is performed between the couplers of the two vehicles. The series of coupling processes are carried out automatically based on instructions from a remote location or from the coupling instruction unit 112. Specifically, the vehicle to be coupled is equipped with a camera that photographs the coupler on the vehicle to be coupled. In addition, each vehicle that is coupled to the vehicle to be coupled is equipped with a camera that photographs the coupler on the vehicle that is coupled to the vehicle to be coupled. At this time, the vehicle to be coupled is coupled to the train 90 by the coupler on the vehicle to be coupled and the couplers on each vehicle that is coupled to the vehicle to be coupled. Furthermore, the process of coupling the vehicle to be coupled to the train 90 is carried out based on the image taken by the camera on the vehicle to be coupled and the image taken by the camera on each vehicle that is coupled to the vehicle to be coupled.

[0043] <Release Process> When the coupling instruction unit 112 determines that coupling and uncoupling is possible based on the position information and sensor information of the two connected vehicles, the coupling lock 130 of the two connected vehicles is released. When one coupling lock is released in the train 90, the train 90 is separated into two groups of vehicles. Each group of vehicles consists of one or more vehicles. Next, the group of vehicles with fewer connected vehicles performs the uncoupling operation. In cases where both groups of vehicles consist of only one vehicle, both groups of vehicles may perform the uncoupling operation. Next, each vehicle whose coupling and uncoupling has been performed becomes capable of automatic operation, and the coupling lock sends coupling and uncoupling information to the coupling operation control system 110, etc. Next, each train 90 or each vehicle performs automatic operation according to the planned trajectory of automatic operation after coupling and uncoupling.

[0044] Figure 10 shows an example of the hardware configuration of the operation planning device 80 according to the present embodiment. The operation planning device 80 is composed of a computer. The operation planning device 80 may be composed of a plurality of computers.

[0045] As shown in this figure, the operation planning device 80 is a computer including hardware such as a processor 11, a memory 12, an auxiliary storage device 13, an input / output IF (Interface) 14, and a communication device 15. These hardware components are appropriately connected via a signal line 19.

[0046] The processor 11 is an IC (Integrated Circuit) that performs arithmetic processing and controls the hardware included in the computer. As a specific example, the processor 11 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit). The operation planning device 80 may include a plurality of processors that replace the processor 11. The plurality of processors share the role of the processor 11.

[0047] The memory 12 is typically a volatile storage device, and as a specific example, it is a RAM (Random Access Memory). The memory 12 is also called a main storage device or a main memory. The data stored in the memory 12 is saved in the auxiliary storage device 13 as needed.

[0048] The auxiliary storage device 13 is typically a non-volatile storage device, and as specific examples, it is a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 13 is loaded into the memory 12 as needed. The memory 12 and the auxiliary storage device 13 may be integrally configured.

[0049] Input / Output IF14 is a port to which input and output devices are connected. A specific example of an input / output IF14 is a USB (Universal Serial Bus) terminal. Specific examples of input devices include a keyboard and mouse. Specific examples of output devices include a display.

[0050] The communication device 15 consists of a receiver and a transmitter. A specific example of the communication device 15 is a communication chip or a NIC (Network Interface Card).

[0051] Each part of the operation planning device 80 may use the input / output IF 14 and the communication device 15 as appropriate when communicating with other devices.

[0052] The auxiliary storage device 13 stores the operation plan program. The operation plan program is a program that enables the computer to implement the functions of each part of the operation plan device 80. The operation plan program is loaded into memory 12 and executed by the processor 11.

[0053] Data used when executing the operation planning program, and data obtained by executing the operation planning program, are appropriately stored in the memory device. Each part of the operation planning device 80 makes appropriate use of the memory device. The memory device consists of, as a specific example, memory 12, auxiliary storage device 13, registers in the processor 11, and at least one of the cache memory in the processor 11. Note that the terms data and information may have the same meaning. The memory device may be independent of the computer. The functions of memory 12 and auxiliary storage device 13 may be realized by other memory devices.

[0054] The train schedule program may be recorded on a computer-readable non-volatile recording medium. Specific examples of non-volatile recording media include optical discs or flash memory. The train schedule program may also be provided as a program product.

[0055] The hardware configuration of the hardware that realizes each part of each vehicle may be the same as the hardware configuration of the operation planning device 80. Each vehicle may realize the functions of each part using multiple computers.

