JP7053334B2 - Control system - Google Patents

Description

The present invention relates to a technical field of a control device that controls a vehicle that moves to a plurality of boarding frames defined in a boarding area for a user of the vehicle to board.

For example, an automatic valet parking system is considered as a system related to vehicle parking support. The automatic valet parking system automates valet parking by using the automatic driving technology of the vehicle. For example, the control device arranged in the valet parking compatible facility such as a hotel or a large commercial facility mainly controls the vehicle. Is supposed to be done. Specifically, in the automatic valet parking system, after the vehicle stops at a predetermined drop-off place and the user as a occupant (including the driver) gets off, the vehicle automatically drives the required parking lot (parking space). Go to and park. After that, it can be constructed as a system in which the control device automatically moves the vehicle from the parking lot to the predetermined boarding place to greet the user in response to the establishment of a predetermined condition such as a call from the user.

The following Patent Document 1 can be mentioned as a related prior art. In the patent document 1, in order to prevent the driver from being psychologically pressured or spatially obstructed when parking in the parking space or starting from the parking space, it is necessary to prevent other vehicles from approaching the parking space. A technique for limiting the speed of another vehicle is disclosed.

Japanese Unexamined Patent Publication No. 2010-244461

In the automatic valet parking system, it is effective that the boarding area can accommodate a plurality of vehicles at the same time in order to prevent traffic congestion of vehicles heading from the parking lot to the boarding area. At this time, a plurality of boarding frames are set in the boarding area, the vehicle called from the parking lot is guided to the boarding frame as an empty frame, and the user's boarding is stopped in the boarding frame. It is conceivable to make it stand by.

In the automatic valet parking system, it is assumed that the movement from the parking lot to the boarding slot is performed by automatic driving. That is, the vehicle enters the boarding frame unmanned. For this reason, users who are trying to get into the vehicle in other boarding frames, especially adjacent boarding frames (adjacent frames), or who are carrying out cargo loading work, are given anxiety about the vehicle entering. There is a risk.
Further, if the user feels uneasy, the boarding of the vehicle may be delayed and the time from the boarding place to the exit may be prolonged. That is, as a result, there is a risk that the boarding area will be congested.

The present invention has been made in view of the above circumstances, and is intended to prevent the user at the boarding area from giving anxiety due to the entry of the vehicle, promote prompt exit of the vehicle from the boarding area, and prevent congestion at the boarding area. The purpose is to plan.

The control device according to the present invention is a control device that controls a vehicle moving to a plurality of boarding slots defined in a boarding area for a vehicle user to board, and is a boarding frame for guiding a target vehicle. The proximity evaluation unit, which evaluates the proximity of a person to a vehicle stopped in the adjacent frame, which is the boarding frame adjacent to the schedule frame, and the proximity evaluation unit, which sets the schedule frame. It is provided with a control unit that controls the approach of the target vehicle to the scheduled frame based on the evaluation result.

As a result, it is possible to impose necessary restrictions on the entry of the vehicle into the planned frame in response to the case where the proximity of the person to the stopped vehicle in the adjacent frame is high.

In the control device according to the present invention described above, the proximity evaluation unit is configured to evaluate the proximity possibility based on whether or not the user of the vehicle stopped in the adjacent frame has arrived at the boarding area. It is possible.

It is presumed that a vehicle in which the user has arrived at the boarding area is more likely to be close to the user's vehicle than a vehicle in which the user has not arrived at the boarding area.

In the control device according to the present invention described above, the proximity evaluation unit can be configured to evaluate the proximity possibility based on the open / closed state of the door of the vehicle stopped in the adjacent frame.

It is highly probable that the user is close to the vehicle for boarding, etc. for the vehicle with the door open.

In the control device according to the present invention described above, the proximity evaluation unit can be configured to evaluate the proximity based on the open / closed state of the luggage compartment door in the vehicle stopped in the adjacent frame.

For a vehicle with an open luggage compartment door, it is highly probable that the user is close to the vehicle behind the vehicle for loading luggage or the like.

In the control device according to the present invention described above, the proximity evaluation unit can be configured to evaluate the proximity possibility based on the product purchase information of the user of the vehicle stopped in the adjacent frame.

From the product purchase information, the amount and size of the luggage that the user can get can be estimated, and the openability of the vehicle door can be evaluated.

In the control device according to the present invention described above, the control unit executes a conditional approach to the target vehicle when the target vehicle is made to enter the scheduled frame when it is evaluated that the proximity is high. Can be configured to indicate.

Conditional approach means to make a conditional approach in comparison with a normal approach for the purpose of alleviating the anxiety that the user of the adjacent frame has.

In the control device according to the present invention described above, the schedule frame setting unit evaluates the proximity of a person to a vehicle other than the target vehicle stopped in the boarding frame, and the target vehicle is based on the evaluation result. It is possible to set the schedule frame.

This makes it possible to make it difficult to set a boarding frame adjacent to a boarding frame that is likely to be close to a stopped vehicle as a scheduled frame.

According to the present invention, it is possible to prevent the user in the boarding area from giving anxiety due to the entry of the vehicle, to promote prompt exit of the vehicle from the boarding area, and to prevent congestion in the boarding area.

It is a figure which illustrated the structure of the welcoming system provided with the control device as an embodiment. It is a schematic diagram of the vehicle passable area formed in the valet parking corresponding facility to which the pick-up system of embodiment is applied. It is a block diagram which showed the internal structure example of the control device as an embodiment. It is a block diagram showing an excerpt of the electric configuration related to the automatic driving of the vehicle used in the embodiment. It is a block diagram which showed the internal structure example of the mobile terminal used in embodiment. It is a figure which showed the image of the vehicle entering the boarding frame. It is a flowchart which showed the example of the process which should be executed in order to realize the vehicle approach control method as an embodiment. It is a flowchart which showed the example of the setting process of the schedule frame based on the evaluation of the door open possibility. It is explanatory drawing about the consideration unnecessary empty frame.

<1. Meet-up system configuration>
Hereinafter, the control device 1 as an embodiment according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a diagram illustrating the configuration of a pick-up system (hereinafter referred to as “the pick-up system of the embodiment”) including the control device 1 as an embodiment, and FIG. 2 is a valet parking to which the pick-up system is applied. (Valet Parking) It is a schematic diagram of the vehicle passable area Aa formed in the corresponding facility.

First, as shown in FIG. 1, the welcoming system of the embodiment includes a control device 1, a plurality of vehicles 2, a plurality of mobile terminals 3, and a network 4. The network 4 is a communication network such as the Internet or a LAN (Local Area Network), and the control device 1 can communicate with each of the vehicle 2 and the mobile terminal 3 via the network 4. ing. In this example, it is possible to communicate via the network 4 between the vehicle 2 and the mobile terminal 3.

