Operating system and control method for an operating system

Abstract

In a bus (5) operation system (1) including a connection portion database in which determination information of a magnetic marker (10) arranged in correspondence with a connection portion (13) at which a special lane (111) on which the magnetic marker (10) is laid and a general lane (112) are connected is stored, the connection portion (13) is set in correspondence with the magnetic marker (10) involved in the determination information stored in the connection portion database, whereby in an operation system in which a vehicle is caused to travel along a route set in advance, the degree of freedom of the route can be improved.

Description

Technical Field

[0001] This invention relates to a system for operating a vehicle along a pre-set route and a method for controlling it. Background Technology

[0002] Previously, vehicle operation systems that enable buses to run along pre-set routes were known (see, for example, Patent Document 1). Compared with railways, vehicle operation systems have advantages such as lower infrastructure costs and greater flexibility in route setting. In particular, vehicle operation systems that allow vehicles to operate autonomously can be expected to be utilized as mobility mechanisms for the elderly in sparsely populated areas with aging populations.

[0003] As a vehicle operation system for autonomous driving, a system is proposed that enables vehicles to drive automatically by using magnetic markers arranged along the route. Compared with systems that perform image recognition of lanes (the vehicle's driving area), the magnetic marker system is easier to ensure robustness against environmental interferences such as rain, snow, and direct sunlight.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2010-97253 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In previous vehicle operation systems, there were problems such as the difficulty in setting and canceling route changes, such as branching and merging points.

[0009] The present invention was made in view of the aforementioned problems and is an invention for providing a system that improves the degree of freedom of route change for a vehicle operation system that enables a vehicle to run along a pre-set route.

[0010] Solution for solving the problem

[0011] One aspect of the present invention is an operating system for automatically driving a vehicle along a dedicated vehicle-facing lane, wherein,

[0012] The operating system has:

[0013] Multiple magnetic markers are configured in the dedicated driving lane;

[0014] The storage unit stores the identification information of the magnetic marker corresponding to the connection point as connection point identification information, wherein the connection point is at least one of a branch from the dedicated lane to other lanes and a merger from other lanes to the dedicated lane; and

[0015] The setting unit sets or deactivates the connection portion.

[0016] The storage unit is configured such that when the connection part is set by the setting unit, it stores the determination information of the magnetic marker corresponding to the connection part as connection part determination information; on the other hand, when the connection part is released by the setting unit, it deletes the connection part determination information related to the determination information of the magnetic marker corresponding to the connection part.

[0017] The operating system is configured to enable, at the location corresponding to the magnetic marker involved in the connection location determination information stored in the storage unit, at least one of branching from the dedicated lane to other lanes and merging from other lanes to the dedicated lane.

[0018] One aspect of the present invention is a control method for an operating system, the operating system being used to enable a vehicle to automatically travel along a dedicated vehicle-oriented lane, wherein...

[0019] The operating system has:

[0020] Multiple magnetic markers are configured in the dedicated driving lane;

[0021] The storage unit stores the identification information of the magnetic marker corresponding to the connection point as connection point identification information, wherein the connection point is at least one of a branch from the dedicated lane to other lanes and a merger from other lanes to the dedicated lane; and

[0022] The setting unit sets or deactivates the connection portion.

[0023] The storage unit is configured such that when the connection part is set by the setting unit, it stores the determination information of the magnetic marker corresponding to the connection part as connection part determination information; on the other hand, when the connection part is released by the setting unit, it deletes the connection part determination information related to the determination information of the magnetic marker corresponding to the connection part.

[0024] At the location corresponding to the magnetic marker involved in the connection location determination information stored in the storage unit, at least one of branching from the dedicated lane to other lanes and merging from other lanes to the dedicated lane can be performed.

[0025] Invention Effects

[0026] The operating system of the present invention is a system for enabling vehicles to automatically travel along dedicated driving lanes equipped with multiple magnetic markers. This operating system stores identification information of magnetic markers corresponding to connection points where the dedicated driving lane connects to other driving lanes as connection point identification information. Furthermore, in this operating system, at the location corresponding to the magnetic marker involved in the stored connection point identification information, at least one of branching from the dedicated driving lane to other driving lanes and merging from other driving lanes to the dedicated driving lane can occur.

[0027] In the operating system of the present invention, by storing or deleting the connection point determination information, the connection points between dedicated lanes and other lanes can be set or disconnected, making route changes relatively easy. According to the operating system and control method of the present invention, an application system with superior characteristics that greatly improves the freedom of route changes can be realized. Attached Figure Description

[0028] Figure 1 This is system diagram 1, which shows the structure of the operating system.

[0029] Figure 2 This is system diagram 2, which shows the structure of the operating system.

[0030] Figure 3 This is an explanatory diagram showing a dedicated driving lane.

[0031] Figure 4 This is an explanatory diagram showing a dedicated driving lane with connecting parts.

[0032] Figure 5 This is a three-dimensional diagram showing a magnetic marker.

[0033] Figure 6 This is the front view of the RFID tag.

[0034] Figure 7 This is a top view of the bus.

[0035] Figure 8 This is a block diagram showing the electrical structure of a bus.

[0036] Figure 9 This is a block diagram showing the structure of the control server device.

[0037] Figure 10 This is an explanatory diagram illustrating the change in magnetometer readings in the direction of travel when passing a magnetic marker.

[0038] Figure 11 This is an explanatory diagram illustrating the distribution of magnetometer readings along the vehicle width direction obtained from magnetic sensors Cn arranged along the vehicle width direction.

[0039] Figure 12 It is a flowchart showing the system operations of a bus from the branch of the dedicated lane to the arrival at the station.

[0040] Figure 13 It is a flowchart showing the system operation of buses from their departure from the station to their merging into the dedicated driving lane.

[0041] Figure 14 This is a flowchart illustrating the process of setting up the connection part.

[0042] Figure 15 This is a flowchart illustrating the process of disengaging the connection.

