Patent ID: 12203759

DESCRIPTION OF EMBODIMENTS

A. Embodiment 1

A-1. Configuration

FIG.1is a block diagram illustrating a configuration of a rendezvous assistance system301according to Embodiment 1. The rendezvous assistance system301assists smooth rendezvous of a dispatched vehicle X and a user who wants to rendezvous with the dispatched vehicle X. The rendezvous assistance system301includes a rendezvous assistance device101mounted on the dispatched vehicle X and a mobile terminal201of the user. Note that the rendezvous assistance device101may be a device mounted stationary on the dispatched vehicle X, or may be a mobile terminal that is brought and used in the dispatched vehicle X as necessary.

The rendezvous assistance device101includes a vehicle controller11. a message generator12, a positioner13, and a vehicle communicator14. The rendezvous assistance device101is connected to a global navigation satellite system (GNSS) receiver31and a communication device32that are mounted on the dispatched vehicle X, and is configured to be capable of using these devices.

The vehicle controller11performs overall control of the rendezvous assistance device101. The message generator12generates a message that requests a user to do a gesture (hereinafter, simply referred to as the “message”). The GNSS receiver31receives a GNSS signal. The positioner13acquires a GNSS signal received by the GNSS receiver31and measures the location of the dispatched vehicle X on the basis of the GNSS signal. Note that the positioner13may measure the location of the dispatched vehicle X by other methods. The positioner13may correct the result of measuring the location of the dispatched vehicle X on the basis of the GNSS signal, for example in response to measurement signals obtained by a gyroscopic sensor and an acceleration sensor (not shown), or may further correct the measurement result by map matching.

The communication device32serves as a communication interface that allows the vehicle communicator14to communicate with the mobile terminal201. The communication device32configures a communication network with a mobile communicator22of the mobile terminal201. The vehicle communicator14transmits the message generated by the message generator12to the mobile terminal201via the communication device32when the dispatched vehicle X is at or around the meeting point. The message is transmitted for the purpose of causing the user to do a gesture and allowing the dispatched vehicle X to check this gesture and grasp the accurate location of the user. Accordingly, “the dispatched vehicle X is around the meeting point” described above means that the dispatched vehicle X or the driver is approaching the meeting point to the extent that the dispatched vehicle X or the driver is capable of checking the gesture of the user who is at the meeting point. For example, “being around the meeting point” may refer to “being within a 30-meter radius of the meeting point.” Note that such information on the meeting point is shared in advance between the dispatched vehicle X and the user.

The mobile terminal201is a terminal carried by the user, and may for example be a PDA or a smartphone. The mobile terminal201includes a mobile controller21, a mobile communicator22, and a notification unit23. The mobile controller21performs overall control of the mobile terminal201. The mobile communicator22receives a message from the rendezvous assistance device101. The notification unit23sends a notification that requests the user to do a gesture (hereinafter, referred to as a “gesture request notification”) on the basis of the message received by the mobile communicator22. The gesture request notification may be provided, for example, in at least one of forms including a display, audio, and vibrations depending on output means included in the mobile terminal201.

A-2. Operations

FIG.2is a flowchart illustrating operations of the rendezvous assistance system301. It is assumed that, before the start of this flowchart, the rendezvous assistance device101and the mobile terminal201share information on a meeting point in advance as a result of, for example, the conclusion of a vehicle dispatch contract between the dispatched vehicle X and the user.

First, in the rendezvous assistance device101, the positioner13acquires a GNSS signal from the GNSS receiver31and measures the location of the dispatched vehicle X (step S101). The vehicle controller11acquires the location of the dispatched vehicle X from the positioner13and determines whether the dispatched vehicle X is at or around the meeting point (step S102). The vehicle controller11repeats step S102until the answer in step S102turns to “Yes.”

When, the dispatched vehicle X is at or around the meeting point in step S102, the message generator12generates a message that requests the user to do a gesture (step S103). Then, the vehicle communicator14transmits the message generated by the message generator12to the mobile terminal201via the communication device32, and the message is received by the mobile terminal201(step S104).

Next, in the mobile terminal201, the notification unit23sends the message received by the mobile communicator22as a notification to the user (step S105). When the user makes a gesture upon receipt of this notification, the dispatched vehicle X is capable of checking this gesture and accurately grasping the location of the user, In particular, even if there are numerous persons at the meeting point, the dispatched vehicle X is capable of identifying the user who is making the gesture as its user. This achieves smooth rendezvous of the dispatched vehicle X and the user.

A-3. Effects

The rendezvous assistance system301according to Embodiment I includes the mobile terminal201carried by the user who wants to rendezvous with the dispatched vehicle X, and the rendezvous assistance device101that assists rendezvous of the dispatched vehicle X and the user at a meeting point by communication with the mobile terminal201. The rendezvous assistance device101includes the message generator12that generates a message that requests the user to do a gesture, the vehicle controller11that determines timing when the dispatched vehicle X is at or around the meeting point as the timing of transmission of the message, and the vehicle communicator14that transmits the message to the mobile terminal with the determined timing of transmission. The mobile terminal201includes the mobile communicator22that receives a message from the rendezvous assistance device101, and the notification unit23that sends a notification that requests the user to do a gesture on the basis of the message. When the dispatched vehicle X is at or around the meeting point, the mobile terminal201sends a notification that requests the user to do a gesture to the dispatched vehicle X, and the user makes a gesture in response to this notification, Thus, the dispatched vehicle X is capable of identifying the user even if there are numerous persons at the meeting point. This achieves smooth rendezvous of the dispatched vehicle X and the user.

B. Embodiment 2

B-1. Configuration

FIG.3is a block diagram illustrating a configuration of a rendezvous assistance system302A according to Embodiment 2. The rendezvous assistance system302A includes a rendezvous assistance device102mounted on a dispatched vehicle X and a mobile terminal202A. The rendezvous assistance device102is connected to a GNSS receiver31, a communication device32, a display device33, an audio output device34, and a manipulator35that are mounted on the dispatched vehicle X, and is configured to be capable of using these devices.

The rendezvous assistance device102includes a storage15in addition to the configuration of the rendezvous assistance device101according to Embodiment 1. The storage15stores location information on a meeting point. In addition to this, the storage15may further store identification information on the user. The vehicle controller11of the rendezvous assistance device102is connected to the display device33, the audio output device34, and the manipulator35.

The display device33and the audio output device34serve as output interfaces for the driver of the dispatched vehicle X. The display device33may be configured with, for example, a liquid crystal display, an organic EL display, or an HUD. The audio output device34may be configured with a speaker. The manipulator35serves as an input interface for the driver of the dispatched vehicle X and is configured with, for example, a touch panel, mechanical switches, or an audio input device.