The control device 1 is a computer device managed by a facility that supports valet parking. The vehicle 2 is a vehicle used by a user as a user of a valet parking facility, and the mobile terminal 3 is a portable computer device used by the user.

As shown in FIG. 2, a parking lot Ap and a boarding area Ab are formed in the vehicle-passable area Aa of the valet parking facility. The parking lot Ap and the boarding place Ab are connected by a passage through which the vehicle 2 can pass, and the vehicle 2 can move back and forth between the parking lot Ap and the boarding place Ab.
Although not shown, the parking lot Ap is provided with a plurality of parking frames, and it is possible to park a plurality of vehicles 2. The boarding area Ab is provided as a place for the occupant to get on the vehicle 2, and in this example, it is possible to accommodate a plurality of vehicles. As shown in the figure, a plurality of boarding frames Sb are provided in the boarding area Ab. Each boarding frame Sb is a frame that defines a stop position when the vehicle 2 waits for a user as a occupant to board, and is a frame defined by a white line or the like, for example, as illustrated in the figure.

In the boarding area Ab, a gate having an opening / closing bar can be provided at the entrance portion of the vehicle 2 from the parking lot Ap side, for example.

In the automatic valet parking system premised on this example, a vehicle having an automatic driving function is used as the vehicle 2. The occupant of the vehicle 2 gets on the predetermined drop-off place provided in the valet parking facility by the vehicle 2 (either manual driving or automatic driving may be used). After arriving at the disembarkation point and the user as a occupant (including the driver) disembarking, the vehicle 2 may be, for example, a parking instruction from the user (for example, an operation input to the vehicle 2 or an operation input to the vehicle 2 via the mobile terminal 3). According to the instruction etc.), the vehicle is automatically driven to the parking lot Ap and parked.
At this time, the control device 1 manages the information of the vacant parking lot in the parking lot Ap, and instructs the vehicle 2 moving from the disembarkation place to the parking lot Ap to park in the vacant parking lot as described above. For example, a parking frame identifier is assigned to the parking frame in a form that allows the vehicle 2 to be identified (for example, the parking frame number is indicated for each parking frame), and the control device 1 is vacant in each parking frame by the identifier. The situation is managed, and when the vehicle 2 receives the parking frame identifier for the vacant parking frame from the control device 1, the vehicle 2 parks in the parking frame specified from the parking frame identifier by the automatic driving function.

Further, in the automatic valet parking system of this example, the user operates the mobile terminal 3 to instruct the control device 1 to call the vehicle 2 parked in the parking lot Ap (call to the boarding area Ab). It is possible to do.
In response to this call instruction, the control device 1 instructs the corresponding vehicle 2 to move to the boarding area Ab, and greets the user at the boarding area Ab. At this time, the control device 1 manages the vacancy status of the boarding frame Sb in the boarding area Ab, and uses the called vehicle 2 as a vacant frame in the boarding frame Sb (hereinafter, also referred to as "vacant boarding frame"). Induce.

The present embodiment is characterized by a portion (that is, a portion of the pick-up system) in which the vehicle 2 parked in the parking lot Ap is moved to the boarding area Ab in response to a call instruction from the user as described above. Is characterized by setting a scheduled frame, which is a planned boarding frame Sb for guiding the called vehicle 2, and controlling the entry of the vehicle 2 into the scheduled frame. The method of vehicle approach control as an embodiment will be described again.

In the welcome system of the embodiment, the number of the vehicle 2 and the mobile terminal 3 may change according to the number of system users, and may be a single number.

<2. Configuration of each device>
FIG. 3 is a block diagram showing an example of the internal configuration of the control device 1.
As shown in the figure, the control device 1 includes a control unit 11, a communication unit 12, and a storage unit 13. The control unit 11 is configured to include, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and the CPU executes processing based on a program stored in the ROM. This realizes the required operation of the control device 1.

Based on the instruction from the control unit 11, the communication unit 12 transmits / receives data to / from an external device (particularly, the vehicle 2 and the mobile terminal 3 in this embodiment) via the network 4. The control unit 11 is capable of performing data communication with an external device via the communication unit 12.
The connection between the communication unit 12 and the network 4 may be either wired or wireless.

The storage unit 13 is composed of a storage device such as a flash memory or an HDD (Hard Disk Drive), and is used by the control unit 11 to store various data. The storage unit 13 can store various data necessary for controlling the vehicle 2, such as data regarding an empty parking frame and data regarding an empty boarding frame in the parking lot Ap described above.

FIG. 4 is a block diagram showing an excerpt of the electrical configuration of the vehicle 2 related to automatic driving.
The vehicle 2 of this example includes an automatic driving control unit 21, a camera unit 22, an automatic driving drive control unit 23, a communication unit 24, a current position detection unit 25, a door sensor 26, a seat sensor 27, and an output unit 28.

The automatic driving control unit 21 is configured to include a CPU and a microcomputer having a memory (storage device) such as ROM and RAM, and controls for realizing the automatic driving function of the vehicle 2. The automatic driving function here automatically moves to a designated position such as movement between the above-mentioned drop-off place, parking lot Ap, and boarding area Ab (boarding frame Sb), and automatically moves to the parking lot of the parking lot Ap. It is said to be a function to park at.
The automatic driving control 21 is capable of acquiring current position information by a current position detection unit 25 (for example, a GNSS: Global Navigation Satellite System) that detects the current position of the vehicle 2, and is capable of acquiring current position information, for example, inside the ROM or the like. Map information is stored in the memory, and various controls for automatic driving are performed based on the current position information and map information and the images captured by one or more cameras of the camera unit 22. The camera of the camera unit 22 has. An image is taken in the direction outside the vehicle, and the automatic driving control unit 21 analyzes the image captured by the camera of the camera unit 22 by its own image processing unit 21a to recognize the environment outside the vehicle. For example, an object existing outside the vehicle. The automatic driving control unit 21 recognizes the vehicle exterior environment by detecting and recognizing the detected object, and the automatic driving control unit 21 automatically drives the vehicle based on the recognition result of the vehicle exterior environment and the above-mentioned current position information and map information. Automatic operation is realized by giving various instructions to the control unit 23.

