Monitoring system, monitoring device, autonomous traveling vehicle, monitoring method, and monitoring program

Abstract

The monitoring system is provided with a processor, and monitors the periphery of a host autonomous traveling vehicle provided with a monitoring sensor for monitoring the outside and a battery for supplying power to a drive source. The processor is configured so as to monitor, in a travel facility in which the host autonomously traveling vehicle can travel, a dead angle region, which is a dead angle for a facility user, by means of a monitoring sensor in the host autonomously traveling vehicle being charged. The processor is configured to execute output of monitoring data for the blind area.

Description

[0001] Cross-reference to related applications

[0002] This application is based on patent application No. 2022-108579 filed in Japan on July 5, 2022, and the contents of the basic application are cited in their entirety by reference. Technical Field

[0003] The present invention relates to a monitoring technology for monitoring the periphery of an autonomously traveling vehicle. Background Art

[0004] Patent Document 1 discloses a monitoring system for monitoring a parking lot. The monitoring system monitors the parking lot using images captured by a vehicle-mounted camera of a vehicle that is allowed to provide images from the vehicle-mounted camera among parked vehicles.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2021-118473

[0008] However, with respect to a vehicle that can be used for surveillance, Reference Document 1 does not sufficiently disclose under what conditions the vehicle can be effectively utilized for surveillance. Summary of the invention

[0009] An object of the present invention is to provide a monitoring system capable of effectively utilizing autonomous vehicles in monitoring. Another object of the present invention is to provide a monitoring device capable of effectively utilizing autonomous vehicles in monitoring. Another object of the present invention is to provide an autonomous vehicle capable of effectively utilizing autonomous vehicles in monitoring. Another object of the present invention is to provide a monitoring method capable of effectively utilizing autonomous vehicles in monitoring. Another object of the present invention is to provide a monitoring program capable of effectively utilizing autonomous vehicles in monitoring.

[0010] The following describes the technical means of the present invention for solving the problems. In addition, the symbols in parentheses described in the scope of the claims represent the correspondence relationship with the specific components described in the embodiments described in detail later, and do not limit the technical scope of the present invention.

[0011] A first aspect of the present invention is a monitoring system having a processor and monitoring the periphery of a host autonomous driving vehicle, wherein the host autonomous driving vehicle has a monitoring sensor for monitoring the outside world and a battery for supplying power to a driving source.

[0012] The processor is configured to execute:

[0013] In a driving facility where the host autonomous driving vehicle can drive, a blind spot area that becomes a blind spot for facility users is monitored by a monitoring sensor in the host autonomous driving vehicle being charged; and

[0014] Output monitoring data for blind spot areas.

[0015] A second aspect of the present invention is a monitoring device having a processor, which is mounted on a host autonomous vehicle and monitors the surroundings, wherein the host autonomous vehicle is provided with a monitoring sensor for monitoring the outside world and a battery for supplying power to a driving source.

[0016] The processor is configured to execute the following:

[0017] In a driving facility where the host autonomous driving vehicle can drive, a blind spot area that becomes a blind spot for facility users is monitored by a monitoring sensor in the host autonomous driving vehicle being charged; and

[0018] Output monitoring data for blind spot areas.

[0019] A third aspect of the present invention is an autonomous driving vehicle having a processor, a monitoring sensor for monitoring the outside world, and a battery for supplying power to a driving source.

[0020] The processor is configured to execute the following:

[0021] In a drivable driving facility, a blind spot area that becomes a blind spot for facility users is monitored by a monitoring sensor during charging; and

[0022] Output monitoring data for blind spot areas.

[0023] A fourth aspect of the present invention is a monitoring method executed by a processor for monitoring the periphery of a host autonomous driving vehicle, the host autonomous driving vehicle being provided with a monitoring sensor for monitoring the outside world and a battery for supplying power to a driving source, comprising:

[0024] In a driving facility where the host autonomous driving vehicle can drive, a blind spot area that becomes a blind spot for facility users is monitored by a monitoring sensor in the host autonomous driving vehicle being charged; and

[0025] Output monitoring data for blind spot areas.

[0026] A fifth aspect of the present invention is a monitoring program including instructions stored in a storage medium and executed by a processor for monitoring the periphery of a host autonomous driving vehicle, the host autonomous driving vehicle being provided with a monitoring sensor for monitoring the outside world and a battery for supplying power to a driving source,

[0027] The command contains:

[0028] In a driving facility where the host autonomous driving vehicle can drive, a blind spot area that becomes a blind spot for facility users is monitored by a monitoring sensor in the host autonomous driving vehicle being charged; and

[0029] Output monitoring data for blind spot areas.

[0030] According to the first to fifth aspects, in a driving facility, the blind spot area of ​​the facility user can be monitored by the monitoring sensor of the host autonomous driving vehicle during charging. And the monitoring data of the blind spot area is output. Therefore, the host autonomous driving vehicle during charging can be used in the monitoring of the blind spot area. Therefore, the effective use of the autonomous driving vehicle can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a block diagram showing the overall structure of the first embodiment.