The mobile terminal202A includes, in addition to the configuration of the mobile terminal201according to Embodiment 1, a positioner24, an operation unit25, and a storage30. The storage30stores location information on a meeting point. In addition to this, the storage30may further store identification information on the dispatched vehicle X such as vehicle type, color, and registration number. The mobile terminal202A further includes a display26and an audio output unit27that serve as a notification unit.

The positioner24measures the location of the mobile terminal202A by a method similar to that used by the positioner13of the rendezvous assistance device102. The operation unit25serves as an input interface of the mobile terminal202A and may be configured with, for example, a touch panel, mechanical switches, or an audio input device. The display26may be configured with, for example, a liquid crystal display or an organic EL display. the audio output unit27may be configured with a speaker.

B-2. Operations

FIG.4is a flowchart illustrating operations of the rendezvous assistance device102. It is assumed that, before the start of this flowchart, the rendezvous assistance device102and the mobile terminal202A share information on a meeting point as a result of, for example, the conclusion of a vehicle dispatch contract between the dispatched vehicle X and a user. Thus, the storage15of the rendezvous assistance device102and the storage30of the mobile terminal202A store the location information on the meeting point. Hereinafter, the operations of the rendezvous assistance device102will be described with reference to the flowchart inFIG.4.

When the dispatched vehicle X has started travelling to the meeting point, the positioner13acquires a GNSS signal from the GNSS receiver31and measures the location of the dispatched vehicle X (step S201). Then the vehicle controller11acquires the location information on the meeting point from the storage15, acquires the location information on the dispatched vehicle X from the positioner13, and on the bases of the received information, displays a positional relationship of the dispatched vehicle X and the meeting point on the display device33(step S202).

FIGS.5to8show examples of a positional-relationship display screen of the display device33that displays the positional relationship of the dispatched vehicle X and the meeting point. In the example illustrated inFIG.5, the location of the meeting point is indicated by an object50, and the location of the dispatched vehicle X is indicated by an object51. The positional relationship of the objects50and51indicates the distance and direction between the meeting point and the dispatched vehicle X. A plurality of concentric circles about the object50indicate distances from the meeting point. In the example illustrated inFIG.5, the concentric circles that respectively indicate the distances of 20 m, 50 m, and 100 m from the meeting point are displayed. Also, the distance of the dispatched vehicle X from the meeting point is added to the object51. In the example illustrated inFIG.5, the dispatched vehicle X is 1 km away from the meeting point and therefore the object51is displayed outside the largest concentric circle.

Referring back to the flowchart inFIG.4, the vehicle controller11determines whether to check the location of the user (step S203). As illustrated inFIG.5, an icon56for displaying the location of the user is displayed on the positional-relationship display screen. The driver who wants to check the location of the user presses the icon56. In the condition illustrated inFIG.5, the vehicle is far away from the meeting point and therefore there is little need to check the location of the user. If the driver has not pressed the icon56for a given period of time, the vehicle controller11determines that there is no need to check the location of the user. Thus, the processing of the rendezvous assistance device102returns to step S201, and the positional-relationship display screen is updated in the subsequent step S202.

FIG.6illustrates the positional-relationship display screen when the dispatched vehicle X is approaching 30 m from the meeting point. InFIG.6, the object51is displayed inside a concentric circle that represents a distance of 50 m from the meeting point. The inside of the smallest concentric circle that represents a distance of 20 m from the meeting point is displayed in a different color from the other concentric circles and expresses that the dispatched vehicle X is approaching the meeting point.

FIG.7illustrates the positional-relationship display screen when the dispatched vehicle X has arrived at the meeting point, without the driver pressing the icon56on the positional-relationship display screen inFIG.6. InFIG.7, the object51is displayed in the center of the concentric circles, and the object50is not displayed. When the dispatched vehicle X has arrived at the meeting point, the driver needs to check whether the user also has arrived at the meeting point.

When the driver has pressed the icon56, operation information on the icon56is input from the manipulator35to the vehicle controller11, and the vehicle controller11determines to check the location of the user (Yes in step S203). Then, the vehicle communicator14sends a request to transmit the location information to the mobile terminal202A and receives location information on the mobile terminal202A as the location information on the user from the mobile terminal202A (step S204). Then, the vehicle controller11causes the display device33to display the positional relationship of the dispatched vehicle X and the meeting point (step S205). The location of the user as used herein is synonymous with the location of the mobile terminal202A. In this way, the vehicle controller11acquires the operation information on the driver of the dispatched vehicle X and causes the display device33to display the positional relationship of the dispatched vehicle X, the meeting point, and the user with timing based on the operation information on the driver.

FIG.8shows an example of the positional-relationship display screen on the display device33in step S205. InFIG.8, in addition to the display inFIG.7, the location of the user is indicated by an object52. Also, a distance of 35 m between the user and the meeting point is added to the object52. This display enables the driver to grasp that the user is at a location35m of from the dispatched vehicle X in the upper right direction.

Then, the vehicle controller11determines whether or not to request the user to do a gesture (step S206). The positional-relationship display screen illustrated inFIG.8displays an icon54for requesting the user to do a gesture. The driver grasps the location of the user by looking at the positional-relationship display screen and presses the icon54when having determined that the user is at a viewable location from the dispatched vehicle X. If the driver has not pressed the icon54for a given period of time, the vehicle controller11determines not to request the user to do a gesture. Thus, the processing of the rendezvous assistance device102returns to step S204, and the positional-relationship display screen is updated in the subsequent step S205.

When the driver has pressed the icon54, operation information on the icon54is input from the manipulator35to the vehicle controller11, and the vehicle controller11determines to request the user to do a gesture (Yes in step S206). Then, the message generator12selects one gesture from among a plurality of gestures prepared in advance, and generates a message that prompts the user to do the selected gesture (step S207). In this way, the timing of generation of the message is determined by the driver's operation. Then, when the message is generated as will be described later, the message is transmitted to the mobile terminal202A. In other words, the timing of transmission of the message is determined by the timing based on information on the driver's operation.

FIG.9illustrates gesture information stored in storage15. The gesture information is information on candidates for the gesture requested to the user to do, and includes an identification number, body-part attribute, and motion attribute of each gesture. The body-part attribute is information that indicates the body part that makes the gesture, and the motion attribute is information that indicates how the body part indicated by the body-part attribute is moved. On the basis of the gesture information, the vehicle controller11causes the display device33to display a gesture selection screen for allowing the driver to select a gesture.FIG.10shows one example of the gesture selection screen. This gesture selection screen displays icons that visually represent gestures with identification numbers G1to G8(hereinafter, referred to as “gestures G1to G8”), and the driver selects an icon to select a gesture type that the driver requests the user to do. For example, when the driver has selected the gesture G1, the message generator12generates a message saying “Please raise one hand.” This message may include an icon that visually expresses the gesture, in addition to the text saying “Please raise one hand.”