The automatic driving drive control unit 23 drives and controls a steering control ECU (Electronic Control Unit) and a vehicle propulsion device-related actuator that controls the drive of a steering actuator (for example, an actuator provided such as a power steering motor that can change the steering angle). Vehicle propulsion control ECU, brake control ECU that controls drive of brake-related actuators (for example, hydraulic pressure control actuator for controlling output hydraulic pressure from brake booster to master cylinder and hydraulic pressure in brake fluid piping), transmission It is a comprehensive representation of the mission control ECU that controls the drive of related actuators (actuators for shifting and switching forward and backward).
Examples of the vehicle propulsion device-related actuator correspond to various actuators related to engine drive such as a throttle actuator that drives a throttle valve and an injector that injects fuel when the vehicle 2 is an engine vehicle, and the vehicle 2 is an electric vehicle. If this is the case, a traveling motor or the like is applicable.

Based on the above-mentioned recognition result of the outside environment, the current position information of the vehicle 2, and the map information, the automatic driving control unit 21 gives an instruction such as a steering amount to the automatic driving drive control unit 23 and an instruction regarding vehicle propulsion such as an accelerator opening. , ON / OFF instruction of the brake, forward / backward instruction of the vehicle 2, etc. are given to realize automatic driving.
The specific method of automatic driving control is not directly related to the present invention, and detailed description thereof will be omitted.

A communication unit 24 is connected to the automatic operation control unit 21. The communication unit 24 transmits / receives data to / from an external device (particularly, the control device 1 and the mobile terminal 3 in the present embodiment) via the network 4. The automatic operation control unit 21 is capable of performing data communication with an external device via the communication unit 24.
In this example, the connection between the communication unit 24 and the network 4 is a wireless connection, but a wired connection is also possible.

Further, a door sensor 26 and a seat sensor 27 are connected to the automatic driving control unit 21.
The door sensor 26 comprehensively represents a device that performs sensing related to each door provided in the vehicle 2. The door sensor 26 of this example is configured to be able to detect at least the open / closed state of each door. In this example, the door to be detected includes a luggage compartment door (a door that separates the luggage compartment from the outside of the vehicle) in addition to the door for getting on and off the occupant.
The seat sensor 27 comprehensively represents a device that performs sensing related to each seat (for example, each seat such as a driver's seat and a passenger seat) provided in the vehicle 2. The seat sensor 27 in this example is configured to be able to detect at least whether or not the occupant is seated on the seat and whether or not the child seat is attached.
It is also possible to provide a camera for capturing the interior of the vehicle and detect whether or not the occupant is seated on the seat and whether or not the child seat is attached based on the analysis result of the captured image of the camera.

Further, an output unit 28 is connected to the automatic operation control unit 21. The output unit 28 comprehensively represents a device that outputs information by sound, visual information by light, or the like, and includes, for example, an image display device such as a speaker, a light emitting element, or a liquid crystal display, or a drive unit thereof. I have. By controlling the output unit 28, the automatic driving control unit 21 can execute a predetermined information output inside and / or outside the vehicle.

FIG. 5 is a block diagram showing an example of the internal configuration of the mobile terminal 3.
The mobile terminal 3 can be configured as a portable information processing terminal such as a mobile phone (smartphone or the like) or a tablet terminal.
The mobile terminal 3 includes a control unit 31, a communication unit 32, a storage unit 33, an operation unit 34, an output unit 35, and a current position detection unit 36.
The control unit 31 is configured to include, for example, a microcomputer having a CPU, a ROM, and a RAM, and the CPU executes a process based on a program stored in the ROM to realize a required operation of the mobile terminal 3.

Based on the instruction from the control unit 31, the communication unit 32 transmits / receives data to / from an external device (particularly, the control device 1 and the vehicle 2 in this embodiment) via the network 4, and the control unit 31 communicates. It is possible to perform data communication with an external device via the unit 32.
In this example, the connection between the communication unit 32 and the network 4 is a wireless connection, but a wired connection is also possible.

The storage unit 33 is composed of a storage device such as a flash memory or an HDD (Hard Disk Drive), and is used by the control unit 31 to store various data.
The operation unit 34 has various controls provided on the mobile terminal 3 and outputs operation information corresponding to the operation to the control unit 31. Examples of the operation element in the operation unit 34 include various buttons and a touch panel.

The output unit 35 comprehensively represents a device for outputting various information to the user, such as various display devices such as a liquid crystal display and an organic EL (electro-luminescence) display provided in the mobile terminal 3, and a speaker. It is a thing.
The output unit 35 outputs various information (screen display and sound output) based on the instruction from the control unit 31.

The current position detection unit 36 includes, for example, a GNSS sensor, and detects the current position of the mobile terminal 3. The control unit 31 can acquire the current position information detected by the current position detection unit 36.

Here, in the mobile terminal 3 of this example, the welcoming system application (application program) is stored in a storage device that can be read by a control unit 31 such as a storage unit 33.
This welcoming system application realizes a function of providing the user with a calling operation screen for performing a calling operation of the vehicle 2.
In this example, when the user calls his / her own vehicle 2 in the parking lot Ap to the boarding area Ab, the user activates the welcoming system application and performs a predetermined operation on the calling operation screen provided by the application.

Further, although the description by illustration is omitted, the mobile terminal 3 in this example has a payment function (payment function) for the purchase price by electronic money, and the purchase price is paid by the electronic money by this function. The control unit 31 can transmit information representing the purchase price (purchase amount) to the control device 1 (control unit 11) via the communication unit 32.
The process performed by the control device 1 based on the information on the purchase price will be described later.

<3. About the method of specifying the vehicle to be called>
Here, in the welcoming system of the embodiment, when the control device 1 receives a call from the user (mobile terminal 3), the vehicle 2 of the user who made the call from the vehicles 2 in the parking lot Ap is used. It is specified, and the vehicle 2 is instructed to move to the boarding area Ab.
For this purpose, the control device 1 (control unit 11) needs to grasp the correspondence relationship between the user and the vehicle 2. Various methods for grasping this can be considered, and the method is not limited to a specific method, but an example thereof is shown below.

First, the vehicle 2 (automatic driving control unit 21) notifies the control device 1 of the arrival in response to the arrival at the drop-off point. At this time, the vehicle 2 notifies the control device 1 of predetermined vehicle information (hereinafter referred to as "vehicle identification information") that can uniquely identify the vehicle 2, such as its own vehicle body number. As a result, the control device 1 can grasp the vehicle identification information for each vehicle 2 that has moved from the drop-off place and is parked in the parking frame of the parking lot Ap.
On the other hand, the user is allowed to set the vehicle identification information of his / her own vehicle 2 for the application, for example, as the initial setting of the above-mentioned application for the welcoming system. Then, when the vehicle 2 is called, the pick-up system application transmits the set vehicle identification information to the control device 1 side together with the call instruction information.
As a result, when the vehicle 2 is called, the control device 1 can identify the vehicle 2 to be called based on the vehicle identification information.