[0043] Figure 16 This is an explanatory diagram showing one of other structural examples of a station.

[0044] Figure 17 This is an explanatory diagram showing another example of a station structure. Detailed Implementation

[0045] The following examples illustrate specific implementations of the present invention.

[0046] (Example 1)

[0047] This example relates to the operating system 1 of a bus (a vehicle example) 5. This operating system 1 is a system that enables the bus 5 to automatically travel in a driving lane 11 equipped with magnetic markers 10. See also... Figures 1 to 17 Please provide an explanation of this content.

[0048] In driving lane 11 ( Figure 1 In addition to the dedicated lane 111 for bus 5, there is also a regular lane 112 leading to the station 115 for passengers to board and alight. A connecting part 13 can be provided in the dedicated lane 111 to connect with the regular lane 112, which constitutes an example of other lanes. Bus 5 can use the connecting part 13 to branch off from the dedicated lane 111 to the regular lane 112, or to merge from the regular lane 112 back into the dedicated lane 111.

[0049] Operating System 1 ( Figure 1The system comprises a control server device 18 for remotely controlling the movement of a bus 5, and a bus 5 capable of communicating with the control server device 18. The bus 5 detects magnetic markers 10 while in motion and measures the lateral offset of the bus body relative to the magnetic markers 10. The control server device 18 uses this lateral offset to remotely control the bus 5 in a manner that follows the magnetic markers 10. Hereinafter, (1) the driving lane, (2) the magnetic markers, (3) the bus, and (4) the control server device will be described, followed by (5) the system operation.

[0050] (1) Driving lane

[0051] As mentioned above, driving lane 11 ( Figure 1 It consists of a dedicated bus lane 111 for buses 5 and a regular bus lane 112 with bus stops 115. The dedicated bus lane 111 is a one-way, circular loop. The dedicated bus lane 111 is supported by fences 110 on both sides. Figure 3 The dedicated lane 111 is divided into lanes that are inaccessible to pedestrians and ordinary vehicles. The ordinary lane 112 is a lane that branches off from or merges into the dedicated lane 111. Bus 5, after branching off from the dedicated lane 111, travels in the ordinary lane 112 to reach station 115. Bus 5 departing from station 115 travels in the ordinary lane 112 and merges back into the dedicated lane 111.

[0052] The main difference between dedicated lane 111 and ordinary lane 112 lies in whether ordinary vehicles other than bus 5 travel on it. Due to this difference, the control speed for automatic driving of bus 5 differs between dedicated lane 111 and ordinary lane 112. In dedicated lane 111, the control speed is around 40-50 km / h, while in ordinary lane 112, the control speed is suppressed to a low level of 0-20 km / h.

[0053] Fence 110 dividing the dedicated driving lane 111 Figure 3 as well as Figure 4 The system consists of a movable fence 110A and a fixed fence 110B. In the operating system 1, the movement of the movable fence 110A allows the connection point 13 between the dedicated lane 111 and the ordinary lane 112 to be set. The movable fence 110A is provided at points such as branch points from the dedicated lane 111 to the ordinary lane 112 and merging points from the ordinary lane 112 to the dedicated lane 111, which can be set as defined points of the connection point 13 between the ordinary lane 112 and the dedicated lane 111.

[0054] The movable barrier 110A has a structure similar to a platform screen door installed on a tram station platform. A drive motor 160, controlled by a motor control unit 16, is attached to the movable barrier 110A. The motor control unit 16 can communicate with a control server device 18 via the Internet. The motor control unit 16 drives the drive motor 160 to rotate according to control signals based on the control server device 18.

[0055] The movable fence 110A moves along the drive lane direction by the driving force of the drive motor 160 and is displaced to a position overlapping with the adjacent fixed fence 110B (see reference). Figure 4 Thus, the position where the movable fence 110A overlaps with the fixed fence 110B is the open position where the dedicated lane 111 is open relative to the ordinary lane 112. On the other hand, the position where the movable fence 110A exists between the fixed fences 110B on both sides is the locked position where the dedicated lane 111 is locked relative to the ordinary lane 112 (see reference). Figure 3 When the movable fence 110A is in the open position, a connection portion 13 is provided between the dedicated lane 111 and the ordinary lane 112, thereby enabling mutual access between the dedicated lane 111 and the ordinary lane 112. On the other hand, when the movable fence 110A is in the locked position, it is not possible to access the dedicated lane 111 from the ordinary lane 112 or to branch off from the dedicated lane 111 to the ordinary lane 112.

[0056] In the operating system 1 of this example, magnetic markers 10 are pre-defined to correspond individually to each movable fence 110A. In operating system 1, the opening and closing states of the movable fences 110A can be switched by storing, on the system side, the determination information of the magnetic markers 10 (determining markers 10S) configured corresponding to the movable fences 110A as connection point determination information. Furthermore, by opening and closing the movable fences 110A, the setting of the connection point 13 between the dedicated lane 111 and the ordinary lane 112 can be changed.

[0057] It should be noted that the ordinary traffic lane 112 of the outbound route from dedicated traffic lane 111 to station 115 and the ordinary traffic lane 112 of the return route from station 115 to dedicated traffic lane 111 can be shared or are different lanes. When the ordinary traffic lane 112 of the outbound route and the ordinary traffic lane 112 of the return route are different, the connecting part 13 relative to dedicated traffic lane 111 can also be different. Furthermore, the connecting part 13 can be a part shared by both branching and merging, or it can be a part used only in branching or merging.

[0058] (2) Magnetic marker

[0059] Magnetic marker 10 ( Figure 2 as well as Figure 5 The magnetic tag 10 is an identifier that integrates an RFID tag 15 (Radio Frequency Identification Tag) with a cylindrical magnet that is 20 mm in diameter and 28 mm in height. The magnetic tag 10 is housed in a location on the road surface 100S ( Figure 2 The holes are laid out in a specific state. The magnet constituting the magnetic marker 10 is a ferrite plastic magnet formed by dispersing iron oxide magnetic powder, which is the magnetic material, in a polymer material, which is the base material. The maximum energy product (BHmax) of this magnet is 6.4 kJ / m³. The magnetic marker 10 is used as a magnetic sensor array 21A, 21B (refer to...) Figure 2 A magnetic flux density exceeding 8 μT (microtesla) is applied at a height of 250 mm above the installation height.