[0056] ***Explanation of Operation*** The operation procedure of the operation planning device 80 corresponds to the operation planning method. The program that implements the operation of the operation planning device 80 corresponds to the operation planning program. The operation procedure of each device in the coupled operation system 50 is sometimes called the coupled operation method. Also, the program that implements the operation of each device in the coupled operation system 50 is sometimes called the coupled operation program.

[0057] Figure 11 is a flowchart illustrating an example of the operation of the coupled operation system 50. This operation will be explained using Figure 11.

[0058] (Step S101) Each user registers a reservation to use the train 90 using an application or the like. The communication unit 82 receives each reservation and registers each received reservation in the reservation list information 91.

[0059] (Step S102) The plan generation unit 81 generates an operation plan for the train 90 that satisfies the constraints relating to at least some of the reservations indicated in the reservation list information 91. The communication unit 82 transmits operation plan information indicating the generated operation plan to the train 90. The communication unit 82 also appropriately transmits at least a portion of the operation plan information to each user corresponding to the generated operation plan.

[0060] (Step S103) Each vehicle constituting the train 90 receives operation plan information from the operation planning device 80 as appropriate. Also, if there are vehicles to be coupled to the train 90 while the train 90 is in operation, each vehicle to be coupled to the train 90 while the train 90 is in operation receives operation plan information from the operation planning device 80 as appropriate. After that, the train 90 performs automatic operation according to the operation plan. Also, if there are vehicles to be coupled to the train 90 while the train 90 is in operation, each vehicle to be coupled to the train 90 while the train 90 is in operation performs automatic operation according to the operation plan. Each vehicle moves to the coupling point in time for the scheduled coupling time according to the operation plan and is coupled to the train 90 at the coupling point. If necessary, each vehicle constituting the train 90 will detach from the train 90 at the detachment point.

[0061] Figures 12 to 14 show examples of the operation of the train 90 in each operating mode. The examples of the operation of the train 90 in each operating mode will be explained using Figures 12 to 14. In the examples shown in Figures 12 to 14, the operation plan of the train 90 may be generated in advance according to the usage reservations registered by each user, or it may be modified as appropriate according to usage reservations newly registered by each user during the operation of the train 90.

[0062] <Carpooling> Figure 12 shows an example of the operation of a vehicle convoy 90 when it operates as a carpooling service. In this example, the vehicle convoy 90 consists of one towing vehicle 100. The towing vehicle 100 has a passenger capacity of two people. The vehicle convoy 90 may also consist of one towing vehicle 100 and one or two towed vehicles 200. First, the vehicle convoy 90 departs from the vehicle pool and arrives at boarding point B. At boarding point B, person B boards the towing vehicle 100. Next, the vehicle convoy 90 departs from boarding point B and arrives at boarding point A. At boarding point A, person A boards the towing vehicle 100. Next, the vehicle convoy 90 departs from boarding point A and arrives at disembarking point A. At disembarking point A, person A disembarks from the towed vehicle 200. Next, the vehicle convoy 90 departs from disembarking point A and arrives at disembarking point B. At drop-off point B, person B disembarks from towed vehicle 200. Drop-off point B is a bus stop. Next, vehicle convoy 90 returns to the vehicle pool.

[0063] <Towed Vehicle Rendezvous 1> Figure 13 shows an example of the operation of vehicle train 90 when it performs a towed vehicle rendezvous. In this example, each towed vehicle 200 is a passenger vehicle. First, only the towing vehicle 100 departs from the vehicle pool and arrives at coupling point C. In parallel with the movement of the towing vehicle 100, Ms. C boards the towed vehicle 200 and heads from her home to coupling point C. The towed vehicle 200 is both a vehicle to be coupled and a vehicle traveling individually. At coupling point C, the towed vehicle 200 is coupled to the towing vehicle 100 to form vehicle train 90, and Ms. C begins using vehicle train 90. The maximum speed of the towing vehicle 100 is 20 km / h. The maximum speed of the towed vehicle 200 when traveling alone is 6 km / h. Next, vehicle train 90 departs from coupling point C and arrives at coupling point A. As the train of vehicles 90 moves, Mr. A boards the towed vehicle 200 and travels from his home to coupling point A. The towed vehicle 200 is considered both a vehicle to be coupled and a vehicle to move individually. At coupling point A, the towed vehicle 200 is coupled to the towing vehicle 100 to form the train of vehicles 90, and Mr. A begins using the train of vehicles 90. The maximum speed of the train of vehicles 90 is 20 km / h. Next, the train of vehicles 90 departs from coupling point A and arrives at disembarking point C. At disembarking point C, Mr. C disembarks from the towed vehicle 200. Next, the train of vehicles 90 departs from disembarking point C and heads towards the vehicle pool. Alternatively, two towed vehicles 200 may detach from the train of vehicles 90, with the towed vehicle 200 in which Mr. A was riding returning to Mr. A's home, the towed vehicle 200 in which Mr. C was riding returning to Mr. C's home, and the towing vehicle 100 returning to the vehicle pool.

