Vehicle conveying device, vehicle conveying method, and storage medium

Abstract

The present disclosure relates to a vehicle delivery device, a vehicle delivery method, and a storage medium. A server receives driving difficulty information indicating that driving of a vehicle by a driver is difficult, determines that a current position of the vehicle is located within a predetermined delivery target region, and causes a delivery robot to deliver the vehicle from the current position to a predetermined delivery destination in response to receiving the driving difficulty information and determining that the current position of the vehicle is located within the delivery target region.

Description

Technical Field

[0001] This disclosure relates to vehicle transport devices, transport methods, and procedures. Background Technology

[0002] A known alcohol-driving prevention device prevents the vehicle from driving when it detects the alcohol concentration in the driver's breath and determines that the driver is under the influence of alcohol (e.g., see Japanese Patent Application Publication No. 2008-184059).

[0003] In Japanese Patent Application Publication No. 2008-184059, the issue of vehicles prohibited from driving, such as those in restaurant parking lots, was considered. This would result in a parking space being continuously occupied by a single vehicle while driving is prohibited, until the driver recovers from intoxication. This is undesirable for other drivers who want to park in the parking lot, and also undesirable for the restaurant that owns the parking space. Summary of the Invention

[0004] The following is provided in accordance with this disclosure.

[0005] Composition 1

[0006] The vehicle transport device includes: a receiving unit configured to receive driving difficulty information indicating driving difficulties caused by a driver; a discrimination unit configured to determine that the current position of the vehicle is located within a predetermined transport target area; and a transport unit configured to, in response to the receiving unit receiving the driving difficulty information and the discrimination unit determining that the current position of the vehicle is located within the transport target area, cause a transport robot to transport the vehicle from its current position to a predetermined transport destination.

[0007] Composition 2

[0008] In the conveying device described in configuration 1, the conveying unit is configured to: in response to further receiving the driver's approval for the conveying of the vehicle, cause the conveying robot to convey the vehicle.

[0009] Composition 3

[0010] In the conveying device described in 1 or 2, the conveying target area includes a parking lot that can be used by multiple people.

[0011] Composition 4

[0012] In any one of the following conveying devices comprising 1 to 3, the vehicle is configured to be driven in a restricted manner when the driving difficulty information is sent.

[0013] Composition 5

[0014] The vehicle transport method includes: receiving driving difficulty information indicating driving difficulties caused by a driver; determining that the current position of the vehicle is within a predetermined transport target area; and, in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the transport target area, causing a transport robot to transport the vehicle from its current position to a predetermined transport destination.

[0015] Composition 6

[0016] The program includes: receiving driving difficulty information indicating driving difficulties of the vehicle by a driver; determining that the current position of the vehicle is within a predetermined transport target area; and, in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the transport target area, causing a transport robot to transport the vehicle from its current position to a predetermined transport destination.

[0017] This disclosure can restrict vehicles from staying within the area where the goods are being transported. Attached Figure Description

[0018] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0019] Figure 1 This is a schematic overall diagram of a vehicle transport system according to an embodiment of the present disclosure.

[0020] Figure 2 This is a schematic diagram of a vehicle according to an embodiment of the present disclosure.

[0021] Figure 3 This is a schematic diagram of a server according to an embodiment of this disclosure.

[0022] Figure 4 This is a schematic diagram of a delivery robot according to an embodiment of the present disclosure.

[0023] Figure 5A This is a side view of a conveyor robot according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the lowered position and the arm in the retracted position.

[0024] Figure 5B This is a top view of a conveying robot according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the lowered position and the arm in the retracted position.

[0025] Figure 6A This is a side view of a conveyor robot according to an embodiment of the present disclosure, and is a schematic diagram showing the state in which the trolley is in the raised position and the arm is in the extended position.

[0026] Figure 6BThis is a top view of a conveyor robot according to an embodiment of the present disclosure, and is a schematic diagram showing the state in which the trolley is in the raised position and the arm is in the extended position.

[0027] Figure 7 This is a diagram illustrating a vehicle transport method according to an embodiment of the present disclosure.

[0028] Figure 8 This is a diagram illustrating a vehicle transport method according to an embodiment of the present disclosure.

[0029] Figure 9 This is a flowchart illustrating a vehicle transport control routine in an embodiment of this disclosure.

[0030] Figure 10 This is a functional block diagram of the processor of a server according to an embodiment of the present disclosure.