[0060] In magnetic marker 10, such as Figure 5 As shown, an RFID tag 15 that wirelessly outputs tag information is disposed on the end face of a cylindrical magnet. It should be noted that, after the sheet-like RFID tag 15 is disposed on the end face of the magnet, a coating formed of resin material can also be applied to the surface. The coating can also be a layer formed of a composite material obtained by impregnating fibers with resin material. Alternatively, the sheet-like RFID tag 15 can be disposed on the end face of a magnet with a coating. The coating can also be applied to all or part of the outer surface of the magnet other than the end face where the RFID tag 15 is disposed.

[0061] RFID tag 15 ( Figure 6 For example, an electronic component is formed by mounting an IC chip 157 on the surface of a tag sheet 150 cut from a PET (Polyethylene terephthalate) film. A printed pattern of an antenna 153 is provided on the surface of the tag sheet 150. The antenna 153 serves both as a power supply antenna for generating an excitation current through external electromagnetic induction and as a communication antenna for wirelessly transmitting information such as location data. The RFID tag 15 operates via an externally powered wireless circuit and outputs tag information, such as the tag ID, as identification information. The tag ID output by the RFID tag 15 is an example of the identification information of the magnetic tag 10.

[0062] (3) Bus (vehicle)

[0063] Bus 5 ( Figure 2 as well as Figure 7The bus 5 is a vehicle capable of remote-controlled autonomous driving. It is equipped with magnetic sensor arrays 21A and 21B for detecting magnetic markers 10, a tag reader unit 34 for communicating with RFID tags 15, millimeter-wave radar 37, and a front-facing camera 39, among other sensor types, to enable autonomous driving. The bus 5 also has an onboard ECU (Electronic Control Unit) 61 for controlling steering units (not shown), engine throttle valves, brake actuators, and other components, to perform driving control.

[0064] Millimeter-wave radar 37 is a sensor used to detect other vehicles, people, structures such as guardrails, curbs, and other three-dimensional objects. The millimeter-wave radar 37 is positioned at the front, rear, left, and right corners of the bus 5 to monitor its surroundings. The detection results from each millimeter-wave radar 37 are input to the control unit 32.

[0065] The forward camera 39 is a camera that captures images of the environment ahead. The forward camera 39 is configured to include image processing circuitry (not shown) and other components. By processing the captured images, the forward camera 39 can detect road signs, signals, people, bicycles, vehicles traveling in the same direction, and oncoming vehicles. The detection results from the forward camera 39 are input to the control unit 32.

[0066] The on-board ECU 61 can execute control to make the bus 5 drive automatically based on the control information (control values) output by the control server device 18. The control information sent by the control server device 18 is received by the control unit 32 and transmitted to the on-board ECU 61.

[0067] (3.1) Magnetic sensor array

[0068] In bus 5, such as Figure 7 as well as Figure 8 As shown, magnetic sensor arrays 21A and 21B are installed at two locations 4m apart in the front-rear direction of the bus 5. As an example of a magnetic detection unit, the magnetic sensor arrays 21A and 21B are long, rod-shaped units in the vehicle width direction, and are installed on the underside of the bus 5 facing the road surface 100S. By combining the front magnetic sensor array 21A and the rear magnetic sensor array 21B, it is possible to simultaneously detect two magnetic markers 10 arranged 4m apart and spaced one spaced apart in a row among the magnetic markers 2 arranged at 2m intervals along the path.

[0069] Magnetic sensor arrays 21A and 21B Figure 8It has 15 magnetic sensors Cn (n is an integer from 1 to 15) arranged in a straight line along the width of the vehicle, and a detection and processing circuit 212 with a CPU (not shown) built in. In the magnetic sensor arrays 21A and 21B, the 15 magnetic sensors Cn are arranged at equal intervals of 10 cm.

[0070] The magnetic sensor Cn is a sensor that detects magnetism by utilizing the well-known Magneto Impedance Effect (MI effect), where the impedance of a magnetizing material such as amorphous wire changes sensitively to an external magnetic field. In the magnetic sensor Cn, magnetizing elements are arranged along two orthogonal axes, thereby enabling the detection of magnetism acting along these two orthogonal axes. It should be noted that, in this example, the magnetic sensor Cn is assembled into the magnetic sensor arrays 21A and 21B in a manner capable of detecting magnetic components in both the direction of travel and the vehicle width direction.

[0071] The magnetic sensor Cn is a highly sensitive sensor with a magnetic flux density measurement range of ±0.6 mT and a magnetic flux resolution of 0.02 μT within the measurement range. Here, the magnetic marker 10, as described above, can apply a magnetic flux density exceeding 8 μT at a height of 250 mm, which is the mounting height of the magnetic sensor Cn. Since the magnetic marker 10 applies a magnetic flux density exceeding 8 μT, detection can be performed with high reliability using the magnetic sensor Cn, which has a magnetic flux resolution of 0.02 μT.

[0072] The detection and processing circuit 212 of the magnetic sensor arrays 21A and 21B Figure 8 The detection processing circuit 212 is an arithmetic circuit that performs tag detection processing for detecting the magnetic tag 10. In addition to the CPU that performs various operations not shown, the detection processing circuit 212 is constructed using memory elements such as ROM and RAM.