[0064] <Towed Vehicle Rendezvous 2> Figure 14 shows another example of the operation of the vehicle convoy 90 when it performs a towed vehicle rendezvous. In this example, the vehicle convoy 90 includes a passenger vehicle and a cargo vehicle as towed vehicles 200. First, only the towing vehicle 100 departs from the vehicle pool and arrives at coupling point C. In parallel with the movement of the towing vehicle 100, Mr. C boards the towed vehicle 200 and heads from his home to coupling point C. At coupling point C, the towed vehicle 200 is coupled to the towing vehicle 100 to form the vehicle convoy 90. Next, the vehicle convoy 90 departs from coupling point C and arrives at loading point D. At loading point D, the towed vehicle 200 loaded with cargo is coupled to the vehicle convoy 90. Next, the vehicle convoy 90 departs from loading point D and arrives at disembarking point C. At disembarking point C, Mr. C disembarks from the towed vehicle 200. Next, the vehicle convoy 90 departs from drop-off point C and arrives at unloading point D. At unloading point D, the towed vehicle 200 carrying the cargo separates from the vehicle convoy 90. Next, the vehicle convoy 90 departs from unloading point D and arrives at Mr. C's home. At Mr. C's home, the towed vehicle 200 in which Mr. C was riding separates from the vehicle convoy 90. After that, the towing vehicle 100 returns to the vehicle pool.

[0065] ***Explanation of the effects of Embodiment 1*** This embodiment is a technology that combines a ride-sharing service with ultra-compact mobility. When an autonomous bus is used as a means of transportation for vulnerable road users, the wide width of the autonomous bus may hinder smooth traffic flow. On the other hand, according to this embodiment, since a vehicle convoy 90 with a relatively narrow width is used, the risk of hindering smooth traffic flow is relatively low even when the vehicle convoy 90 operates on a relatively narrow road where it is difficult or impossible for a bus to pass. In addition, since the vehicle convoy 90 travels at a relatively low speed, the safety of the vehicle convoy 90 is relatively high.

[0066] Ultra-compact mobility vehicles are vehicles that can be owned or occupied by individuals or households. Therefore, a specific organization or local government does not need to collectively own each vehicle that makes up the vehicle convoy 90. Also, since the towed vehicle 200 is relatively inexpensive, it is realistic for many households to own a towed vehicle 200. Therefore, the hurdles to introducing the vehicle convoy 90 are considered to be relatively low. Furthermore, each vehicle in the vehicle convoy 90 is relatively small. Therefore, each vehicle can be transported relatively easily between vehicle pools, and each vehicle can be transported relatively easily to individual households, etc. Also, each vehicle can be stored relatively easily.

[0067] ***Other Configurations*** <Modification 1> Figure 15 shows an example of the hardware configuration of the operation planning device 80 according to this modification. The operation planning device 80 includes a processing circuit 18 instead of a processor 11, a processor 11 and memory 12, a processor 11 and auxiliary storage device 13, or a processor 11, memory 12 and auxiliary storage device 13. The processing circuit 18 is hardware that realizes at least a part of each part of the operation planning device 80. The processing circuit 18 may be dedicated hardware, or it may be a processor that executes a program stored in memory 12.

[0068] If the processing circuit 18 is dedicated hardware, the processing circuit 18 may, in specific examples, be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The operation planning device 80 may also include multiple processing circuits that substitute for the processing circuit 18. The multiple processing circuits share the role of the processing circuit 18.

[0069] In the operation planning device 80, some functions may be implemented by dedicated hardware, while the remaining functions may be implemented by software or firmware.

[0070] The processing circuit 18 can be implemented, in specific examples, by hardware, software, firmware, or a combination thereof. The processor 11, memory 12, auxiliary storage device 13, and processing circuit 18 are collectively referred to as the "processing circuitry." In other words, the functions of each functional component of the operation planning device 80 are implemented by the processing circuitry. The hardware configuration of the hardware that implements each part of each vehicle may be the same as in this modified example.