[0031] Figure 11 This is a diagram illustrating a vehicle transport method according to another embodiment of the present disclosure.

[0032] Figure 12 This is a flowchart illustrating a vehicle transport control routine in another embodiment of the present disclosure. Detailed Implementation

[0033] Figure 1 A vehicle transport system 1 according to an embodiment of the present disclosure is shown schematically. (As...) Figure 1 As shown, the vehicle transport system 1 includes a manually driven vehicle 3, a server 5, and a transport robot 7. These vehicles 3, server 5, and transport robot 7 are communicatively connected to a communication network N such as the Internet. In the vehicle transport system 1 of this disclosure embodiment, the vehicle 3 is transported by the autonomously driven transport robot 7.

[0034] like Figure 2 As schematically illustrated, the vehicle 3 of this embodiment includes one or more processors 31, one or more memories 32, storage devices 33, and input / output interfaces (IFs) 34. The processors 31, memories 32, storage devices 33, and IFs 34 are connected via a bidirectional bus to communicate with each other. The memories 32 include volatile or non-volatile memory. Various programs are stored in the memories 32. These programs are executed by the processor 31. The storage devices 33 store map data, calculation models, etc. The IFs 34 are communicatively connected to a communication device 35, an input / output device 36, one or more sensors 37, a GPS (Global Positioning System) receiver 38, a driving ability assessment device 39, a driving restriction device 40, etc.

[0035] The communication device 35 is connected to the communication network N in a communicative manner. Input / output devices 36 include, for example, an HMI (Human Machine Interface) (a display with a touch panel, speakers, etc.), a keyboard, a mouse, a media reader / writer, etc. Sensors 37 detect data used for driving the vehicle 3. A GPS receiver 38 detects information representing the absolute position (e.g., longitude and latitude) of the vehicle 3 by receiving signals from GPS satellites.

[0036] Driving ability assessment device 39 determines whether driving vehicle 3 by the driver is difficult. In one example, driving ability assessment device 39 includes a sensor that detects the alcohol concentration in the driver's breath. If the alcohol concentration in the driver's breath exceeds the upper limit, driving ability assessment device 39 determines that driving vehicle 3 by the driver is difficult. If the alcohol concentration in the driver's breath does not exceed the upper limit, driving ability assessment device 39 does not determine that driving vehicle 3 by the driver is difficult. In another example, driving ability assessment device 39 alternatively or additionally includes a camera that records the driver. Driving ability assessment device 39 determines whether driving vehicle 3 by the driver is difficult based on the driver's behavior, etc. In one example, if the driver is judged to be drowsy, fatigued, in pain, etc., based on the driver's behavior, driving ability assessment device 39 determines that driving vehicle 3 by the driver is difficult.

[0037] When the driving ability determination device 39 determines that driving the vehicle 3 is difficult for the driver, the driving restriction device 40 restricts driving the vehicle 3. In one example, the engine or electric motor remains stopped. In another example, the brakes remain engaged. Conversely, when the driving ability determination device 39 does not determine that driving the vehicle 3 is difficult for the driver, driving the vehicle 3 is permitted.

[0038] On the other hand, such as Figure 3As schematically illustrated, the server 5 of this embodiment includes one or more processors 51, one or more memories 52, storage devices 53, and input / output interfaces (IFs) 54. The processors 51, memories 52, storage devices 53, and IFs 54 are connected via a bidirectional bus to communicate with each other. The memories 52 include volatile or non-volatile memory. Various programs are stored in the memories 52. These programs are executed by the processor 51. The storage devices 53 store map data, calculation models, etc. Communication devices 55, input / output devices 56, etc., are communicatively connected to the IFs 54. The communication devices 55 are communicatively connected to a communication network N. The input / output devices 56 include, for example, an HMI (Host Interface Device), a keyboard, a mouse, a media reader / writer, etc. A limiting member control device 57 is communicatively connected to the actuator 43 described later.

[0039] like Figure 4 As schematically illustrated, the transport robot 7 of this disclosure embodiment includes one or more processors 71, one or more memories 72, storage devices 73, and input / output interfaces (IFs) 74. The processors 71, memories 72, storage devices 73, and IFs 74 are connected via a bidirectional bus to communicate with each other. The memories 72 include volatile or non-volatile memory. Various programs are stored in the memories 72. These programs are executed by the processors 71. The storage devices 73 store map data, calculation models, etc. The IFs 74 are communicatively connected to a communication device 75, an input / output device 76, one or more sensors 77, a GPS receiver 78, an autopilot device 79, and a vehicle control device 80, etc.