Although the driver selects a gesture from among a plurality of candidates prepared in advance in the above description, the method of generating a message is not limited thereto. For example, the driver may set a new gesture by designating a body-part attribute and a motion attribute. As another alternative, the rendezvous assistance device102and the mobile terminal202A may prescribe a gesture to be required for rendezvous when concluding a vehicle dispatch contract.

When the message generator12has generated a message, the vehicle communicator14transmits the message to the mobile terminal202A (step S208). In this way, the operations of the rendezvous assistance device102end.

Next, operations of the mobile terminal202A will be described with reference to the flowchart inFIG.11. First, the positioner24measures the location of the mobile terminal202A (step S301). Then, the mobile controller21acquires location information on the meeting point from the storage30and acquires the location information on the mobile terminal202A from the positioner24. On the basis of the acquired information, the mobile controller21causes the display26to display a positional relationship of the mobile terminal202A and the meeting point (step S302). Here, the positional-relationship display screen displayed on the display26may be obtained by, for example, replacing the dispatched vehicle X with the mobile terminal202A on the display of the positional relationship of the dispatched vehicle X and the meeting point illustrated in, for example,FIGS.5to7.

Then, the mobile controller21determines whether a request to transmit location information is sent from the dispatched vehicle X (step S303). This request-to-transmit is sent from the rendezvous assistance device102to the mobile terminal202A in step S204inFIG.4. Upon receipt of a request to transmit location information from the dispatched vehicle X, the mobile communicator22transmits the location information on the mobile terminal202A to the dispatched vehicle X (step S304). This location information is received by the vehicle communicator14of the rendezvous assistance device102via the communication device32.

After step S304or if the request to transmit location information is not received from the dispatched vehicle X in step S303, the mobile controller21determines whether the mobile communicator22has received a message from the dispatched vehicle X (step S305). When the mobile communicator22has not received a message from the dispatched vehicle X in step S305, the processing of the mobile terminal202A returns to step S301. When the mobile communicator22has received a message from the dispatched vehicle X in step S305, the display26and the audio output unit27send a message notification to the user (step S306). In this way, the operations of the mobile terminal202A end.

The procedure from when the dispatched vehicle X has arrived at the meeting point to when the user makes a gesture will be described with reference toFIGS.12to14. InFIGS.12and14, the user is indicated by a reference sign Z. The gesture type is assumed to be “raise one hand.

FIG.12illustrates a situation in which the dispatched vehicle X has arrived at the meeting point, but a driver Y is unable to identify a user Z because there are numerous persons at the meeting point. In this case, the rendezvous assistance device02transmits a message to the mobile terminal202A, and thereby the mobile terminal202A notifies the user of the message that requests the user to do a gesture. In the example illustrated inFIG.13, an icon that indicates the gesture of raising one hand is displayed on the display70of the mobile terminal202A, and a voice saying “Please raise one hand” is output from a speaker71of the mobile terminal202A. In this example, both a display and audio are used as a message notification, but either one of them may be used or vibration may be added as a message notification. When the user Z has made the gesture of raising one hand in response to the notification, the driver Y is able to identify the user Z from among the numerous persons as illustrated inFIG.14. Then, the driver Y drives the dispatched vehicle X to just in front of the user Z and achieves smooth rendezvous with the user Z.

B-3. Variation 1

In the flowchart illustrated inFIG.4, the rendezvous assistance device102causes the driver to determine the timing of checking the location of the user in step S203. Alternatively, the rendezvous assistance device102may cause the display device33to display the location of the user from the beginning.FIG.15is a flowchart of such processing of the rendezvous assistance device102according to a variation. In this flowchart, after the positioner13has measured the location of the dispatched vehicle X (step S401), the vehicle communicator14acquires the location of the user from the mobile terminal202A (step S402). Then, the vehicle controller11causes the display device33to display a positional relationship of the dispatched vehicle X, the meeting point, and the user (step S403). The subsequent steps S404to S406are the same as steps S206to S208inFIG.4.

FIGS.16to19show examples of displaying the positional relationship on the display device33according to this variation. InFIG.16, the dispatched vehicle X is 1 km away from the meeting point, and the user is 200 m away from the meeting point. At this point in time, the object52indicating the location of the user is also displayed. InFIG.17, the dispatched vehicle X is 500 m away from the meeting point, and the user is 70 m away from the meeting point.FIG.18shows an example of displaying the positional relationship at the time when the dispatched vehicle X is 60 m away from the meeting point and the user has arrived at the meeting point. InFIG.18, the object52is displayed in the center of the concentric circles, and the object50representing the location of the meeting point is not displayed.FIG.19illustrates the positional-relationship display screen at the time when the dispatched vehicle X has arrived at the meeting point. This positional-relationship display screen displays an icon54for requesting the user to do a gesture.

The variation described with reference toFIGS.15to19increases the amount of communication between the rendezvous assistance device102and the mobile terminal202A during transmission and reception of the location information on the user, but eliminates the need for the driver to perform the operation of determining the timing of checking the location of the user.

B-4. Variation 2

In step S302inFIG.11, the mobile terminal202A displays the positional relationship of the meeting point and the mobile terminal202A on the display26. Alternatively, the mobile terminal202A may acquire the location information on the dispatched vehicle X from the rendezvous assistance device102and display the positional relationship of the meeting point, the mobile terminal202A, and the dispatched vehicle X on the display26. This display may be obtained by, for example, interchanging the object51representing the location of the dispatched vehicle X with the object52representing the location of the user on the display of the positional relationship illustrated inFIG.8. The timing of displaying the location of the dispatched vehicle X may be displayed from the beginning, or may be determined by a user operation.

B-5. Variation 3

InFIG.10, a case is described in which the message generator12selects the gesture designated by the driver on the gesture selection screen, and generates a message. Alternatively, the driver may designate a gesture by other methods. For example, the driver may designate a gesture by a voice command as illustrated inFIG.20. InFIG.20, when the driver says “Please raise one hand,” the manipulator35serving as an audio input device recognizes keywords such as “one hand” and “raise” from the speech voice and sends a notification to the vehicle controller11. The vehicle controller11identifies the gesture designated by the driver as a gesture G1from the result of recognizing the speech voice by the audio input device. Then, the message generator12generates a message that requests the user to do the gesture G1of “raising one hand.”