[0073] The detection processing circuit 212 acquires the sensor signals output by each magnetic sensor Cn at a frequency of 3kHz and performs sign detection processing. Furthermore, it inputs the detection results of the sign detection processing to the control unit 32. In this sign detection processing, in addition to detecting the magnetic sign 10, the lateral offset (an example of the relative position in the width direction) relative to the magnetic sign 10 is also measured, which will be described in detail later. The lateral offset relative to the magnetic sign 10 is, for example, the offset of the center position (center position) of the magnetic sensor array 21 relative to the width direction of the magnetic sign 10. The center position of the magnetic sensor array 21 is located approximately at the center of the bus 5 in the width direction. Therefore, the offset of the center position of the magnetic sensor array 21 relative to the magnetic sign 10 can be processed as the lateral offset of the bus 5 relative to the magnetic sign 10.

[0074] Based on the lateral offset relative to the magnetic marker 10 detected by the front magnetic sensor array 21A and the lateral offset relative to the magnetic marker 10 detected by the rear magnetic sensor array 21B, the attitude of the bus 5 relative to the driving lane direction can be determined. It should be noted that, as described later, this determination of the bus 5's attitude is performed by a control server device 18 that acquires vehicle state information including the lateral offsets (two lateral offsets) obtained from the front and rear magnetic sensor arrays 21A and 21B.

[0075] (3.2) Tag reader unit

[0076] Tag reader unit 34 ( Figure 7 ) is wirelessly connected to the magnetic tag 10 ( Figure 5 The RFID tag 15 is a communication unit that communicates with the tag reader unit 34. The tag reader unit 34 wirelessly transmits the power required for the RFID tag 15 to activate it, and reads the tag ID (tag information) as identification information for the RFID tag 15. It should be noted that... Figure 7 The magnetic sensor array 21A and the tag reader unit 34 are shown separately in the diagram, but they can also be integrated into a single unit.

[0077] (3.3) Control Unit

[0078] Control Unit 32 ( Figure 7 It controls the magnetic sensor arrays 21A and 21B, the tag reader unit 34, the millimeter-wave radar 37, the front camera 39, etc., and communicates with the control server device 18 (see reference). Figure 1 A unit that sends and receives various information and data between ( ).

[0079] The control unit 32 transmits vehicle status information to the control server device 18 at a sufficiently high frequency. A vehicle ID is associated with this vehicle status information to allow the control server device 18 to identify the source bus 5. In exchange with the transmission of vehicle status information, the control unit 32 obtains control information for autonomous driving from the control server device 18. The control information (control values) obtained by the control unit 32 is input to the onboard ECU 61 and applied to the driving control of the bus 5, thereby realizing remote control of the bus 5 based on the control server device 18.

[0080] The vehicle status information includes information obtained from outside the vehicle and information indicating the driving status of bus 5. The information obtained from outside the vehicle includes the tag ID (tag information) obtained from the RFID tag 15 held at the magnetic tag 10, the lateral offset relative to the magnetic tag 10, the detection results based on millimeter-wave radar 37, and the detection results based on the front camera 39. Information indicating the driving status of bus 5 includes vehicle speed, steering angle, and yaw rate. It should be noted that the lateral offset relative to the magnetic tag 10 and the tag ID are only included in the aforementioned vehicle status information when the magnetic tag 10 is detected.

[0081] (4) Control server device

[0082] Control server device 18 ( Figure 9 This is a computer device centered on an electronic board 180, which houses electronic components such as a CPU (Central Processing Unit) 181, ROM (Read Only Memory) 182, and RAM (Random Access Memory) 183. The electronic board 180 is connected to storage devices (storage media) such as hard disk drives 185 and wireless communication units 189 via I / O (Input / Output) 184.

[0083] In the control server device 18, the storage area of ​​the storage device 185 includes a marker database (marker DB) 185M that stores marker information related to each magnetic marker 10, a map database (map DB) 185T that stores map data representing the three-dimensional structure of the driving lane 11, and a connection part database (connection part DB) 185C that stores the determination information of the magnetic markers 10 configured corresponding to the connection parts 13 connecting the dedicated driving lane 111 and the ordinary driving lane 112 as connection part determination information. Furthermore, the control server device 18 manages the position of each movable fence 110A. For example, in the storage area of ​​the storage device 185, it stores flag data indicating whether each movable fence 110A is in an open or closed position. By referring to the flag data, the control server device 18 can determine the state of the corresponding movable fence 110A.

[0084] The tag ID (tag information), which serves as the identification information for the attached RFID tag 15, is associated with the tag information stored in the tagger DB185M (a correspondence is established). In this example, the corresponding magnetic tag 10 can be determined by utilizing the tag ID and referring to the tagger DB185M. The tag information includes information indicating the laying location, information indicating the attributes of that laying location, and limiting information such as speed limits. In particular, the tag information of the magnetic tag 10 configured corresponding to the movable fence 110A includes identification information for identifying the movable fence 110A.

[0085] The map data stored in the map DB185T consists of vector data representing the structure of the driving lane 11, the surrounding environment, etc. In this map data, the locations of the magnetic markers 10 are mapped on the driving lane 11. For example, if the bus 5 detects any magnetic marker 10, the shape of the driving lane in front of the bus 5 can be obtained by referring to this map data.

[0086] The connection part DB185C is an example of a storage unit that stores tag IDs as determination information for the magnetic marker 10, which is configured corresponding to the connection part 13 set by the setting unit described later, as connection part determination information. Here, as described above, the tag ID is associated with the marker information stored in the marker DB185M. The marker information of the magnetic marker 10 corresponding to the movable fence 110A also includes identification information for determining the movable fence 110A. Therefore, based on the tag ID stored as connection part determination information in the connection part DB185C, the movable fence 110A constituting the connection part 13, that is, the movable fence 110A of the object controlled to the open position, can be determined.

[0087] The attribute information of connection part 13 is associated with the tag ID stored in connection part DB185C as connection part identification information. The attribute information includes two types: branching and merging. The branching attribute information indicates the intention of connection part 13 as a branch from dedicated lane 111 to ordinary lane 112. The merging attribute information indicates the intention of connection part 13 as a merge from ordinary lane 112 to dedicated lane 111.