<4. Vehicle approach control method as an embodiment>
As described above, in the automatic valet parking system, since the movement from the parking lot Ap to the boarding frame Sb is performed by automatic driving, the vehicle 2 enters the boarding frame Sb unmanned.

FIG. 6 shows an image of the vehicle 2 entering the boarding frame Sb.
As a premise, in this example, it is assumed that the boarding frames Sb in the boarding area Ab are arranged in columns as illustrated in FIG. The "arranged in a column" means an arrangement in which the stopped vehicles 2 are arranged in the front-rear direction with respect to the front-rear direction of the vehicle 2 in a state where the vehicles 2 are stopped in each boarding frame Sb. In this example, it is assumed that each vehicle 2 enters the boarding frame Sb by advancing, and also starts from the boarding frame Sb by advancing.
In the following description, the direction at the boarding area Ab is defined based on the exit direction of the vehicle 2 from the boarding area Ab. Specifically, the direction that matches the exit direction is defined as forward. In the boarding area Ab of this example, a plurality of boarding frames Sb are arranged in the front-rear direction.

Here, for one vehicle 2 to be guided to the boarding frame Sb, the boarding frame Sb (hereinafter referred to as "adjacent frame") adjacent to the scheduled frame (meaning the boarding frame Sb scheduled to be guided as described above). (Indicated as), consider the case where the vehicle 2 has already entered and the user is about to board the vehicle 2 in the adjacent frame.
Since the unmanned vehicle 2 enters in the vicinity of the user in the adjacent frame, there is a risk that the user may feel uneasy about the entry of the vehicle 2. In particular, when the adjacent frame is the frame in front of the scheduled frame as illustrated in FIG. 6, and the user of the adjacent frame is present behind the vehicle 2 for loading luggage or the like, the vehicle entering the scheduled frame. There is a risk that the user's anxiety about 2 will increase.

Therefore, in the present embodiment, the proximity of a person is evaluated for the vehicle stopped in the adjacent frame, and the vehicle 2 entering the scheduled frame is controlled based on the evaluation result.

Hereinafter, an example of processing to be executed by the control unit 11 of the control device 1 in order to realize the vehicle approach control method as such an embodiment will be described with reference to the flowchart of FIG. 7.
The process shown in FIG. 7 is executed by the control unit 11 (CPU) based on a program stored in, for example, a ROM. In this example, the process shown in FIG. 7 is a process in which the user calls after parking in the parking lot Ap, and the process is performed for all of the vehicles 2 for which the schedule frame is set.
As described above, the scheduled frame is set for the vacant boarding space at the boarding area Ab. The vacant boarding frame here is a boarding frame Sb in which the vehicle 2 is not stopped at the time of setting the scheduled frame. Alternatively, even if there is a stopped vehicle, the departure timing (starting timing) of the stopped vehicle may be earlier than the expected approach timing of the vehicle 2 when it is assumed that the vehicle 2 to be set as the scheduled frame is guided. The expected boarding frame Sb may be included. In any case, the vacant boarding frame here may be a boarding frame Sb in which no stopped vehicle exists at the expected approach timing of the vehicle 2 when the vehicle 2 to be set as the scheduled frame is guided.

First, in step S101, the control unit 11 waits until the target vehicle enters the boarding area Ab. The target vehicle here means the vehicle 2 being guided to the scheduled frame. To determine whether or not the vehicle 2 has entered the boarding area Ab, for example, the vehicle 2 side (automatic driving control unit 21) detects and controls the entry into the boarding area Ab from the current position information, the recognition result of the outside environment, and the like. The device 1 side may be notified, and the control unit 11 may perform the notification by a method of specifying the timing of the notification as the entry timing to the boarding area Ab. Alternatively, regarding the determination of the approach timing of the vehicle 2 to the platform Ab, such as determining the approach timing to the boarding area Ab based on the result of monitoring the current position information of the vehicle 2, or determining the passing timing of the gate described above. There are various concrete methods that can be considered, and the method is not limited to a specific method.

When it is confirmed that the target vehicle has entered the boarding area Ab, the control unit 11 determines in step S102 whether or not the user in the front frame has arrived. Here, the front frame means a boarding frame Sb adjacent to the front of the planned frame of the target vehicle. Whether or not a specific user has arrived at a specific place is determined based on, for example, the result of acquiring information on the current position of the specific user (current position detected by the terminal device 3 of the specific user). can do.

In step S102, if the user in the front frame has not arrived, the control unit 11 proceeds to step S112 to perform a process of allowing the target vehicle to enter the scheduled frame, and ends the process shown in FIG. 7. That is, in this case, since it is considered that there is no user who feels uneasy due to the entry of the target vehicle into the scheduled frame, the target vehicle is made to enter the scheduled frame as scheduled.

On the other hand, when the user in the front frame has arrived, the control unit 11 proceeds to step S103 to evaluate the possibility of opening the luggage compartment door of the vehicle 2 in the front frame based on the user's product purchase information.
Here, the possibility of opening the luggage compartment door means the possibility that the luggage compartment door can be opened. In this example, the vehicle 2 behind the vehicle 2 is evaluated by evaluating the possibility of opening the luggage compartment door. Evaluate a person's proximity to. This corresponds to an evaluation of the possibility that the user in the front frame may feel anxious.

The possibility that the luggage compartment door will be opened can be estimated from the amount and size of the luggage that the user who is planning to board the vehicle 2 has. That is, if the amount or size of luggage is large, there is a high possibility that the luggage compartment door will be opened.
The amount and size of the baggage that the user gets can be estimated from the amount and size of the items purchased at the user's facility. Therefore, in this example, the possibility of opening the luggage compartment door is evaluated based on the user's product purchase information.

The quantity and size of the purchased item can be estimated based on the information of the type of store where the item is purchased and the purchase price at that store. In this example, the mobile terminal 3 has an electronic commerce payment function as described above, and the purchase price information is estimated from the electronic commerce payment price information.
That is, the mobile terminal 3 in this case transmits information on the payment amount to the control device 1 when the electronic money payment is made.
The control device 1 acquires and estimates the position information of the mobile terminal 3 at the time of purchasing the product (at the time of electronic money payment) for the type of the store where the product is purchased. The control device 1 holds information on the type of store where the user purchased the product and the payment amount (purchase amount) at that store as purchase management information, and the amount of the user's purchased product based on the purchase management information. And the value correlated with the size is calculated as the "quantity size correlation value". This quantity size correlation value is basically calculated so that the value increases when there is a purchase item at a store that handles a large size item, and the value increases as the purchase amount increases. calculate.
In step S103, the control unit 11 calculates the above-mentioned quantity-size correlation value as an evaluation value of the possibility of opening the luggage compartment door.