Alternatively, the driver may do a gesture so that the user is able to do the same gesture as the driver. In this case, the manipulator35includes an on-vehicle gesture recognition unit that recognizes a person in the dispatched vehicle X. The vehicle controller11acquires the result of recognizing the driver's gesture via the on-vehicle gesture recognition unit and determines the gesture of the same type as the driver's gesture as a gesture type to be included in the message. Then, the message generator12generates a message that requests the user to do the gesture of the same type as the driver's gesture. This configuration enables the driver to more intuitively designate a gesture. In the case where the gesture requested to the user to do is determined by the driver's voice or gesture, the message generator12does not necessarily have to select one gesture from among predetermined gestures. For example, the message generator12may generate a message directly from the driver's voice saying “Please raise one hand” or a captured image of the drivers' gesture.

B-6. Variation 4

In the flowchart inFIG.4, the driver determines the timing of generation of the message in step S206, i.e., the timing of transmission of the message, while looking at the display of the positional relationship of the vehicle, the meeting point, and the user. Alternatively, the timing of transmission may be determined by the rendezvous assistance device102. The message needs to be transmitted with timing when the user's gesture is visible from the dispatched vehicle X. Thus, the rendezvous assistance device102determines the timing of transmission of the message on the basis of the positional relationship of the vehicle and the user. For example, the rendezvous assistance device102may determine the timing of transmission of the message on the basis of the distance between the vehicle and the user, e.g., a distance of 20 m or less between the vehicle and the user.

Moreover, the vehicle controller11may confirm, as a prerequisite for transmitting a message, that the user is at a visible location from the dispatched vehicle X with reference to a 3D map of the meeting point. This prevents the rendezvous assistance device102from transmitting a message to the mobile terminal202A when the distance between the dispatched vehicle X and the user is short but the user is shadowed by a building or any other obstacle and invisible from the dispatched vehicle X. Also, in the case where the user is at or around the meeting point but is shadowed by a building or any other obstacle and invisible from the dispatched vehicle X, the vehicle controller11may specify a location of the meeting point that is visible from the dispatched vehicle X and may transmit this location to the mobile terminal202A so as to guide the user to the location visible from the dispatched vehicle X.

As another alternative, the vehicle controller11may determine the timing of transmission of a message on the basis of the speed of the dispatched vehicle X. Specifically, the vehicle controller11may confirm, as a prerequisite for transmitting a message, that the speed of the dispatched vehicle X is less than or equal to a threshold value or typically that the dispatched vehicle X is making a stop. This prevents the driver from overlooking the user's gesture while driving the dispatched vehicle X.

B-7. Variation 5

The description thus far is based on the premise that the user who has received a message notification makes a gesture. However, in some cases, the user may be unable to do a gesture or may do not want to do a gesture for some reasons such as the user has his/her hands full. In such a case, according to this variation, the mobile terminal202A provides information with which the user is identified (hereinafter, referred to as “identification information”), instead of with a gesture, to the rendezvous assistance device102, so that the driver is able to identify the user from among numerous persons even if the user is not doing a gesture.

FIG.21illustrates a condition in which the mobile terminal202A that has received a message from the rendezvous assistance device102sends a message notification to the user. The speaker71of the mobile terminal202A outputs a voice saying “The vehicle is arriving, so please raise your right hand.” At this time, it is assumed that the user has his/her hands full and is thus unable to raise his/her right hand. The user may say “I have my hands full and I'm the person who is holding a baby.” Here, the “person who is holding a baby” serves as the identification information. The mobile terminal202A is provided with a microphone and acquires and transmits the user's speech voice to the rendezvous assistance device102via the mobile communicator22. In the rendezvous assistance device102, the vehicle controller11causes the audio output device34to output the user's speech voice, which includes the identification information acquired from the mobile terminal202A by the vehicle communicator14, either directly as illustrated inFIG.22or after being translated simply to, for example, “the person who is holding a baby.” This enables the driver Y to identify the user Z who is holding a baby.

B-8. Variation 6

If the user makes a gesture while facing in the direction of approach of the dispatched vehicle X, the user's gesture is more likely to be visible from the driver. In view of this, according to this variation, a notification that indicates the direction of approach of the dispatched vehicle X is sent to a user who has arrived at the meeting point, so the user is guided to face in the direction of approach.FIG.23is a block diagram illustrating a configuration of a rendezvous assistance system302B according to a variation for guiding a user. The rendezvous assistance system302B includes the rendezvous assistance device102and a mobile terminal202B. The mobile terminal202B includes, in addition to the configuration of the mobile terminal202A according to Embodiment 2 inFIG.3, a rear camera28and a front camera29. The rear camera28is a camera that captures an image on the side opposite to the display side of the mobile terminal202B. The front camera29is a camera that captures an image on the display side of the mobile terminal202B. When a user is looking at the display of the mobile terminal202B, the rear camera28is capable of capturing an image on the side opposite to the user, and the front camera29is capable of capturing an image of the user.

FIG.24is a flowchart illustrating operations of the mobile terminal202B in the rendezvous assistance system302B. Hereinafter, the operations of the mobile terminal202B will be described with reference to the flowchart inFIG.24. Steps S301to S304are similar to those in the operations of the mobile terminal202A illustrated inFIG.11. After step S304or when it is determined in step S303that there is no request to transmit location information from the dispatched vehicle X, the mobile communicator22of the mobile terminal202B acquires the location information on the dispatched vehicle X from the rendezvous assistance device103(step S304A). Then, the mobile controller21acquires the location information on the mobile terminal202B from the positioner24and determines whether the distance between the mobile terminal202B and the dispatched vehicle X is less than a predetermined threshold value (step S304B).

In step S304B, the mobile controller21waits until the distance between the mobile terminal202B and the dispatched vehicle X becomes less than the threshold value. When the distance between the mobile terminal202B and the dispatched vehicle X is less than the threshold value, the mobile terminal202B issues a vehicle approach notification (step S304C).FIG.25illustrates a condition in which the audio output unit27issues a vehicle approach notification by producing a beeping sound. Alternatively, in addition to or instead of producing a sound, the mobile terminal202B may issue a vehicle approach notification by transmitting vibrations. This enables the user to notice the approach of the dispatched vehicle X even if, for example the user has the mobile terminal202B in his/her pocket, and to pick up the mobile terminal20213and prepare for rendezvous with the dispatched vehicle X. Preparing for rendezvous means starting an application for assisting rendezvous in the mobile terminal202B.