[0040] Communication device 75 is connected to communication network N in a communicative manner. Input / output device 76 includes, for example, an HMI (Host Interface, Display with Touch Panel, Speaker, etc.), keyboard, mouse, media reader / writer, etc. Sensor 77 detects data for driving the transport robot 7. GPS receiver 78 detects information representing the absolute position (e.g., longitude and latitude) of the transport robot 7 by receiving signals from GPS satellites. Autopilot 79 includes: environmental sensors for identifying the surrounding environment of the transport robot 7; and actuators for respectively performing driving, steering, and braking of the transport robot 7. Environmental sensors include, for example, cameras that capture images of the area around the transport robot 7, LiDAR (Light Detection and Ranging), etc. The trolley control device 80 will be described later.

[0041] Figure 5A , Figure 5B , Figure 6A , Figure 6BThe conveying robot 7 of an embodiment of this disclosure is shown schematically. (As...) Figure 5A , Figure 5B , Figure 6A , Figure 6B As shown, the transport robot 7 includes a drive unit 7a and a trolley 7b arranged and connected to each other along its longitudinal direction. The drive unit 7a is a battery electric vehicle (BEV) equipped with the aforementioned autonomous driving device 79. The trolley 7b can move vertically between a lower lowering position and a higher rising position via the aforementioned trolley control device 80. Figure 5A , Figure 5B In the middle, trolley 7b is in the lowered position. On the other hand, in Figure 6A , Figure 6B In the configuration, trolley 7b is in the raised position. Furthermore, trolley 7b includes a pair of trolley sections 7ba and 7bb arranged in the longitudinal direction. These trolley sections 7ba and 7bb can move relative to each other in the longitudinal direction via the aforementioned trolley control device 80. On each side of each trolley section 7ba and 7bb, a pair of arms 7c are separated in the longitudinal direction and attached to the trolley section 7ba and 7bb. The arms 7c can move around pins 7d and 7d between a retracted position and an extended position via the aforementioned trolley control device 80. The retracted position is a position extending along the trolley sections 7ba and 7bb in the longitudinal direction. The extended position is a position extending away from the trolley sections 7ba and 7bb in a direction orthogonal to the longitudinal direction. Figure 5A , Figure 5B In the middle, arm 7c is in the retracted position. On the other hand, in Figure 6A , Figure 6B In the middle, arm 7c is in the deployed position.

[0042] When the conveyor robot 7 needs to transport vehicle V, it moves to vehicle V with trolley 7b in the lowered position and arm 7c in the retracted position. Next, as... Figure 5A , Figure 5B As shown, the conveying robot 7 is moved such that the trolley 7b enters the lower space LS formed between the vehicle V and the road surface RS. In one example, the trolley 7b enters the lower space LS from one end along its longitudinal direction. At this time, the position of the trolley 7b relative to the vehicle V and the longitudinal relative positions of the trolley portions 7ba and 7bb are controlled such that the arm 7c is opposite the corresponding tire W. Next, the arm 7c is moved to the extended position. As a result, the arm 7c is positioned below the tire W on the front and rear sides of the corresponding tire W. Next, the trolley 7b is moved to the raised position. As a result, as... Figure 6A , Figure 6BAs shown, vehicle V is lifted by transport robot 7. Transport robot 7 moves while vehicle V is lifted, thereby transporting vehicle V.

[0043] Next, when the conveyor robot 7 reaches the target position, the trolley 7b is moved to the lowered position. Next, the arm 7c is moved to the retracted position. Next, the conveyor robot 7 is moved so that the trolley 7b exits from the space below LS. Thus, the vehicle V is unloaded from the conveyor robot 7.

[0044] It should be noted that the conveyor robot 7 or trolley 7b may sometimes enter the lower space LS from the front side of the vehicle V, and sometimes from the rear side of the vehicle V.