In the following step S104, the control unit 11 determines whether or not the luggage compartment door is likely to be opened. Specifically, in this example, it is determined whether or not the quantity size correlation value calculated in step S103 is equal to or greater than a predetermined threshold value.

When it is determined that the possibility of opening the luggage compartment door is not high (when the quantity size correlation value is less than a predetermined threshold value), the control unit 11 proceeds to step S105, an object is detected near the luggage compartment door, and the luggage compartment is detected. Determine if the condition that the door is open is satisfied.
Whether or not an object is detected near the luggage compartment door can be determined based on the recognition result of the outside environment of the vehicle 2. That is, in the vehicle 2 in this case, the automatic driving control unit 21 determines whether or not an object (here, the user) is close to the luggage compartment door of the vehicle 2 from the recognition result of the external environment based on the instruction from the control unit 11. When it is determined that the proximity is present, the control unit 11 is notified. The control unit 11 determines whether or not an object is detected in the vicinity of the luggage compartment door depending on the presence or absence of the notification. Note that this method is merely an example, and for example, another method such as providing an object sensor such as an ultrasonic sensor or an infrared sensor near the luggage compartment door of the vehicle 2 and determining the presence or absence of proximity based on the detection signal of the sensor. Can also be taken.
Further, it can be determined whether or not the luggage compartment door is open based on the detection signal of the door sensor 26 in the vehicle 2.

The factors evaluated in making the determination in step S105, that is, the presence / absence of object detection in the vicinity of the luggage compartment door and the presence / absence of (actual) opening of the luggage compartment door, respectively, are the possibility of a person's proximity to the luggage compartment door. It can be said that it is one of the various factors to evaluate.

If it is determined in step S105 that an object is detected near the luggage compartment door and the condition that the luggage compartment door is open is not satisfied, the control unit 11 proceeds to step S112 described above and enters the target vehicle into the scheduled frame. Perform the processing to make it.
That is, in this case, the possibility of opening the luggage compartment door is low (step S104: N), and no person is actually detected near the luggage compartment door and the luggage compartment door is not open (step S105: N). Since it is considered that the user of the slot does not feel uneasy due to the entry of the target vehicle into the scheduled slot, the target vehicle is entered into the scheduled slot as scheduled.

On the other hand, when it is determined in step S105 that an object is detected near the luggage compartment door and the condition that the luggage compartment door is open is satisfied, and in step S104 described above, it is determined that the luggage compartment door is highly likely to be opened. In each of the cases, the control unit 11 proceeds to step S106 and performs a process of stopping the target vehicle at a position in front of the scheduled frame. The stop timing here is, for example, the timing when the distance between the target vehicle and the planned frame becomes less than or equal to the predetermined distance, or the timing immediately before the target vehicle makes a relatively large turn to enter the planned frame. Can be considered.
The stop process in step S106 interrupts the entry of the target vehicle into the scheduled frame in response to the case where there is a concern that the user in the front frame may feel uneasy.

In the following step S107, the control unit 11 determines whether or not there is an empty boarding slot.
As described above, the vacant boarding slot is searched for when setting the scheduled slot for the target vehicle, but there is a possibility that a new vacant boarding slot has been generated due to the subsequent change in the situation. Depending on the process of step S107, there is a possibility that such a new vacant boarding slot can be found.

If there is an empty boarding frame, the control unit 11 changes the scheduled boarding frame to the nearest empty boarding frame in front of the scheduled frame in step S110, and proceeds to step S112. That is, among the vacant boarding slots in front of the scheduled slot, the scheduled boarding slot is changed to the vacant boarding slot closest to the scheduled slot. As a result, when there is a concern that the user in the front frame may feel uneasy, if there is another vacant boarding frame, the target vehicle is guided to the vacant boarding frame closest to the front of the scheduled frame.
Although the description by illustration is omitted, the control unit 11 notifies the user (terminal device 3) of the target vehicle of the information of the new schedule frame when the schedule frame is changed as described above. ..
Needless to say, the vehicle approach control as the embodiment described in FIG. 7 can be applied to the approach to the scheduled frame after the change.
In the above, the change destination of the scheduled frame is set to the nearest empty boarding frame in front of the scheduled frame, but if there is no empty boarding frame in front of the scheduled frame, the scheduled frame is changed to the nearest empty boarding frame behind the scheduled frame. Can be considered. Alternatively, the vacant boarding slot closest to the scheduled slot can be used without considering the front and back of the scheduled slot.

On the other hand, if there is no empty boarding slot in step S107, the control unit 11 proceeds to step S108, and the user of the target vehicle has arrived at the boarding area Ab, or the target vehicle is obstructing the passage of other vehicles. It is determined whether or not any of the above conditions is satisfied. Whether or not the user of the target vehicle has arrived at the boarding area Ab can be determined based on, for example, the current position information detected by the mobile terminal 3 of the user of the target vehicle.
Further, whether or not the target vehicle obstructs the passage of other vehicles can be determined based on, for example, the result of recognizing the environment outside the target vehicle. Specifically, the automatic driving control unit 21 of the target vehicle stops in a predetermined positional relationship (for example, directly behind) with the own vehicle behind the own vehicle based on the outside environment recognition result based on the instruction from the control unit 11. It is determined whether or not the other vehicle is present, and if it is determined that the other vehicle is present, the control unit 11 is notified. The control unit 11 determines whether or not the target vehicle is obstructing the passage of another vehicle based on the presence or absence of the notification. Alternatively, whether or not the target vehicle is obstructing the passage of other vehicles is determined by installing a surveillance camera at the boarding area Ab and using the analysis result of the captured image, or by using vehicle-to-vehicle communication technology. Judgment methods can be considered in various ways, such as by using them, and are not limited to specific methods.