Next, the mobile controller21estimates a route of the dispatched vehicle X to the meeting point on the basis of the location information on the dispatched vehicle X and the location information on the meeting point, and estimates the direction of approach of the dispatched vehicle X to the meeting point. Then, the mobile controller21displays the estimated direction of approach of the dispatched vehicle X on the display26(step S304D).FIG.26illustrates a condition in which the direction of approach of the dispatched vehicle X is displayed on a display70of the mobile terminal202B. When the user has started an application for assisting rendezvous upon receipt of the above-described vehicle approach notification, the map of the meeting point is displayed on the display70. Here, the map is displayed such that the bearing on the map on the display70matches the bearing on the mobile terminal202B. Therefore, an arrow that indicates the direction of approach of the dispatched vehicle X displayed on the display70matches the actual direction of approach of the dispatched vehicle X, and the user is able to grasp the direction of approach of the vehicle by looking at the direction of approach of the dispatched vehicle X displayed on the display70. Although the direction of approach is notified by the display inFIG.26, the direction of approach may be notified by audio.

As illustrated inFIG.27, when the user has started the rear camera28of the mobile terminal202B and captured an image in the direction of approach of the vehicle with the rear camera28, the mobile controller21may superimpose and display an icon55that indicates a virtual dispatched vehicle X at a position on the display26, the position corresponding to the direction of approach of the vehicle in the image captured by the rear camera28. This enables the user to more intuitively grasp the direction of approach of the vehicle.

Note that when the screen as illustrated inFIG.26is shown on the display26, the mobile terminal203may determine whether the user is looking in the direction of approach of the dispatched vehicle X. Specifically, the front camera29captures an image of the user's face. The mobile controller21compares the orientation of the user's face or the direction of the user's line of vision in the image captured by the front camera29with the direction of approach of the dispatched vehicle X displayed on the display70and determines whether the user is looking in the direction of approach of the dispatched vehicle X. Then, if the user is not looking in the direction of approach of the dispatched vehicle X, the display26or the audio output unit27may issue a notification that prompts the user to look in the direction of approach of the dispatched vehicle X.

In the example described above, the mobile controller21determines whether the user is looking in the direction of approach of the dispatched vehicle X from the orientation of the user's face or the direction of the user's line of vision. Alternatively, the mobile terminal202B may display a confirmation icon on the screen that displays the direction of approach of the dispatched vehicle X, and the mobile controller21may determine, in response to a user operation of pressing that icon, that the user is looking in the direction of approach of the dispatched vehicle X.

FIG.28illustrates a relationship of the direction of travel of the dispatched vehicle X and the direction of approach thereof. In the case where the dispatched vehicle X makes a turn at a corner or any other point before arriving at the meeting point, a current travel direction57of the dispatched vehicle X does not match an approach direction58of the dispatched vehicle X travelling toward the meeting point. In this case, the approach direction58inFIG.28corresponds to the direction of approach of the dispatched vehicle X described with reference toFIGS.26and27.

Guiding the user's line of vision in the direction of approach of the dispatched vehicle X is effective when the meeting point is at, for example, an intersection between buildings where it is difficult to receive GNSS signals.FIG.29illustrates the case in which the meeting point is at the intersection surrounded by buildings59to62. At such a meeting point, it is difficult for the user Z who is standing even at the meeting point to know in which direction the user is facing and from which direction the dispatched vehicle X is coming.

In the above description, the user's line of vision who is at the meeting point is guided in the direction of approach of the dispatched vehicle X. In addition to this, the mobile terminal202B may perform processing for guiding the user to the meeting point. In the case in which a user Z is inside a building64and the meeting point is on the road in front of the building64as illustrated inFIG.30, it may be difficult for the user Z to know from which exit the user should go out. In this case, the user Z may start an application of the mobile terminal202B and captures an image with the rear camera28. The mobile controller21may estimate an appropriate route to the exit inside the building64from the image captured by the rear camera28and guide the user to the exist by superimposing and displaying an arrow65that indicates the route to the exit on the image that is captured by the rear camera28and displayed on the display26.

B-9. Variation 7

The flowchart inFIG.15does not refer to processing of the rendezvous assistance device102that is performed after the driver has visually recognized the user's gesture. When the driver has visually recognized the user's gesture, the rendezvous assistance device102may notify the mobile terminal202A of this recognition. For example, the vehicle controller11may display an icon that is to be operated by the driver after having visually recognized the user's gesture, on the positional-relationship display screen illustrated inFIG.8and, when the icon is operated, may determine that the driver has visually recognized the user's gesture. Alternatively, when the manipulator35serving as an audio recognition unit has recognized the driver's speech voice saying, for example, “The gesture is visually recognized,” the vehicle controller11may determine that the driver has visually recognized the user's gesture. As another alternative, when the manipulator35, which serves as a gesture recognition unit for recognizing the driver's gesture, has recognized a predetermined driver's gesture, the vehicle controller11may determine that the driver has visually recognized the user's gesture. When the mobile terminal202A has issued a notification indicating the driver's recognition of the user's gesture, to the user by a display or audio, the user is able to stop doing the gesture and does not need to unnecessarily continue the gesture for a long time.

B-10. Variation 8

InFIGS.21and22, a case is described in which the user does not make a gesture. On the contrary, when the user makes a gesture, the mobile terminal202A may issue a notification indicating the user's gesture to the rendezvous assistance device102. For example, the mobile controller21of the mobile terminal202A displays a text stating “Will you make a gesture?” and Yes and No buttons on the message notification screen displayed on the display26. When the user selects “Yes,” the mobile communicator22issues a notification indicating that the user is making a gesture or is to make a gesture, to the rendezvous assistance device102. When the user selects “No,” the mobile controller21causes the display26or the audio output unit27to display a message or output a voice that requests the user to input identification information, instead of doing a gesture. In this way, when the operation unit25has acquired operation information on the user's intention to do a gesture, the mobile communicator22transmits information indicating the user's intension to do a gesture to the vehicle communicator14of the rendezvous assistance device102. Then, the vehicle controller11notifies the driver of the dispatched vehicle of the user's intension to do a gesture, via the display device33or the audio output device34. This configuration enables the driver to confirm the user's intention to do a gesture.

B-11. Variation 9

A case is assumed in which there are a plurality of dispatched vehicles X each provided with the rendezvous assistance device102according to the present embodiment, and each dispatched vehicle X is trying to rendezvous with its user at the same or close meeting points. The “close meeting points” as used herein mean that the gestures of the persons at the respective meeting points are visible from one another. In this case, if a plurality of dispatched vehicles X require their user to do the same gesture, each dispatched vehicle X may mistakenly recognize a different person who is making the gesture as its user. This may inhibit smooth rendezvous. Accordingly, it is desirable to make adjustments such that the dispatched vehicles X avoid requiring their user to do the same gesture.