[0088] The control server device 18 executes the program read from ROM 182 via CPU 181, thereby realizing the functions of the following structures.

[0089] (4.1) Data Communication Department: The data communication department performs data communication between bus 5, motor control unit 16, etc.

[0090] (4.2) Identifier Information Acquisition Unit: When the Identifier Information Acquisition Unit receives vehicle status information containing tag information (tag ID) from the bus 5 side, it uses the tag ID and refers to the Identifier DB185M to obtain the Identifier Information related to the corresponding magnetic Identifier 10.

[0091] (4.3) Vehicle position determination unit (position determination unit): The vehicle position determination unit determines the vehicle position of bus 5 and the attitude (orientation) of bus 5.

[0092] (4.4) Remote Control Unit: The remote control unit remotely controls the bus 5 so that it can move along the driving lane 11. The remote control unit processes vehicle status information, including the bus 5's speed, steering angle, tag ID, etc., as input values, calculates control values ​​such as the target steering angle and target speed, and returns them as control information. It should be noted that the target speed includes the control value of zero speed, i.e., stop control.

[0093] (4.5) Setting unit: The setting unit sets or de-connects the connection part 13 between the dedicated driving lane 111 and the ordinary driving lane 112. As described above, when the connection part 13 is set by the setting unit, the tag ID, which is the determination information of the magnetic marker 10 configured corresponding to the connection part 13, is stored as connection part determination information by the connection part DB185C.

[0094] (4.6) Connection part determination unit: Based on the tag ID stored as connection part determination information by the connection part DB185C, the movable fence 110A corresponding to the connection part 13 is determined.

[0095] (4.7) Movable Fence Control Unit: As an example of the control unit, the movable fence control unit remotely controls the opening and closing of the movable fence 110A. In the operating system 1 of this example, the connection part 13 connecting the dedicated driving lane 111 and the ordinary driving lane 112 is set / deactivated according to the opening and closing of the movable fence 110A.

[0096] (5) System Application

[0097] Next, the following will be explained in turn: (5.1) Identifier detection and processing, (5.2) automatic driving control, and (5.3) connection control of the operating system 1 with the above structure.

[0098] (5.1) Identifier detection and processing

[0099] The marker detection processing is performed by magnetic sensor arrays 21A and 21B (see reference). Figure 8 The processing performed by the magnetic sensor arrays 21A and 21B is as follows: The magnetic sensor arrays 21A and 21B use the magnetic sensor Cn to perform the identifier detection processing at a frequency of 3kHz.

[0100] As described above, the magnetic sensor Cn is configured to measure the magnetic components in both the direction of travel and the width direction of the bus 5. For example, when the magnetic sensor Cn moves along the direction of travel and passes directly above the magnetic marker 10, the magnetic measurement value in the direction of travel is as follows: Figure 10 The magnetic marker 10 is shown to change in a manner where its positive and negative values ​​are reversed before and after it, and it crosses zero at a position directly above the magnetic marker 10. Therefore, when the bus 5 is in motion, and a zero-crossing Zc occurs due to the magnetometer readings of either magnetic sensor Cn in the direction of travel, it can be determined that the magnetic sensor arrays 21A and 21B are directly above the magnetic marker 10. The detection processing circuit 212 determines that the magnetic marker 10 has been detected when the magnetic sensor arrays 21A and 21B are directly above the magnetic marker 10 and a zero-crossing Zc occurs in the magnetometer readings of the direction of travel.

[0101] Additionally, for example, regarding a magnetic sensor of the same specifications as the magnetic sensor Cn, when assuming movement along an imaginary line passing directly above the magnetic marker 10 in the vehicle width direction, the magnetometry reading in the vehicle width direction changes in a manner where the positive and negative values ​​reverse on both sides of the magnetic marker 11 and intersect with zero at a position directly above the magnetic marker 10. In the case of magnetic sensor arrays 21A and 21B with 15 magnetic sensors Cn arranged along the vehicle width direction, the sign of the magnetometry reading detected by the magnetic sensor Cn in the vehicle width direction differs depending on which side it is located on, separated from the magnetic marker 10. Figure 11 ).

[0102] Based on the magnetometer readings in the vehicle width direction of each magnetic sensor Cn belonging to the magnetic sensor arrays 21A and 21B (examples), Figure 11 The distribution of the magnetic sensor array 10 is such that the position between two adjacent magnetic sensors Cn, separated by a zero-crossing Zc where the magnetometer readings in the vehicle width direction are reversed, or the position directly below the magnetic sensors Cn where the detected magnetometer readings in the vehicle width direction are zero and the magnetometer readings of the two outer magnetic sensors Cn are reversed, is taken as the position of the magnetic marker 10 in the vehicle width direction. The detection processing circuit 212 measures the deviation (relative to the magnetic marker 10) of the position in the vehicle width direction of the center position (e.g., the position of magnetic sensor C8) of the magnetic sensor arrays 21A and 21B as the aforementioned lateral offset. For example, if it is... Figure 11 In the case of zero-crossing Zc, the position becomes C9.5, which is approximately the middle of C9 and C10. As mentioned above, the magnetic sensors C9 and C10 are spaced 10cm apart, so the lateral offset relative to the magnetic marker 10 is (9.5-8)×10cm, with reference to C8, which is located in the center of the magnetic sensor arrays 21A and 21B in the vehicle width direction.

[0103] (5.2) Automatic driving control

[0104] For details regarding the automatic driving control of bus 5, please refer to... Figure 12 as well as Figure 13 The flowchart is used for illustration. Figure 12 This shows the dedicated driving lane 111 (refer to...) Figure 1 A flowchart of the process of branching off into the ordinary driving lane 112 and stopping at station 115. Figure 13 This is a flowchart illustrating the process of movement from departure at station 115 to merging into dedicated lane 111. It should be noted that, in the following description, the magnetic marker 10, which is configured corresponding to the connection point 13 for merging or branching, will be referred to as the determining marker 10S.