If it is determined in step S108 that either the user of the target vehicle has arrived at the boarding area Ab or the target vehicle is obstructing the passage of another vehicle, the control unit 11 determines in step S111. Proceed to, and perform the process of conditionally entering the target vehicle into the scheduled frame.
Here, the conditional approach is a conditional approach in comparison with a normal approach (in this example, the approach of step S112) for the purpose of alleviating the anxiety that the user of the front frame (adjacent frame) has. Means that. As an example of the conditional approach, for example, the approach may be performed at a slower speed than usual, or the approach may be performed while the above-mentioned output unit 28 outputs alert information by light or sound. Here, as an example of the alert information output by light, for example, the final stop position (that is, entering to this point) is said to be obtained by blinking a hazard lamp or drawing a road surface using a light emitting element provided in a head ride portion or the like. The location) may be presented.
Alternatively, as a conditional approach, the vehicle is parked at the rearmost position of the scheduled frame, and the vehicle 2 in the front frame also outputs alert information to the user in the front frame using vehicle-to-vehicle communication (road surface drawing, hazard lamp). Blinking, sound, etc.) can also be mentioned.
As the conditional approach, in addition to executing each of the above examples individually, it is also possible to execute a combination of a plurality of examples.
The control unit 11 completes a series of processes shown in FIG. 7 in response to executing the process of step S111.

Further, in step S108, when it is determined that neither of the conditions that the user of the target vehicle has arrived at the boarding area Ab or that the target vehicle is obstructing the passage of another vehicle is satisfied, the control unit 11 Proceeds to step S109, and determines whether or not the condition that no object is detected near the luggage compartment door and the luggage compartment door is closed is satisfied.
If it is determined that no object is detected in the vicinity of the luggage compartment door and the condition that the luggage compartment door is closed is not satisfied, the control unit 11 returns to step S107. As a result, after the target vehicle is stopped at a position in front of the planned frame, there is an empty boarding frame (S107), and the user of the target vehicle arrives at the boarding area Ab or the target vehicle obstructs the passage of other vehicles (S107). The stopped state of the target vehicle will be continued until either S108) or the state where no person is detected near the trunk and the luggage compartment door is closed (S109).

On the other hand, if it is determined that no object is detected near the luggage compartment door and the condition that the luggage compartment door is closed is satisfied, the control unit 11 proceeds to step S112. As a result, in the case where a person is not detected near the trunk and the luggage compartment door is closed, that is, when it is considered that there is no risk of the user in the front frame feeling uneasy, the suspended target vehicle The entry into the scheduled frame is carried out.

Through the series of processes as described above, the proximity of a person to the vehicle stopped in the front frame of the scheduled frame is evaluated, and the target vehicle entering the scheduled frame is controlled based on the evaluation result. Specifically, in this example, control is performed such as temporarily suspending the entry of the target vehicle into the scheduled frame, guiding the target vehicle to another vacant boarding frame, or executing conditional entry into the scheduled frame.
As a result, it is possible to prevent the user in the front frame from giving anxiety due to the approach of the target vehicle, to promote prompt exit of the vehicle 2 from the boarding area Ab, and to prevent congestion of the boarding area Ab. Can be done.

In the above, regarding the conditional approach to be executed in response to the case where it is evaluated that the possibility of a person approaching the stopped vehicle is high in the front frame (steps S104: Y, S105: Y), the execution condition is set as the execution condition. An example is given in which it is assumed that there is no empty boarding slot (S107: N) and the user of the target vehicle has arrived, or the target vehicle is obstructing another vehicle (S108: Y). It is not essential to incorporate these conditions as execution conditions. For example, the latter condition can be excluded from the execution condition, and the conditional approach can be executed on the condition that there is no empty boarding slot. Alternatively, the condition of the vacant boarding slot may be further excluded, that is, the conditional approach may be performed regardless of the presence or absence of the vacant boarding slot.
At this time, the stop processing in step S106 may be omitted. That is, it is also possible to execute a conditional approach without interrupting the approach to the scheduled frame.

<5. About setting the schedule frame ＞
Here, the schedule frame can be set not only from an empty boarding frame but also based on the same evaluation of the luggage compartment door openability as described in step S103.
An example of the schedule frame setting process based on the evaluation of the luggage compartment door openability will be described with reference to the flowchart of FIG. Similar to the process of FIG. 7, the process of FIG. 8 is also executed by the control unit 11 (CPU) based on the program stored in the ROM or the like.
In this example, the process of FIG. 8 is executed for each vehicle 2 that requires the setting of the scheduled frame among the vehicles 2 parked in the parking lot Ab.

In FIG. 8, the control unit 11 determines in step S201 whether or not there is an empty boarding slot, and if there is no empty boarding slot, the process of FIG. 8 ends. In this case, for the target vehicle 2, the schedule frame is set by executing the process of FIG. 8 again after a while.

On the other hand, if there is an empty boarding frame, the control unit 11 proceeds to step S202 and determines whether or not there is an empty space that does not need to be considered. Here, the vacant frame that does not need to be considered means an vacant boarding frame that is considered that it is not necessary to consider the user's anxiety in the adjacent boarding frame Sb among the vacant boarding frames. Specifically, in this example, it means an empty boarding frame that can be considered that the vehicle 2 does not stop in the front frame among the empty boarding frames.
As an example of the vacant frame that does not need to be considered, the vacant boarding frame in the case where the boarding frame Sb located at the frontmost position in the boarding area Ab is a vacant boarding frame corresponds to one aspect thereof, for example, as illustrated in FIG. 9A.
Further, as another embodiment of the consideration-free vacant frame, as illustrated in FIG. 9B, when the area of the boarding frame Sb in which two or more vacant boarding frames are continuous is regarded as a continuous vacant area, the area is adjacent to the front in the continuous vacant area. As for the boarding frame Sb to be used, an empty boarding frame that is an empty boarding frame can be mentioned.

If there is an empty frame that does not need to be considered in step S202, the control unit 11 proceeds to step S203 to set a scheduled frame for the empty frame that does not need to be considered, and ends the process shown in FIG.

On the other hand, if there is no empty frame that does not need to be considered, the control unit 11 performs a process for setting a scheduled frame based on the possibility of opening the luggage compartment door by the process after step S204.
First, in step S204, the control unit 11 evaluates the possibility of opening the luggage compartment door based on the user's product purchase information for the vehicle 2 of the boarding frame Sb other than the empty boarding frame. Since the evaluation method is the same as the method described above (for example, a method using a quantity size correlation value), duplicate explanations are avoided.

Next, in step S205, the control unit 11 identifies the boarding frame Sb of the vehicle 2 having the lowest possibility of opening the luggage compartment door. Specifically, for example, the boarding frame Sb of the vehicle 2 having the lowest quantity-size correlation value described above is specified.