In view of this, the rendezvous assistance device102mounted on each dispatched vehicle X shares the types of gestures that the other rendezvous assistance devices102require their user to do. For example, it is assumed that vehicles A, B, and C are at the same meeting point. First, when the vehicle communicator14in the rendezvous assistance device102of the vehicle A has transmitted a gesture G1to the mobile terminal202A of its user, this gesture G1is also transmitted as a used gesture to the rendezvous assistance devices102of the other vehicles B and C. In this way, the vehicles A to C share the information that the gesture G1has already been used. The vehicles B and C that issue a request for a gesture thereafter will request their user to do different gestures other than the gesture G1. At this time, for example, the gesture G1may be displayed in gray in order not to be selected on the gesture selection screen displayed on the display devices33of the rendezvous assistance devices102of the vehicles B and C. Next, when the vehicle communicator14in the rendezvous assistance device102of the vehicle B has transmitted a gesture G2to the mobile terminal202A of its user, similarly this gesture G2is also transmitted as a used gesture to the rendezvous assistance devices102of the other vehicles A and C. In the same manner as described above, the vehicle C becomes incapable of selecting the gestures G1and G2. The history of the used gestures accumulated in this manner will be reset after a lapse of a given period of time, e.g., 15 minutes.

B-12. Variation 10

Instead of adjusting gestures as described in <B-11>, the rendezvous assistance device102may again transmit a message that requests a user to do a gesture of a different type to the mobile terminal202A if numerous persons are doing the requested gesture at the meeting point. At this time, the driver may be allowed to select a newly required gesture on the gesture selection screen.

B-13. Variation 11

The above description given with reference toFIG.12, for example, is based on the premise that the driver rides on the dispatched vehicle X. However, the driver may be a remote control operator who operates the dispatched vehicle X by remote control. In this case, the various input and output interfaces of the rendezvous assistance device102described above are provided not in the dispatched vehicle X but in the place where the remote control operator is present.

C. Embodiment 3

C-1. Configuration

FIG.31is a block diagram illustrating a configuration of a rendezvous assistance system303according to Embodiment 3. The rendezvous assistance system303includes a rendezvous assistance device103and a mobile terminal203. The rendezvous assistance device103is different from the rendezvous assistance device102according to Embodiment 2 in that it is connected to an outside-vehicle gesture recognition unit36and configured to be capable of using the outside-vehicle gesture recognition unit36. The outside-vehicle gesture recognition unit36is a device that is mounted on a dispatched vehicle X and recognizes a gesture of a person outside the dispatched vehicle X. For example, the outside-vehicle gesture recognition unit36may include a camera that captures an image around the dispatched vehicle X, and a processor that analyzes the image captured by the camera to recognize a gesture. On the basis of the result of gesture recognition by the outside-vehicle gesture recognition unit36, the vehicle controller11identifies, as its user, a person who is making a gesture required by the rendezvous assistance device103outside the dispatched vehicle X, and notifies the driver of the identified user via the display device33or the audio output device34.

C-2. Operations

FIG.32is a flowchart illustrating operations of the rendezvous assistance device103. Hereinafter, the operations of the rendezvous assistance device103will be described with reference to the flowchart inFIG.32. Steps S201to S208are similar to those in the flowchart of processing of the rendezvous assistance device102illustrated inFIG.4. After the vehicle communicator14has transmitted a message to the mobile terminal203in step S208, the vehicle controller11determines whether a person outside the vehicle has made the gesture required to do by the rendezvous assistance device103(hereinafter, referred to as the “requested gesture”) (step S209). When a person outside the vehicle has made the requested gesture, the outside-vehicle gesture recognition unit36detects this gesture and sends a notification to the vehicle controller11. The vehicle controller11makes this determination in step S209in accordance with the notification received from the outside-vehicle gesture recognition unit36. The vehicle controller11repeats step S209until a person outside the vehicle makes the requested gesture. When having determined in step S209that a person outside the vehicle has made the requested gesture, the vehicle controller11identifies the person who has made the gesture as its user and sends a notification indicating the result of user identification to the driver via the display device33or the audio output device34(step S210). Through the processing described above, the operations of the rendezvous assistance device103end.

FIGS.33to35show examples of display when the display device33provides a notification to the driver in step S210. InFIG.33, objects66,67, and68are displayed, the object66representing the location of the dispatched vehicle X, the object67representing the location of the user, and the object68representing the direction of the user as viewed from the dispatched vehicle X. At first glance, the display inFIG.33is similar to the display inFIG.8described in Embodiment 2. However, the location of the user displayed inFIG.33is the location identified by gesture recognition, whereas the location of the user displayed inFIG.8is the location measured based on the GLASS signal and other information. Thus, the object67displays the location of the user with higher precision. This enables the driver to accurately grasp the location of the user.

Although the location of the user is represented by the object67that imitates the mobile terminal inFIG.33, the location of the user may be represented by an object69that imitates the gesture made by the user.

Moreover, the vehicle controller11may superimpose and display a frame73that differentiates the user on the image of the meeting point on the display device33as illustrated inFIG.35. The image of the meeting point as used herein may be an image captured by the outside-vehicle gesture recognition unit36, or may be an image captured by an outside-vehicle image capturing device such as an electron mirror of the dispatched vehicle X. The vehicle controller11may also display a virtual image object that surrounds the user in the actual view on the display device33, which serves as a translucent display such as an HUD. The vehicle controller11may also detect the direction of the line of vision of the driver and execute display for guiding the line of vision of the driver to the user.

As another alternative, the vehicle controller11may pause the image of the user who is making a gesture for a given period of time and display this image on the display device33, or may display the user in enlarged dimensions on the display device33.

In the above description, the result of gesture recognition is notified of the driver via a display on the display device33. Besides this, the result of gesture recognition may be notified of the driver by audio by the audio output device34. For example, the vehicle controller11may use the location information on the user identified by gesture recognition and cause the audio output device34to output the direction of the user as viewed from the dispatched vehicle X by, for example, making an announcement saying “Please look in the direction of 10 degrees on the right side.”

With this configuration, the driver is notified of the location of the user identified by gesture recognition via a display or audio. This eliminates the need for the driver to look around in order to visually recognize a person who is making a gesture.

Alternatively, the vehicle controller11may cause the audio output device34to output an announcement about information other than the direction of the user, such as clothes and appearance of the user identified based on the result of gesture recognition. As another alternative, the vehicle controller11may notify the driver of only the fact that the gesture is recognized, via the display device33or the audio output device34. In this case, the driver is able to look for the user in full confidence that the user is making a gesture.