[0045] Next, refer to Figure 7 The vehicle transport method according to an embodiment of this disclosure will be described. When a driver sits inside a parked vehicle 3, a driving ability determination device 39 determines whether driving the vehicle 3 by the driver is difficult. If driving the vehicle by the driver is determined to be difficult, driving the vehicle 3 is restricted by a driving restriction device 40. Furthermore, driving difficulty information is sent from the vehicle 3 to a server 5. This driving difficulty information indicates that driving the vehicle 3 by the driver is difficult. In addition, the driving difficulty information includes location information indicating the current position of the vehicle 3 and a user ID identifying the driver or the vehicle 3.

[0046] In server 5, when driving difficulty information is received, it determines whether the current location of vehicle 3 is within a pre-determined transport target area. In embodiments of this disclosure, the transport target area is, for example, an area where vehicles are not desired to stop. In one example, the transport target area is a parking lot used by multiple people, such as a parking lot for shops, restaurants, hospitals, or stations. It should be noted that the location information of the transport target area is pre-stored in the storage device 53 of server 5.

[0047] When it is determined that vehicle 3 is located within the delivery target area, server 5 sends a delivery instruction to delivery robot 7. The delivery instruction in this embodiment includes vehicle 3's current location information, delivery destination information, delivery route, etc. Upon receiving the delivery instruction, delivery robot 7 moves from its standby location to vehicle 3's current location, for example. Delivery robot 7 lifts vehicle 3. Next, delivery robot 7 delivers vehicle 3 to the delivery destination. Upon arrival at the delivery destination, delivery robot 7 unloads vehicle 3. Thus, vehicle 3 is delivered to the delivery destination. In other words, vehicle 3 is removed from the delivery target area. It should be noted that the driver remains seated inside vehicle 3 during delivery to the delivery destination. Delivery robot 7 then returns to its standby location or proceeds to deliver another vehicle.

[0048] In contrast, if it is determined that vehicle 3 is outside the delivery area, no delivery instruction is sent from server 5 to delivery robot 7. As a result, vehicle 3 is allowed to remain at its current position.

[0049] exist Figure 8 In the example shown, vehicle 3 is parked in parking lot P of restaurant RS. Parking lot P is located within the transport area T. Therefore, when it is determined that driving vehicle 3 by a driver is difficult, the transport robot 7 moves from its waiting area 7p to parking lot P. Figure 8 Next, the transport robot 7 will transport vehicle 3 to the transport destination D (X). Figure 8 (Y). In Figure 8 In the example shown, the delivery destination D is the parking space of its own H.

[0050] Figure 9 A vehicle transport control routine from an embodiment of this disclosure is shown. This routine is executed repeatedly, for example, by the processor 51 of server 5. Figure 9 As shown, in step 100, it is determined whether server 5 has received driving difficulty information. If it is determined that server 5 has received driving difficulty information, the process proceeds to step 101. In step 101, it is determined whether vehicle 3 is within the delivery target area. If it is determined that vehicle 3 is within the delivery target area, the process proceeds to step 102. In step 102, a delivery instruction is sent to the delivery robot 7. Therefore, vehicle 3 is restricted to its current position. If it is not determined that server 5 has received driving difficulty information in step 100, or if it is not determined that vehicle 3 is within the delivery target area in step 101, the processing loop ends. That is, vehicle 3 is allowed to remain at its current position.

[0051] Figure 10 A functional block diagram of the processor 51 of the server 5 according to an embodiment of the present disclosure is shown. (Refer to...) Figure 10 The processor 51 includes a receiving unit 51a, a discrimination unit 51b, and a conveying unit 51c. The receiving unit 51a is configured to receive driving difficulty information indicating driving difficulties experienced by a driver. The discrimination unit 51b is configured to determine whether the current position of the vehicle is within a predetermined delivery target area. The conveying unit 51c is configured to, in response to the receiving unit 51a receiving the driving difficulty information and the discrimination unit 51b determining that the current position of the vehicle is within the delivery target area, cause the conveying robot to convey the vehicle from its current position to a predetermined delivery destination.

[0052] Figure 11 Another embodiment of this disclosure is shown. For Figure 7 The illustrated embodiments and Figure 11 The differences between the illustrated embodiments will be explained. Figure 11In the example shown, when it is determined that vehicle 3 is within the delivery target area, server 5 sends an approval request to vehicle 3. The destination information and user ID are pre-stored on server 5. When the driver approves the delivery of vehicle 3 by the delivery robot 7, the driver replies with approval to server 5. Next, upon receiving approval on server 5, server 5 sends a delivery instruction to delivery robot 7. Conversely, if the driver does not approve the delivery, the driver replies with rejection to server 5. Next, upon receiving rejection on server 5, no delivery instruction is sent from server 5 to delivery robot 7. In this way, for example, if the driving ability determination device 39 makes a misjudgment, unnecessary vehicle deliveries by delivery robot 7 are restricted.