In the following step S206, the control unit 11 determines whether or not the boarding frame Sb adjacent to the rear of the specified boarding frame Sb is an empty boarding frame.
If the boarding frame Sb adjacent to the rear is not an empty boarding frame, the control unit 11 determines in step S207 whether or not there is a vehicle 2 having the next lowest possibility of opening the luggage compartment door. The process of step S207 is a process of sequentially identifying the vehicle 2 having the next lowest possibility of opening the luggage compartment door after the passenger frame Sb of the vehicle 2 having the lowest possibility of opening the luggage compartment door is specified in step S205. Function.
If there is a vehicle 2 having the next lowest possibility of opening the luggage compartment door, the control unit 11 identifies the boarding frame Sb of the corresponding vehicle 2 in step S208, and then returns to step S206. As a result, it is possible to determine the presence or absence of an empty boarding frame adjacent to the rear in order from the boarding frame Sb having the highest possibility of opening the luggage compartment door of the vehicle 2.

In step S206, if the boarding frame Sb adjacent to the rear of the specified boarding frame Sb is an empty boarding frame, the control unit 11 proceeds to step S209, sets the boarding frame Sb adjacent to the rear of the boarding frame Sb as a scheduled frame, and the figure. The process shown in 8 is completed.

If it is determined in step S207 that there is no vehicle 2 having the next lowest possibility of opening the luggage compartment door, the control unit 11 sets a scheduled frame in the empty boarding frame in step S210, and ends the process shown in FIG.
Normally, a positive result is obtained in step S206 before a negative result is obtained in step S207, that is, before the possibility of opening the luggage compartment door is confirmed for the vehicle 2 of all the boarding frames Sb other than the empty boarding frame. The schedule frame will be set. However, for some reason, it should also be considered that a negative result may be obtained in step S207 before setting the schedule frame. Therefore, in this example, if a negative result is obtained in step S207, the scheduled frame is set in the vacant boarding frame by the process of step S210, and the scheduled frame is not set even though the vacant boarding frame exists. We are trying to prevent the occurrence of.

By performing the schedule frame setting process as described above, it is possible to make it difficult to set a boarding frame adjacent to a boarding frame having a high possibility of a person approaching a stopped vehicle as a scheduled frame.
Therefore, it is possible to reduce the possibility of a situation in which the user at the boarding place Ab gives anxiety when the vehicle enters. In particular, in a situation where the boarding area Ab is relatively vacant, it is effective that a planned frame is set in the adjacent frame of the vehicle 2 which has a high possibility of being close to a person even though there are abundant vacant boarding frames. Can be prevented.

Here, the schedule frame setting method described above evaluates the proximity of a person to a vehicle 2 other than the target vehicle stopped at the boarding frame Sb, and sets the schedule frame of the target vehicle based on the evaluation result. In other words, it is something that does.

<6. Modification example>
In the above, the example of applying the vehicle approach control as an embodiment when the boarding frames Sb are arranged in a column is given, but it can also be suitably applied when the boarding frames Sb are arranged in a row. In addition, "arranged in a row" means an arrangement in which the stopped vehicles 2 are arranged in the left-right direction (based on the left-right direction of the vehicle 2) in a state where the vehicles 2 are stopped in each boarding frame Sb.
When the boarding frames Sb are arranged in a row, the left and right adjacent frames should be considered as the adjacent frames of the planned frame. That is, the proximity of a person to the left and right sides of the vehicle 2 should be considered.
Specifically, at the time of application to the row array, the presence or absence of user arrival in step S102 does not target the front frame, but targets the left and right adjacent frames. Further, regarding the processing of steps S103 and S104, the openability of the luggage compartment door was evaluated, but in the case of the row arrangement, the door (seat door) provided at least corresponding to the seats such as the driver's seat and the passenger's seat. The evaluation is targeted at. The openability of the seat door can be evaluated, for example, based on the information on the seating position of the user detected by the vehicle 2 when getting off at the getting-off place.
Similarly, in steps S105 and S109, the detection is targeted at the luggage compartment door, but at least the detection is targeted at the seat door.

Further, the schedule frame setting process described with reference to FIG. 8 can also be applied in the case of a row array.
In the case of a row arrangement, the vacant frame that does not need to be considered is a vacant boarding frame in which the boarding frames Sb adjacent to the left and right in the continuous vacant area are both vacant boarding frames.
In the case of a row arrangement, it is most desirable to set a schedule frame in such a consideration-free empty frame (that is, an empty boarding frame with empty left and right), but for vehicle 2, the door with a high possibility of opening is either left or right. A vehicle 2 that is only on the side of the door can be considered. In consideration of this point, if it is determined that there is no empty frame that does not need to be considered, it is determined whether or not there is a vehicle 2 having a door with a high possibility of opening on either the left or right side, and if there is a corresponding vehicle 2. Determines the presence or absence of an empty boarding slot adjacent to the side of the vehicle 2 where the door with a high possibility of opening is not located, and if there is such a vacant boarding slot, sets a scheduled slot in the empty boarding slot. You can take the method of doing.
Consideration Unexpectedly When there is no empty frame or an empty boarding frame adjacent to the vehicle 2 which has a door that is likely to be opened only on either the left or right side as described above, the process shown in FIG. 8 (processing after S204). Similarly, the vehicle 2 having the lowest possibility of opening the door is specified, and if it is an empty boarding frame adjacent to the boarding frame Sb of the specified vehicle 2, a scheduled frame is set in the empty boarding frame.
As for the schedule frame setting in the case of such a parallel arrangement, the proximity possibility of a person is evaluated for the vehicle 2 other than the target vehicle stopped in the boarding frame Sb, as in the case of the schedule frame setting in the case of the parallel arrangement described above. However, it can be said that the schedule frame of the target vehicle is set based on the result of the evaluation.

In the above, it is assumed that the pick-up system of the present embodiment is applied to the automatic valet parking system, and the vehicle 2 is moved to the parking lot Ap and parked by automatic driving. It can also be suitably applied to the case where the vehicle 2 is moved to the parking lot Ap and / or parked in the parking frame by the driver's own driving operation.

<7. Summary of embodiments>
As described above, the control device (1) of the embodiment moves to a plurality of boarding slots (Sb) defined in the boarding area (Ab) for the user of the vehicle (2) to board. A control device that controls a vehicle, and a schedule frame setting unit (control unit 11) that sets a schedule frame that is a boarding frame that is scheduled to guide the target vehicle, and an adjacent frame that is a boarding frame adjacent to the schedule frame. About the approach of the target vehicle to the planned frame based on the evaluation result by the proximity evaluation unit (control unit 11: see S102 to S105 in FIG. 7) that evaluates the proximity of a person to the stopped vehicle. It includes a control unit (control unit 11: see S106 to S109 in FIG. 7) for controlling.