C-3. Variation of Notifying Driver of Information that User is Recognized by Driver

In the same manner as in Variation [B-9] of Embodiment 2, after step S210inFIG.32, the rendezvous assistance device103may notify the mobile terminal203of the fact that the user is recognized b the driver. The fact that the “user is recognized” as used herein includes a case in which the driver recognizes the user on the display screen of the display device33as illustrated inFIG.35.

D. Embodiment 4

D-1. Configuration

FIG.36is a block diagram illustrating a configuration of a rendezvous assistance system304according to Embodiment 4. The rendezvous assistance system304includes a rendezvous assistance device104and a mobile terminal204. A dispatched vehicle X on which the rendezvous assistance device104is mounted is a full autonomous driving vehicle that includes an autonomous driving control device37. The autonomous driving control device37controls autonomous driving of the dispatched vehicle X. Thus, the dispatched vehicle X has no driver. Accordingly, the rendezvous assistance device104is different from the rendezvous assistance device103according to Embodiment 3 in that it is connected to the autonomous driving control device37and an outside-vehicle annunciator38, and configured to be capable of using these devices, instead of being connected to the display device33, the audio output device34, and the manipulator35that serve as input and output interfaces for the driver,. The outside-vehicle annunciator38is an annunciator that is mounted on the dispatched vehicle X and may, for example, be a klaxon, a turn-signal flasher unit, a lighting device, or an outside-vehicle display. The outside-vehicle annunciator38makes an announcement to the user who has been identified by the vehicle controller11on the basis of the result of recognition by the outside-vehicle gesture recognition unit36, so as to help the user notice the dispatched vehicle X.

D-2. Operations

FIG.37is a flowchart illustrating operations of the rendezvous assistance device104. Hereinafter, the operations of the rendezvous assistance device104will be described with reference to the flowchart inFIG.37.

When the autonomous driving control device37operates the dispatched vehicle X toward a meeting point by autonomous control, the positioner13acquires a GNSS signal from the GNSS receiver31and measures the location of the dispatched vehicle X (step S401). Then, the vehicle communicator14issues a request to transmit location information to the mobile terminal204and receives the location information on the mobile terminal204as location information on the user from the mobile terminal204(step S402).

Then, the vehicle controller11determines whether a gesture request condition is satisfied (step S403). One example of the gesture request condition may be a condition about the positional relationship of the dispatched vehicle X, the meeting point, and the user, such as a condition that the distance between the dispatched vehicle X and the meeting point is within a predetermined distance, e.g., 50 m, and the user is within 10 m from the meeting point. When the gesture request condition is not satisfied in step S403, the processing of the rendezvous assistance device104returns to step S401.

When the gesture request condition is satisfied in step S403, the message generator12automatically selects one gesture from among candidates for a gesture prepared in advance, and generates a message that requests the user to do the selected gesture (step S404). Here, the message generator12may give precedence to the candidates for a gesture, for example, in ascending order of load required for execution or in order of easiness of automatic recognition, and may select the gesture with highest precedence. As another alternative, the vehicle controller11may acquire current gestures that persons outside the vehicle are making from the outside-vehicle gesture recognition unit36, and the message generator12may exclude those gestures made by the persons outside the vehicle from the selection. Then, the vehicle communicator14transmits the message to the mobile terminal204(step S405).

Thereafter, the vehicle controller11determines whether any person outside the vehicle has made the requested gesture (step S406). When the requested gesture is made by a person outside the vehicle, the outside-vehicle gesture recognition unit36detects this and sends a notification to the vehicle controller11. The vehicle controller11makes this determination in step S406in accordance with the notification received from the outside-vehicle gesture recognition unit36. The vehicle controller11repeats step S406until the requested gesture is made by a person outside the vehicle. When having determined in step S406that the requested gesture is made by a person outside the vehicle, the vehicle controller11identifies this person who is making the gesture as its user. Then, the vehicle controller11makes an announcement that the dispatched vehicle X is his/her dispatched vehicle to the user via the outside-vehicle annunciator38(step S407). Through the processing described above, the operations of the rendezvous assistance device104end.

Next, an example of an announcement made via the outside-vehicle annunciator38will be described.FIG.38shows an example in which an outside-vehicle display72provided on the front grille of the dispatched vehicle X serves as the outside-vehicle annunciator38. The outside-vehicle display72displays “Hi, Msen!” Here, it is assumed that “Msen” represents identification information that is specific to the user and provided from the mobile terminal204to the rendezvous assistance device104and stored in the storage15when a vehicle dispatch contract is concluded between the user and the dispatched vehicle X.

FIG.39shows an example in which the headlights of the dispatched vehicle X serve as the outside-vehicle annunciator38. An announcement is made to the user by irradiating the foot of the user with the headlights. In the rendezvous assistance device104in which the user is identified by gesture recognition, the location of the user can be identified with high precision. Accordingly, it is possible to make an announcement as illustrated inFIG.39, using the location information on the user identified with high precision.

The outside-vehicle annunciator38may make an announcement only while the user is making a gesture.

E. Embodiment 5

E-1. Configuration

FIG.40is a block diagram illustrating a configuration of a rendezvous assistance system305according to Embodiment 5. The rendezvous assistance system305includes a rendezvous assistance device105, a mobile terminal205, and a vehicle dispatch server401. The configurations of the rendezvous assistance device105and the mobile terminal205are similar to the configurations of the rendezvous assistance device102and the mobile terminal202A according to Embodiment 2.

The vehicle dispatch server401configures a communication network with the communication device32and the mobile communicator22. The descriptions in Embodiments 1 to 4 are given on the premise that a vehicle dispatch contract has been concluded between the rendezvous assistance device and the mobile terminal. In the rendezvous assistance system305, the vehicle dispatch server401performs processing for concluding a vehicle dispatch contract. Operations of the rendezvous assistance system305other than the processing for concluding a vehicle dispatch contract are similar to the operations of the rendezvous assistance system302A according to Embodiment 2, and therefore the following description focuses on the processing for concluding a vehicle dispatch contract.

E-2. Operations

FIG.41is a flowchart illustrating operations of the vehicle dispatch server401. Hereinafter, the operations of the vehicle dispatch server401will be described with reference to the flowchart inFIG.41. First, the vehicle dispatch server401receives a vehicle dispatch request from the mobile terminal205(step S501). The vehicle dispatch request includes information on the meeting point and may further include conditions that are required for the dispatched vehicle by the user, such as desired vehicle type.