[0105] (5.2.1) Actions from branching off from a dedicated driving lane to stopping at the station

[0106] During the period when bus 5 was traveling in dedicated lane 111 ( Figure 12 In step S101), the vehicle status information described above is sent to the control server device 18 at a sufficiently fast frequency. The vehicle status information when the magnetic tag 10 is detected includes the lateral offset relative to the two magnetic tags 10 detected by the magnetic sensor arrays 21A and 21B, the tag ID of the RFID tag 15 attached to the front magnetic tag 10 detected by the magnetic sensor array 21A, etc.

[0107] When the control server device 18 receives vehicle status information including lateral offset and tag ID, it calculates the control value used to make the bus 5 travel along the magnetic marker 10 and sends it to the bus 5 as control information. The control unit 32 of the bus 5 inputs the received control information to the on-board ECU 61 and makes the bus 5 drive automatically via remote control. It should be noted that if obstacles or the like are detected on the dedicated driving lane 111 by sensors such as millimeter-wave radar 37, control information including a queue-jumping command such as emergency braking can be sent to stop the bus 5.

[0108] Control server device 18 is used when bus 5 is traveling in dedicated lane 111. Figure 12In step S101), the control server device 18 refers to the storage area of ​​the connection part DB185C. The control server device 18 reads a tag ID (connection part determination information) associated with the attribute information of the branch from the storage area of ​​the connection part DB185C. Furthermore, the control server device 18 uses the tag ID read from the connection part DB185C and refers to the identifier DB185M to determine the determination identifier 10S, which is the magnetic identifier 10 configured corresponding to the connection part 13. Thus, the control server device 18 determines the position of the connection part 13 of the preceding branch. Additionally, the control server device 18 refers to the map DB185T to determine the 10th magnetic identifier 10 located upstream of the determination identifier 10S.

[0109] The control server device 18 keeps the bus 5 moving automatically along the dedicated driving lane 111 (S102: NO → S101) until the 10th magnetic marker 10 upstream of the determining marker 10S is detected (S102). Then, if the control server device 18 detects the 10th magnetic marker 10 upstream of the determining marker 10S (S102: Yes), it switches the driving state of the bus 5 to deceleration (S103).

[0110] After the control server device 18 continues to decelerate the bus 5 (S104: NO → S103), it continues until the determination indicator 10S is detected. When the determination indicator 10S is detected (S104: Yes), the control server device 18 applies branch control to the bus 5 (S105). Then, in accordance with the end of the branch control, the control server device 18 remotely controls the bus 5 to travel in the ordinary driving lane 112 (S106). The control server device 18 causes the bus 5 to travel along the ordinary driving lane 112 (S107: NO → S106) until it arrives at the station 115. After arriving at the station 115 (S107: Yes), the control server device 18 causes the bus 5 to stop at the station 115 so that users can get on and off (S108).

[0111] In this way, the control server device 18 causes the bus 5 to branch off from the dedicated lane 111 and enter the general lane 112 where the station 115 is located. Similar to the dedicated lane 111, the control server device 18 remotely controls the bus 5 to travel along the magnetic marker 10 in the general lane 112. However, the remote control mode based on the control server device 18 differs between the dedicated lane 111 and the general lane 112. For example, one difference in control between the dedicated lane 111 and the general lane 112 is the control speed. As described above, the control speed in the general lane 112 is set lower than the control speed in the dedicated lane 111. This is because in the general lane 112, there is a possibility of encountering people, other vehicles, etc., and an immediate stop is required if a contact risk arises.

[0112] (5.2.2) Actions from departure at the station until merging into the dedicated driving lane

[0113] After the user has finished getting on and off the bus ( Figure 13 In step S201 (Yes), the control server device 18 causes the bus 5 to depart. When the bus 5 is in the ordinary driving lane 112, the control server device 18 refers to the storage area of ​​the connection part DB185C. Furthermore, the control server device 18 reads the tag ID (connection part determination information) associated with the merging attribute information from the storage area of ​​the connection part DB185C, and determines the determination identifier 10S associated with the tag ID. This determination identifier 10S is a magnetic identifier 10 configured corresponding to the connection part 13 merging from the ordinary driving lane 112 to the dedicated driving lane 111. Furthermore, the control server device 18 determines the magnetic identifier 10 adjacent to the determination identifier 10S among the magnetic identifiers 10 laid in the moving ordinary driving lane 112, i.e., the last magnetic identifier 10 before merging.

[0114] The control server device 18 remotely controls the bus 5 to travel in the ordinary driving lane 112 (S202). Then, when the last magnetic marker 10 before merging is detected (S203: Yes), the control server device 18 applies merging control to the bus 5 (S204). Then, when the control server device 18 detects the determination marker 10S configured corresponding to the connection point 13 from the ordinary driving lane 112 to the dedicated driving lane 111 (S205: Yes), it remotely controls the bus 5 so that it can travel in the dedicated driving lane 111 (S206).

[0115] It should be noted that when bus 5 merges into dedicated lane 111, if other buses 5 are traveling in dedicated lane 111, buses 5 in the regular lane 112 or dedicated lane 111 can slow down or wait at the point before the merging connection 13. In this case, the risk of interference between the bus merging into dedicated lane 111 and the bus 5 already traveling in dedicated lane 111 can be avoided.

[0116] (5.3) Control of connection parts

[0117] Reference Figure 14 as well as Figure 15 For connection part 13 (refer to) Figure 1 The process of setting and deactivating the control gate 111 is explained below. In the operating system 1 of this example, the connection part 13 connecting the dedicated lane 111 and the ordinary lane 112 can be changed at any time through remote control based on the control server device 18. When the movable fence 110A moves to the open position, the connection part 13 connecting the dedicated lane 111 and the ordinary lane 112 is set. If the movable fence 110A moves from the open position to the closed position, the connection part 13 connecting the dedicated lane 111 and the ordinary lane 112 is deactivated.