[0071] ***Other Embodiments*** Although Embodiment 1 has been described, multiple parts of this embodiment may be combined and implemented. Alternatively, this embodiment may be implemented partially. Furthermore, this embodiment may be modified in various ways as needed, and may be implemented as a whole or in any combination. Note that the embodiments described above are essentially preferred examples and are not intended to limit this disclosure, its applications, or the scope of use. Procedures described using flowcharts, etc., may be modified as appropriate.

[0072] 11 Processor, 12 Memory, 13 Auxiliary storage device, 14 Input / Output IF, 15 Communication device, 18 Processing circuit, 19 Signal line, 50 Coupling operation system, 80 Operation planning device, 81 Plan generation unit, 82 Communication unit, 90 Train, 91 Reservation list information, 100 Towing vehicle, 110 Coupling operation control system, 111 Automatic driving unit, 112 Coupling instruction unit, 113 Upper speed limit change unit, 114 Communication unit, 120 Power, 130 Coupler, 200 Towed vehicle, 210 Standalone operation control system, 211 Automatic driving unit, 212 Coupling instruction unit, 213 Upper speed limit change unit, 214 Communication unit, 220 Power, 230 Coupler.

Claims

1. A train of vehicles comprising a group of vehicles, wherein each vehicle in the group is either a towing vehicle included in a group of towing vehicles consisting of one or more towing vehicles, or a towed vehicle included in a group of towed vehicles consisting of one or more towed vehicles, each vehicle in the group is connected in series along the direction of travel of the train of vehicles, the towing vehicle included in the group of towing vehicles is positioned at the front of the train of vehicles in the direction of travel of the train of vehicles, each towing vehicle in the group of towing vehicles drives by automatic driving, and each towed vehicle in the group of towed vehicles is an ultra-compact mobility vehicle that drives using the power of each towing vehicle in the group of towing vehicles while the train of vehicles is in motion.

2. The vehicle convoy according to claim 1, wherein at least one of the towed vehicles in the group of towed vehicles is capable of carrying a person.

3. The vehicle array according to claim 1 or 2, wherein the size of each towing vehicle in the towing vehicle group is a size that meets the specifications for the ultra-compact mobility vehicle.

4. The vehicle train according to any one of claims 1 to 3, wherein the upper limit speed of each towing vehicle in the towing vehicle group is higher than the upper limit speed of any towed vehicle in the towed vehicle group, and the upper limit speed of the vehicle train is higher than the upper limit speed of any towed vehicle in the towed vehicle group.

5. The vehicle sequence according to any one of claims 1 to 4, wherein each towed vehicle in the towed vehicle sequence is capable of automatic driving.

6. The vehicle convoy according to any one of claims 1 to 5, wherein each towed vehicle in the towed vehicle convoy is steered in accordance with the change in direction of each towed vehicle when the vehicle convoy changes direction.

7. The vehicle array according to any one of claims 1 to 6, wherein each towed vehicle in the vehicle array tilts its body in accordance with the change in direction of each towed vehicle when the vehicle array changes direction.

8. The vehicle train according to any one of claims 1 to 7, wherein, at a coupling point where a vehicle to be coupled, which will be a towed vehicle of the towed vehicle group, is coupled to the vehicle train, the vehicle to be coupled is automatically controlled to be the last vehicle in the vehicle train in the direction of travel of the vehicle train, or between two adjacent vehicles in the vehicle train.

9. The train of vehicles according to claim 8, wherein the vehicle to be coupled is equipped with a camera for photographing the coupler provided on the vehicle to be coupled, each vehicle coupled with the vehicle to be coupled is equipped with a camera for photographing the coupler provided on each vehicle coupled with the vehicle to be coupled, the vehicle to be coupled is coupled to the train of vehicles by the coupler provided on the vehicle to be coupled and the coupler provided on each vehicle coupled with the vehicle to be coupled, and the process of coupling the vehicle to be coupled to the train of vehicles is performed based on an image taken by the camera provided on the vehicle to be coupled and an image taken by the camera provided on each vehicle coupled with the vehicle to be coupled.

10. The vehicle train according to any one of claims 1 to 9, wherein, at the point where a vehicle to be removed from the vehicle train is a towed vehicle included in the group of towed vehicles that is to be removed from the vehicle train, the vehicle to be removed is removed from the vehicle train by automatic control, and if the vehicle to be removed is not the last vehicle in the vehicle train in the direction of travel of the vehicle train, after the vehicle to be removed has been removed from the vehicle train, the vehicle in front of the vehicle to be removed in the direction of travel of the vehicle train and the vehicle behind the vehicle to be removed in the direction of travel of the vehicle train are connected.