Then, the vehicle dispatch server401sounds out the rendezvous assistance device105of at least one dispatched vehicle X that satisfies the vehicle dispatch request about whether vehicle dispatch is possible (step S502). If there are no conditions for requesting vehicle dispatch, the vehicle dispatch server401may sound out the rendezvous assistance device105of at least one dispatched vehicle X that is close to the meeting point about whether vehicle dispatch is possible. Here, the vehicle dispatch server401may sound out the rendezvous assistance device105of an autonomous driving vehicle preferentially about whether vehicle dispatch is possible.

Then, the vehicle dispatch server401receives a response to the inquiry about whether vehicle dispatch is possible from the rendezvous assistance device105of the dispatched vehicle X that has been sounded out about the possibility of vehicle dispatch (step S503). Then, the vehicle dispatch server401transmits to the mobile terminal205information on the dispatched vehicle X from which the response indicating that vehicle dispatch is possible has been received (step S504). Thereafter, the vehicle dispatch server401receives, from the mobile terminal205, information on the user's profile and information on the dispatched vehicle X that is selected as a dispatched vehicle by the user (selected vehicle information) (step S505).

Then, the vehicle dispatch server401transmits the user's profile to the rendezvous assistance device105of the dispatched vehicle X selected as a dispatched vehicle by the user, and sends a notification about the conclusion of a contract to both of the dispatched vehicle X and the rendezvous assistance device105of the mobile terminal205(step S506). The user's profile as used herein may include, for example, payment information for the user, information about where to make contact, and the identification information referred to in <B-7>.

Although the vehicle dispatch server401performs the processing for concluding a vehicle dispatch contract in the above description, the rendezvous assistance device105and the mobile terminal205may directly perform the processing for concluding a vehicle contract.

F. Hardware Configuration

In the rendezvous assistance devices101to105described above, the vehicle controller11, the message generator12, the positioner13, the vehicle communicator14, and the storage15are implemented via a processing circuit81illustrated inFIG.42. That is, the processing circuit81that configures each of the rendezvous assistance devices101to105includes the vehicle controller11, the message generator12, the positioner13, the vehicle communicator14, and the storage15(hereinafter, referred to as the “vehicle controller11and other constituent elements”). In the mobile terminals201,202A,202B, and203to205described above, the mobile controller21, the mobile communicator22, and the positioner24are also implemented via the processing circuit81illustrated inFIG.42. That is, the processing circuit81that configures each of the mobile terminals201,202A,202B, and203to205includes the mobile controller21, the mobile communicator22, and the positioner24(hereinafter, referred to as the “mobile controller21and other constituent elements”). For example, dedicated hardware may be applied to the processing circuit81, or a processor that executes programs stored in a memory may be applied to the processing circuit81. Examples of the processor include a central processing unit, a processing device, an arithmetic unit, a microprocessor, a microcomputer, and a digital signal processor (DSP).

In the case where the processing circuit81is dedicated hardware, the processing circuit81corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or any combination of these circuits. The functions of constituent elements, such as the vehicle controller11and other constituent elements or the mobile controller21and other constituent elements, may be implemented via a plurality of processing circuits81, or may be collectively implemented via a single processing circuit.

In the case where the processing circuit81is a processor, the functions of constituent elements, such as the vehicle controller11and other constituent elements or the mobile controller21and other constituent elements, are implemented by combination with software (e.g., software, firmware, or both software and firmware). The software or the like is described as a program and stored in a memory. As illustrated inFIG.43, a processor82that is applied to the processing circuit81achieves the function of each constituent element by reading and executing programs stored in a memory83. That is, each of the rendezvous assistance devices101to105includes the memory83that stores a program for causing the processing circuit81to eventually execute a step of generating a message that requests a user to do a gesture, a step of transmitting the message to the mobile terminal201,202A,202B, or203to205when the dispatched vehicle is at or around the meeting point. In other words, it can also be said that this program causes a computer to execute the procedure or method performed by the vehicle controller11and other constituent elements. Each of the mobile terminals201,202A,202B, and203to205also includes the memory83that stores a program for causing the processing circuit81to eventually execute a step of receiving a message from the rendezvous assistance devices101to105and the step of sending a notification that requests the user to do a gesture to the user on the basis of the message. In other words, it can also be said that this program causes a computer to execute the procedure or method performed by the mobile controller21and other constituent elements. Examples of the memory83may include non-volatile or volatile semiconductor memories such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), or an electrically erasable programmable read only memory (EEPROM), a hard disk drive (HDD), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini-disk, a digital versatile disk (DVD), and drivers for these disks, and or any other possible storage medium that may be used in the future.

In the configurations described above, the functions of the vehicle controller11and other constituent elements and the mobile controller21and constituent elements are implemented via either hardware or software. However, the present disclosure is not limited thereto, and the rendezvous assistance devices101to105may be configured such that some of the vehicle controller11and other constituent elements are implemented via dedicated hardware, and the other constituent elements are implemented via software. The mobile terminals201,202A,202B, and203to205may also be configured such that some of the mobile controller21and other constituent elements are implemented via dedicated hardware, and the other constituent elements are implemented via software.

As described above, the processing circuits can achieve each of the above-described functions via hardware, software, or any other service or via any combination of them. Although the storage15is configured with the memory83, the storage15may be configured with a single memory83, or with individual memories. The same applies to the storage30.

Although the rendezvous assistance devices101to105are on-vehicle devices in the above description, the present disclosure is also applicable to systems that are constructed by appropriately combining a portable navigation device (PND), a communication terminal (e.g., a mobile terminal such as a mobile phone, a smartphone, or a tablet), the functions of applications installed in these devices, and servers (including the vehicle dispatch server401and other servers). In this case, the functions or constituent elements of the rendezvous assistance devices101to105described above may be distributed into and arranged in each equipment that constructs a system, or may be collectively arranged in any one equipment.

While the invention has been shown and described in detail, the foregoing description is in all aspects illustrative and not restrictive. It is therefore to be understood that numerous modifications and variations can be devised without departing from the scope of the invention.

EXPLANATION OF REFERENCE SIGNS

11vehicle controller12message generator13positioner14vehicle communicator15storage21mobile controller22mobile communicator23notification unit24positioner25operation unit26display27audio output unit28rear camera29front camera30storage31GNSS receiver32communication device33display34audio output device35manipulator36outside-vehicle gesture recognition unit37autonomous driving control device38outside-vehicle annunciator50to52,66to69object54to56icon70display71speaker72outside-vehicle display81processing circuit82processor83memory101to105rendezvous assistance device201,202A,202B,203to205mobile terminal301,302A,302B,303to305rendezvous assistance system401vehicle dispatch server