[0118] (5.3.1) Setting and processing of connection parts

[0119] When connection part 13 is set in operating system 1 (S301), connection part determination information for determining connection part 13 is stored by connection part DB185C (S302). Here, the connection part determination information in this example is the tag ID as determination information of the magnetic identifier 10 configured corresponding to connection part 13.

[0120] The control server device 18 continuously refers to the storage area of ​​the connection part DB185C and reads the tag ID stored as connection part determination information (S303). Then, the control server device 18 determines the connection part 13 based on the read tag ID (connection part determination information) and determines the corresponding movable fence 110A (S304).

[0121] When the movable fence 110A corresponding to the connection part 13 is not in the open position, the control server device 18 controls the corresponding drive motor 160 (S305) to move the movable fence 110A to the open position (S306). In the operating system 1, the connection part 13 is set through the above-described process (S307).

[0122] (5.3.2) Disconnection of the connection points

[0123] When connection part 13 is released in operating system 1 (S401), it can be determined that the connection part determination information of connection part 13 has been deleted from connection part DB185C (S402). The connection part determination information is a tag ID that serves as the determination information of the magnetic identifier 10 configured corresponding to connection part 13.

[0124] The control server device 18 continuously refers to the storage area of ​​the connection part DB185C (S403) to determine the fence in the movable fence 110A that is controlled to be in the open position that does not store the tag ID as the connection part determination information (S404). Then, the control server device 18 controls the drive motor 160 corresponding to the movable fence 110A determined in step S404 (S405) to move the movable fence 110A from the open position to the closed position (S406). In the operating system 1, the connection part 13 is released through the above-described process (S407).

[0125] As described above, in the operating system 1 of this example, by storing the tag ID, which serves as connection part identification information, in the connection part DB185C, the movable gate 110A corresponding to the magnetic marker 10 associated with that tag ID can be moved to the open position. Furthermore, in the operating system 1, by moving the movable gate 110A to the open position, the connection part 13 can be set. Additionally, if the tag ID, which serves as connection part identification information, is deleted, the movable gate 110A corresponding to the magnetic marker 10 associated with that tag ID can be moved from the open position to the closed position. Furthermore, in the operating system 1, by moving the movable gate 110A to the closed position, the connection part 13 can be released.

[0126] In operating system 1, the connection point 13 connecting the dedicated lane 111 and the regular lane 112 can be set or disconnected by managing the connection point determination information stored in the connection point DB185C. For example, it can also accept requests from users who want to get on or off at station 115, and store and register the tag ID of the correspondingly configured magnetic marker 10 as connection point determination information in the connection point DB185C. In this case, the bus 5 can selectively go only to station 115 where the users who want to get on or off are waiting.

[0127] In this example, an operating system 1 is shown that can appropriately set the connection part 13 in the dedicated driving lane 111. Alternatively, or based on the connection part 13, it is also possible to appropriately set the temporary stopping points, the start and end points of the deceleration zone. As in this example, these points can also be set / deactivated by storing or deleting the determination information of the corresponding magnetic markers.

[0128] In this example, ordinary lane 112, which leads to station 115, is shown as an example of other driving lanes. Figure 16 As shown, other lanes can also be secondary lanes 111S relative to dedicated lane 111. Station 115 can also be located in secondary lane 111S. Furthermore, the destination of ordinary lane 112 can be other than station 115. For example, it can be ordinary lane 112 serving as a simple detour. If ordinary lane 112 is provided as a detour, it can flexibly accommodate route changes associated with road construction work, for example.

[0129] It should be noted that a separating strip can also be provided to distinguish the dedicated driving lane 111 from the secondary driving lane 111S. Figure 16 Based on the structure, such as Figure 17 The median strip is removed, and the dedicated lane 111 and the secondary lane 111S are placed in one lane. In the structure shown in the figure, the lane width of the section where the bus stop 115 is located in the lane where the bus travels is widened. Furthermore, in the section where the lane width is widened, the dedicated lane 111, which constitutes the main route for buses that do not stop at the stop, is parallel to the other lanes 111T, which constitute the secondary route for buses that stop at the stop.

[0130] In this example, a structure is shown where the bus 5 drives automatically even in the ordinary driving lane 112. However, the bus 5 can also be driven manually by the driver in the ordinary driving lane 112 (manual driving). For example, automatic driving and manual driving can be switched when the magnetic marker 10 corresponding to the connection part 13 is detected (marker 10S is determined). In this example, a structure is shown where the bus 5 drives automatically via remote control based on the control server device 18. Alternatively, the control unit 32 of the bus 5 can calculate control values ​​for automatic driving. In this case, the bus 5 can drive autonomously.

[0131] In this example, a structure is illustrated in which a sheet-like RFID tag 15 is mounted on the upper surface of the magnetic tag 10, but an integral structure of the magnetic tag 10 and the RFID tag 15 is not necessary. The magnetic tag 10 and the RFID tag 15 can be positioned in the same location, or the RFID tag 15 can be positioned above or below the magnetic tag 10 in the vertical direction.

[0132] It should be noted that the magnetic tag 10 in this example is an integrated tag with an RFID tag 15. Alternatively, magnetic tags without an RFID tag 15 can also be used. For example, a magnetic tag 10 with an integrated RFID tag 15 can be used as a magnetic tag corresponding to the movable fence 110A; on the other hand, a magnetic tag without an RFID tag 15 can be used as a separate magnetic tag.