[0032] Figure 2 It is a perspective view showing the structure of the host autonomous driving vehicle applied to the first embodiment.

[0033] Figure 3 1 is a block diagram showing the structure of a host autonomous driving vehicle applied to the first embodiment.

[0034] Figure 4 This is a block diagram showing the functional configuration of the monitoring system according to the first embodiment.

[0035] Figure 5 This is a flowchart showing the monitoring flow according to the first embodiment.

[0036] Figure 6 This is a flowchart showing the monitoring flow according to the first embodiment.

[0037] Figure 7 This is a flowchart showing the monitoring flow according to the first embodiment.

[0038] Figure 8 This is a schematic diagram for explaining the monitoring flow according to the first embodiment.

[0039] Fig. 9 This is a schematic diagram for explaining the monitoring flow according to the first embodiment.

[0040] Fig.10 This is a schematic diagram for explaining the monitoring flow according to the first embodiment.

[0041] Fig.11 It is a schematic diagram for explaining the monitoring flow according to the second embodiment. DETAILED DESCRIPTION

[0042] Hereinafter, multiple embodiments of the present invention will be described based on the accompanying drawings. In addition, in each embodiment, the same symbols may be marked on the corresponding constituent elements and repeated descriptions may be omitted. In addition, when only a part of the structure is described in each embodiment, the structure of other embodiments previously described can be applied to the other parts of the structure. Moreover, not only the combination of structures explicitly stated in the description of each embodiment, but also the structures of multiple embodiments can be partially combined with each other even if not explicitly stated, as long as there is no special obstacle to the combination.

[0043] (First Embodiment)

[0044] Figure 1 The monitoring system 100 of the first embodiment shown in the figure executes Figure 2 and Figure 3 The monitoring process of the surroundings of the host autonomous driving vehicle 1 that transports goods and the processes associated with the monitoring process are shown. The host autonomous driving vehicle autonomously drives in any direction such as forward, backward, left, and right. The host autonomous driving vehicle 1 is a logistics vehicle that autonomously drives in hospitals, warehouses, etc. that serve as driving facilities to transport goods. In addition, the host autonomous driving vehicle 1 may also be a delivery vehicle that autonomously drives on roads that serve as driving facilities to transport goods to a delivery destination. The host autonomous driving vehicle 1 may also be any other vehicle as long as it has the function of transporting goods. Moreover, it may be any type of host autonomous driving vehicle 1, and may also receive driving assistance or driving control under remote control through communication with an external center.

[0045] The host autonomous driving vehicle 1 includes a vehicle body 10, sensors 20, a map database 30, an information display system 40, an electric actuator 50, a battery 60, and a power supply unit 70. The vehicle body 10 is formed into a hollow shape by metal or the like, for example. A cargo hold 11 for carrying cargo is provided on the vehicle body 10. For example, in the present embodiment, the cargo hold 11 is formed to be open to the upper part of the outside, and is surrounded by the vehicle body 10 from the front, back, left, and right. In addition, as the cargo hold 11, other structures may be adopted.

[0046] The vehicle body 10 is further provided with wheels 12, a suspension 13, and a mounting plate 14. The wheels 12 include, for example, a driving wheel 12a driven by an electric actuator 50 described later and a driven wheel 12b driven to rotate by the driving wheel 12a. Figure 2 , 3In the example shown, a pair of driving wheels 12a are provided on the left and right sides of the main autonomous driving vehicle 1. In addition, a pair of driven wheels 12b are provided on the left and right sides in front and rear of the driving wheels 12a, for a total of four. Each wheel 12 is mounted on a mounting plate 14 fixed to the vehicle body 10 via a suspension 13. The air pressure of the driving wheel 12a and the stroke amount of each suspension 13 at rest are adjusted at least at the factory so that the vehicle body 10 does not substantially tilt but stands upright.

[0047] The sensors 20 acquire sensor information that can be used by the monitoring system 100 by sensing the outside and inside of the host autonomous driving vehicle 1. Therefore, the components of the sensors 20 are mounted on multiple locations of the vehicle body 10. Specifically, the sensors 20 include an outside sensor 21 and an inside sensor 22.

[0048] The external sensor 21 obtains external information as sensing information from the outside world which is the surrounding environment of the host autonomous vehicle 1. The external sensor 21 is an example of a monitoring sensor that monitors the outside world. The external sensor 21 can also obtain external information by detecting objects that exist outside the host autonomous vehicle 1. The object detection type external sensor 21 is, for example, at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar. Such an external sensor 21 is set to a detection direction DA that specifies the direction in which it points. The object detection type external sensor 21 can detect objects within the detection direction DA.