[0053] It should be noted that the approval request and its response are sent and received via the HMI of vehicle 3. In another example, the approval request and its response are sent and received via the driver's portable terminal.

[0054] In another embodiment of this disclosure, the destination of vehicle 3 is pre-stored on server 5 in association with the user ID. In another example, the destination of vehicle 3 is sent to server 5 along with the approval. In this way, it is not necessary to pre-store the destination on server 5.

[0055] Figure 12 A vehicle transport control routine according to another embodiment of this disclosure is shown. Figure 9 routines and Figure 12 The differences in the routine will be explained below. If it is determined in step 101 that vehicle 3 is within the transport target area, the process proceeds to step 103. In step 103, an approval request is sent from server 5. In the next step, 104, it is determined whether server 5 has received the approval. If it is determined that server 5 has received the approval, the process proceeds to step 102. Conversely, if it is not determined that server 5 has received the approval, the processing loop ends.

[0056] In the previously described embodiments, the driving difficulty information includes the current location information of vehicle 3, and the current location information of vehicle 3 is sent from vehicle 3. In another example, when driving difficulty information including a user ID is received at server 5, cameras installed in parking lots or roads are used to search for the current location of vehicle 3 associated with the user ID. In one example, information representing vehicle 3 (e.g., license plate number, vehicle model, color, etc.) is pre-stored at server 5 in association with the user ID. The location of vehicle 3 to be delivered is specified based on this information and the camera image. When the location of vehicle 3 is specified, its location information is sent to server 5.

[0057] Furthermore, in the previously described embodiment, the driving ability determination device 39 is located on the vehicle 3. In another example, the driving ability determination device 39 is located outside the vehicle 3, for example, on a parking lot device including a camera. In this other example, the difficulty of driving the vehicle 3 is determined based on the driver's behavior before getting into the vehicle 3, captured by a camera located in the parking lot. When it is determined that driving the vehicle 3 is difficult, the driving difficulty information is sent from the parking lot device to the server 5. It should be noted that the location information of the vehicle 3 to be transmitted is also specified based on the camera image and sent from the parking lot device to the server 5.

Claims

1. A vehicle conveying device, comprising: The receiving unit is configured to receive driving difficulty information indicating driving difficulties of the vehicle by the driver, the driving difficulty information being obtained by detecting the driver; The discrimination unit is configured to determine that the current position of the vehicle is within a predetermined transport target area; as well as The transport unit is configured to, in response to the receiving unit receiving the driving difficulty information and the discrimination unit determining that the vehicle's current position is within the transport target area, cause the transport robot to transport the vehicle from its current position to a predetermined transport destination. The vehicle is configured to be driven by a driving restriction device provided with the vehicle when the driving difficulty information is sent.

2. The vehicle conveying device according to claim 1, wherein, The transport unit is configured to, in response to further receiving approval from the driver for the transport of the vehicle, cause the transport robot to transport the vehicle.

3. The vehicle conveying device according to claim 1 or 2, wherein, The transport area includes a parking lot that can be used by multiple people.

4. A method for transporting a vehicle, comprising: Receive driving difficulty information indicating driving difficulties of the vehicle by the driver, the driving difficulty information being obtained by detecting the driver; Determine that the current position of the vehicle is within a pre-determined delivery target area; as well as In response to receiving the driving difficulty information and determining that the vehicle's current location is within the transport target area, the transport robot transports the vehicle from its current location to a predetermined transport destination. The vehicle is configured to be driven by a driving restriction device provided with the vehicle when the driving difficulty information is sent.

5. A storage medium storing a program that causes a computer to execute: Receive driving difficulty information indicating driving difficulties of the vehicle by the driver, the driving difficulty information being obtained by detecting the driver; Determine that the current position of the vehicle is within a pre-determined delivery target area; as well as In response to receiving the driving difficulty information and determining that the vehicle's current location is within the transport target area, the transport robot transports the vehicle from its current location to a predetermined transport destination. The vehicle is configured to be driven by a driving restriction device provided with the vehicle when the driving difficulty information is sent.

Images