[0133] In this example, the setting / deactivation of the connection part 13 is controlled by storing the determination information (tag ID in this example) of the magnetic tag 10 corresponding to the connection part 13 as connection part determination information in the connection part DB185C. When the connection part 13 is deactivated, the corresponding connection part determination information is deleted from the connection part DB185C. Alternatively, the determination information of all magnetic tags 10 corresponding to the candidate parts that become connection parts 13 can be marked and stored in the connection part DB185C. The mark indicates whether it is set as the connection part 13. In this case, the determination information of magnetic tags 10 with the mark set to ON in the determination information of magnetic tags 10 stored in the connection part DB185C becomes the connection part determination information. On the other hand, the determination information of magnetic tags 10 with the mark set to OFF is not the connection part determination information. For example, regarding the determination information of magnetic tags 10 with the mark set to ON, switching the mark to OFF is equivalent to deactivating the connection part determination information. Additionally, for example, information regarding the determination of the magnetic marker 10 with the flag off, and information regarding the determination of switching the flag to on, which corresponds to the determination of a new storage connection location.

[0134] In this example, a magnetic marker 10 corresponding to the connection part 13 is shown. The magnetic marker 10 is configured to correspond to the connection part 13. The configuration corresponding to the connection part 13 means that the positional relationship between the connection part 13 and the magnetic marker 10 is approximately constant; if the position of the corresponding magnetic marker 10 can be determined, the position of the connection part 13 can be determined. When any magnetic marker 10 is determined, the corresponding connection part 13 can be determined. In the direction of travel of the bus 5, the connection part 13 can be located downstream of the corresponding magnetic marker 10, or vice versa. Referring to map DB185T, the magnetic marker 10 located upstream of the corresponding magnetic marker 10 can be identified. The approach of the bus 5 to the connection part 13 can also be identified based on the detection of the upstream magnetic marker 10.

[0135] The specific examples of the present invention have been described in detail above as in the embodiments, but these specific examples are merely one example of the technology included in the technical solution. Of course, the technical solution should not be interpreted in a limiting way based on the structure, numerical values, etc., of the specific examples. The technical solution includes techniques that utilize known technologies, knowledge of those skilled in the art, and various modifications, alterations, or appropriate combinations of the specific examples.

[0136] Explanation of reference numerals in the attached figures

[0137] 1. Operating System

[0138] 10 Magnetic markers

[0139] 11. Driving lane

[0140] 110 Fence

[0141] 110A Movable Fence

[0142] 111 Dedicated driving lane

[0143] 112 Regular driving lane (other driving lanes)

[0144] 115 Station

[0145] 13 Connection parts

[0146] 15. RFID tags (wireless tags)

[0147] 18. Control server device (setting unit, movable fence control unit (control unit))

[0148] 185 Storage device (storage medium)

[0149] 185M Identifier Database (Identifier DB)

[0150] 185C Connection Part Database (Connection Part DB, Storage Part)

[0151] 185T Map Database (Map DB)

[0152] 21. Magnetic sensor array (magnetic detection unit)

[0153] 212 Detection and Processing Circuit

[0154] 32 Control Unit

[0155] 34 Tag Reader Units

[0156] 37mm wave radar

[0157] 39 Front camera

[0158] 5. Buses (vehicles)

[0159] 61. Vehicle ECU.

Claims

1. An operating system for automatically driving a vehicle along a dedicated vehicle-oriented lane, wherein, The operating system has: Multiple magnetic markers are configured in the dedicated driving lane; The storage unit stores the identification information of the magnetic marker corresponding to the connection point as connection point identification information, wherein the connection point is at least one of a branch from the dedicated lane to other lanes and a merger from other lanes to the dedicated lane; A setting unit, which sets or deactivates the connection portion; Movable fencing, used to divide the dedicated driveway and capable of being opened and closed; and The control unit controls the opening and closing of the movable fence. The storage unit is configured such that when the connection part is set by the setting unit, it stores the determination information of the magnetic marker corresponding to the connection part as connection part determination information; on the other hand, when the connection part is released by the setting unit, it deletes the connection part determination information related to the determination information of the magnetic marker corresponding to the connection part. The operating system is configured to, at the location corresponding to the magnetic marker involved in the connection location determination information stored in the storage unit, be capable of at least one of branching from the dedicated lane to other lanes and merging from other lanes to the dedicated lane. The control unit is configured to open the fence corresponding to the magnetic marker involved in the connection part determination information stored in the storage unit, and to lock the fence corresponding to the magnetic marker involved in the determination information when the connection part determination information involved in the determination information of any magnetic marker is deleted.

2. The operating system according to claim 1, wherein, The vehicle in question is a bus with designated stations for passengers to board and alight. The other lanes include at least one lane that connects the dedicated lane to the station.

3. The operating system according to claim 1 or 2, wherein, The other driving lanes include at least ordinary roads.

4. A control method for an operating system, said operating system being used to enable a vehicle to automatically travel along a dedicated vehicle-oriented lane, wherein, The operating system has: Multiple magnetic markers are configured in the dedicated driving lane; The storage unit stores the identification information of the magnetic marker corresponding to the connection point as connection point identification information, wherein the connection point is at least one of a branch from the dedicated lane to other lanes and a merger from other lanes to the dedicated lane; A setting unit, which sets or deactivates the connection portion; Movable fencing, used to divide the dedicated driveway and capable of being opened and closed; and The control unit controls the opening and closing of the movable fence. The storage unit is configured such that when the connection part is set by the setting unit, it stores the determination information of the magnetic marker corresponding to the connection part as connection part determination information; on the other hand, when the connection part is released by the setting unit, it deletes the connection part determination information related to the determination information of the magnetic marker corresponding to the connection part. At the location corresponding to the magnetic marker involved in the connection location determination information stored in the storage unit, at least one of branching from the dedicated lane to other lanes and merging from other lanes to the dedicated lane is possible. The control unit is configured to open the fence corresponding to the magnetic marker involved in the connection part determination information stored in the storage unit, and to lock the fence corresponding to the magnetic marker involved in the determination information when the connection part determination information involved in the determination information of any magnetic marker is deleted.

5. The control method for the operating system according to claim 4, wherein, The vehicle is a bus with designated stops for passengers to board and alight. The other lanes include at least one lane that connects the dedicated lane to the station.

6. The control method for the operating system according to claim 4 or 5, wherein, The other driving lanes include at least ordinary roads.

Images