As a result, it is possible to impose necessary restrictions on the entry of the vehicle into the planned frame in response to the case where the proximity of the person to the stopped vehicle in the adjacent frame is high.
Therefore, it is possible to prevent the user in the boarding area, especially the user in the adjacent frame, from giving anxiety due to the entry of the vehicle, to promote the prompt exit of the vehicle from the boarding area and to prevent the congestion of the boarding area. Can be done.

Further, in the control device of the embodiment, the proximity evaluation unit evaluates the proximity possibility based on whether or not the user of the vehicle stopped in the adjacent frame has arrived at the boarding area (S102 in FIG. 7). reference).

It is presumed that a vehicle in which the user has arrived at the boarding area is more likely to be close to the user's vehicle than a vehicle in which the user has not arrived at the boarding area.
Therefore, according to the above configuration, it is possible to appropriately evaluate the proximity of a person to a vehicle in an adjacent frame, and to reduce the possibility of a situation in which the user at the boarding place feels uneasy when entering the vehicle. Can be done.

Further, in the control device of the embodiment, the proximity evaluation unit evaluates the proximity possibility based on the open / closed state of the door of the vehicle stopped in the adjacent frame (see S105 in FIG. 7).

It is highly probable that the user is close to the vehicle for boarding, etc. for the vehicle with the door open.
Therefore, according to the above configuration, it is possible to appropriately evaluate the proximity of a person to a vehicle in an adjacent frame, and to reduce the possibility of a situation in which the user at the boarding place feels uneasy when entering the vehicle. Can be done.

Furthermore, in the control device of the embodiment, the proximity evaluation unit evaluates the proximity possibility based on the open / closed state of the luggage compartment door in the vehicle stopped in the adjacent frame (see S105 in FIG. 7).

For a vehicle with an open luggage compartment door, it is highly probable that the user is close to the vehicle behind the vehicle for loading luggage or the like.
Therefore, according to the above configuration, it is possible to appropriately evaluate the possibility that the user may have anxiety due to the vehicle approach, especially when the boarding frames are arranged in a column, and the user may be accompanied by the vehicle approach. It is possible to reduce the possibility of anxiety-causing situations.

Further, in the control device of the embodiment, the proximity evaluation unit evaluates the proximity possibility based on the product purchase information of the user of the vehicle stopped in the adjacent frame (see S103 in FIG. 7).

From the product purchase information, the amount and size of the luggage that the user can get can be estimated, and the openability of the vehicle door can be evaluated.
Therefore, it is possible to appropriately evaluate the proximity of a person to a vehicle in an adjacent frame, and it is possible to reduce the possibility of a situation in which the user at the boarding place feels uneasy when the vehicle enters.
Further, unlike the evaluation based on the presence / absence of arrival of the user and the open / closed state of the door, there is an advantage that the proximity of the person can be evaluated at the stage before the user of the adjacent frame actually arrives.

Further, in the control device of the embodiment, the control unit instructs the target vehicle to execute a conditional approach when the target vehicle is made to enter the scheduled frame when it is evaluated that the proximity is high (). See S111 in FIG. 7).

Conditional approach means to make a conditional approach in comparison with a normal approach for the purpose of alleviating the anxiety that the user of the adjacent frame has.
Therefore, even though it is evaluated that there is a high possibility that people will be close to each other in the adjacent frame, if the target vehicle is to enter the planned frame due to circumstances such as there is no space in the boarding frame other than the scheduled frame, it is conditional. By entering, it is possible to alleviate the user's anxiety in the adjacent frame.

Furthermore, in the control device of the embodiment, the schedule frame setting unit evaluates the proximity of a person to a vehicle other than the target vehicle stopped in the boarding frame, and based on the evaluation result, the schedule frame of the target vehicle is said. Is set (see FIG. 8).

This makes it possible to make it difficult to set a boarding frame adjacent to a boarding frame that is likely to be close to a stopped vehicle as a scheduled frame.
Therefore, it is possible to reduce the possibility of a situation in which the user at the boarding place feels uneasy when the vehicle enters. In particular, when the boarding area is relatively vacant, it effectively prevents the scheduled frame from being set in the adjacent frame of a vehicle that is likely to be close to people even though there are abundant vacant boarding frames. can do.

1 Control device, 2 Vehicles, 3 Mobile terminals, Aa, Ap Parking lot, Ab boarding area, 11 Control unit, 21 Automatic driving control unit, 26 Door sensor, 27 Seat sensor, 28 Output unit, 25 Current position detection unit, 31 Control Unit, 34 operation unit, 35 output unit, 36 current position detection unit

Claims (6)

It is a control device that controls a vehicle that moves to a plurality of boarding slots defined in a boarding area for a vehicle user to board.
A schedule frame setting unit that sets a schedule frame that is the boarding frame that is scheduled to guide the target vehicle, and
A proximity evaluation unit that evaluates the proximity of a person to a vehicle that stops in an adjacent frame that is the boarding frame adjacent to the scheduled frame.
A control unit that controls the approach of the target vehicle to the scheduled frame based on the evaluation result by the proximity evaluation unit is provided .
The control unit
When the target vehicle is to enter the scheduled frame in the case where it is evaluated that the proximity possibility is high, the target vehicle is instructed to execute the conditional approach.
Control system. The proximity evaluation unit
The control device according to claim 1, wherein the proximity possibility is evaluated based on whether or not a user of a vehicle stopped in the adjacent frame has arrived at the boarding area. The proximity evaluation unit
The control device according to claim 1 or 2 , wherein the proximity is evaluated based on the open / closed state of the luggage compartment door in the vehicle stopped in the adjacent frame. The proximity evaluation unit is
The control device according to any one of claims 1 to 3, wherein the proximity possibility is evaluated based on the product purchase information of the user of the vehicle stopped in the adjacent frame. The schedule frame setting unit is
According to any one of claims 1 to 4 , the proximity of a person is evaluated for a vehicle other than the target vehicle stopped in the boarding frame, and the planned frame of the target vehicle is set based on the evaluation result. The control device described. It is a control device that controls a vehicle that moves to a plurality of boarding slots defined in a boarding area for a vehicle user to board.
A schedule frame setting unit that sets a schedule frame that is the boarding frame that is scheduled to guide the target vehicle, and
A proximity evaluation unit that evaluates the proximity of a person to a vehicle that stops in an adjacent frame that is the boarding frame adjacent to the scheduled frame.
A control unit that controls the approach of the target vehicle to the scheduled frame based on the evaluation result by the proximity evaluation unit is provided.
The proximity evaluation unit
The proximity possibility is evaluated based on the open / closed state of the luggage compartment door in the vehicle stopped in the adjacent frame.
Control system.

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