11. An operation planning device comprising a planning generation unit that generates an operation plan for the vehicle train to operate within the target area in such a way as to satisfy at least one of the reservations indicated by the reservation list information, based on a reservation list information indicating each reservation which is a 12. The operation planning device according to claim 11, wherein each reservation indicated in the reservation list information is a reservation to use a ride-sharing service using the vehicle convoy, the departure point corresponding to each reservation indicated in the reservation list information is the point where the user corresponding to each reservation boards the vehicle convoy, the destination point corresponding to each reservation indicated in the reservation list information is the point where the user corresponding to each reservation disembarks from the vehicle convoy, and each transit point of the vehicle convoy in the operation plan is either the departure point or the destination point of the user corresponding to each reservation of at least one reservation.

13. Each reservation indicated in the reservation list information is a reservation to use the vehicle convoy using an individual mobile vehicle that will be a towed vehicle in the towed vehicle group, and when each of the at least one reservations is designated as a target reservation, the plan generation unit includes in the operation plan the departure point and departure time of the individual mobile vehicle corresponding to the target reservation, the point at which the individual mobile vehicle corresponding to the target reservation connects to the vehicle convoy, and the travel route of the individual mobile vehicle corresponding to the target reservation from the departure point to the point at which the individual mobile vehicle connects to the vehicle convoy, and when the individual mobile vehicle corresponding to the target reservation leaves the vehicle convoy before arriving at the destination of the vehicle convoy, the operation plan includes in the operation plan the point at which the individual mobile vehicle corresponding to the target reservation leaves the vehicle convoy, and the travel route of the individual mobile vehicle corresponding to the target reservation after it has left the vehicle convoy. The operation planning device according to claim 11, wherein the departure point corresponding to the target usage reservation is the point at which the user corresponding to the target usage reservation begins using the individual vehicle corresponding to the target usage reservation, the destination point corresponding to the target usage reservation is the point at which the user corresponding to the target usage reservation ends using the individual vehicle corresponding to the target usage reservation, and each transit point in the vehicle convoy in the operation plan is either a point at which the individual vehicle corresponding to the target usage reservation connects to the vehicle convoy, or a point at which the individual vehicle corresponding to the target usage reservation leaves the vehicle convoy.

14. The operation planning device according to any one of claims 11 to 13, wherein the plan generation unit generates the operation plan so as many of the usage reservations indicated in the usage reservation list information as possible.

15. When the operation plan for the train of vehicles has been generated as an existing operation plan, and a reservation corresponding to the train of vehicles has been added to the reservation list information as a new reservation, the plan generation unit calculates the similarity between the existing operation plan and the new reservation, and if the similarity is greater than or equal to the correctable similarity, it generates an operation plan as a revised operation plan in which the train of vehicles operates within the target area in such a way that it satisfies each reservation corresponding to the existing operation plan and the new reservation, based on the location of the train of vehicles, each reservation corresponding to the existing operation plan, the new reservation, and the map, and changes the operation plan for the train of vehicles from the existing operation plan to the revised operation plan, according to any one of claims 11 to 14.

16. The operation planning device according to claim 15, further comprising a communication unit that, when the operation plan of the train is changed from the existing operation plan to the revised operation plan, notifies each user corresponding to the existing operation plan of the time at which each user will pass through each intermediate point used by each user in the revised operation plan.

17. A coupled operation system comprising a train of vehicles according to any one of claims 1 to 10 and an operation planning device according to any one of claims 11 to 16, wherein the train of vehicles operates according to an operation plan for the train of vehicles generated by the operation planning device.

18. A method for providing a ride-sharing service that provides a ride-sharing service using a train of vehicles as described in any one of claims 1 to 10.

19. A method for planning a train operation in which a computer generates a train operation plan in which a train operates within a target area to satisfy at least one of the reservations indicated by the reservation list information, based on a list of reservations indicating each reservation which is a 20. An operation planning program that causes a computer, which is an operation planning device, to execute a plan generation process to generate an operation plan in which the vehicle train operates within the target area to satisfy at least one of the reservations indicated by the reservation list information, based on the reservation list information indicating each reservation which is a, and the map indicating the target area, the operation planning device that causes the operation planning device to execute a plan generation process in which the vehicle train operates within the target area to satisfy at least one reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation which is a reservation, and the destination of the destination, the operation planning program that includes the route of the vehicle train, the route of the vehicle train, the route of the vehicle train, the route of the vehicle train, the route of

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