[0049] The external sensor 21 can also obtain external information by receiving positioning signals from artificial satellites of GNSS (Global Navigation Satellite System) that exist outside the host autonomous vehicle 1. The positioning type external sensor 21 is, for example, a GNSS receiver. The external sensor 21 can also obtain external information by sending and receiving communication signals between a V2X system that exists outside the host autonomous vehicle 1. The communication type external sensor 21 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communicator, a cellular V2X (C-V2X) communicator, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communicator. The communication type, especially the V2X type, external sensor 21 can also communicate with at least one of an external center and other autonomous transport vehicles.

[0050] The inner boundary sensor 22 obtains inner boundary information as sensing information from the inner boundary of the host autonomous vehicle 1, which is the inner environment. The inner boundary sensor 22 may be a motion detection type that detects a specific motion physical quantity in the inner boundary of the host autonomous vehicle 1. The inner boundary sensor 22 of the motion detection type is, for example, at least one of a driving speed sensor, an acceleration sensor, and a fall-off sensor. The inner boundary sensor 22 can obtain the inner boundary information by detecting cargo on the loading platform in the cargo compartment 11, which is the inner boundary of the host autonomous vehicle 1. The inner boundary sensor 22 of the cargo detection type is, for example, at least one of a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) ​​reader. The inner boundary sensor 22 may also be a charging status detection type that detects the charging status of the battery 60 described later. The inner boundary sensor 22 of the battery detection type is, for example, at least one of a battery remaining sensor and a connection sensor that detects the connection status of the charging device C and the power supply unit 70.

[0051] The map database 30 stores map information that can be used by the monitoring system 100. The map database 30 is configured as a non-transitory tangible storage medium including at least one type of semiconductor memory, magnetic medium, and optical medium. The map database 30 may also be a database of a locator that estimates the own state quantity including the own position of the host autonomous driving vehicle 1. The map database 30 may be a database of a planning unit that plans the travel of the host autonomous driving vehicle 1. The map database 30 may also be configured by a combination of a plurality of types of these databases and the like.

[0052] The map database 30 acquires and stores the latest map information, for example, by communicating with an external center. Here, the map information is digitized in two or three dimensions as information representing the driving environment of the host autonomous driving vehicle 1. The map information may also include at least one type of road information, such as the position, shape, and road surface state of the road itself. The map information may also include at least one type of sign information, such as the position and shape of signs and lines attached to the road. The map information may also include at least one type of structure information, such as the position and shape of buildings and traffic lights facing the road.

[0053] The information prompting system 40 prompts notification information to people around the host autonomous driving vehicle 1. The information prompting system 40 may also prompt notification information by stimulating the vision of people around. The information prompting system 40 of visual stimulation type is, for example, at least one of a display unit and a light emitting unit. The information prompting system 40 may also prompt notification information by stimulating the hearing of people around. The information prompting system 40 of auditory stimulation type is, for example, at least one of a speaker, a buzzer, and a vibration device.

[0054] The electric actuator 50 is a driving source mounted in the vehicle body 10 and driving the main autonomous vehicle 1 by driving the driving wheels 12a to rotate. The electric actuator 50 is, for example, configured with a separate electric motor corresponding to a pair of driving wheels 12a as the main body. The electric actuator 50 can drive each driving wheel 12a to rotate independently. The electric actuator 50 can switch the driving mode of the autonomous vehicle 1 between straight-ahead driving and turning driving by adjusting the speed difference of the driving wheels 12a. The electric actuator 50 can also include a braking unit that applies brakes during the rotation of each driving wheel 12a. The electric actuator 50 can also include a locking unit that locks each driving wheel 12a when it stops.

[0055] The battery 60 is mounted in the vehicle body 10. The battery 60 is mainly composed of a storage battery such as a lithium ion battery. The battery 60 is charged from the outside and stores power supplied to the electrical components in the vehicle body 10 by discharge. The battery 60 can also continue to regenerate power from the electric actuator 50. The battery 60 is connected to the mounting structure of the host autonomous driving vehicle 1 such as the electric actuator 50, the sensors 20, the map database 30, and the information display system 40 via a wiring harness so that power can be supplied to the mounting structure.

[0056] The power supply unit 70 is electrically connected to the battery 60. The power supply unit 70 is electrically connected to an external charging device C, and supplies the power supplied from the charging device C to the battery 60. The power supply unit 70 may be mechanically connected to the charging device C so as to be powered by the charging device C. In addition, the power supply unit 70 may be non-contact powered by the charging device C.

[0057] The monitoring system 100 is connected to the sensors 20, the map database 30, the information presentation system 40, the electric actuator 50, and the battery 60 via at least one of a LAN (Local Area Network) line, a harness, an internal bus, and a wireless communication line. The monitoring system 100 is configured to include at least one dedicated computer.

[0058] The dedicated computer constituting the monitoring system 100 may also be a planning ECU (Electronic Control Unit) that plans the target track for the host autonomous vehicle 1 to travel. The dedicated computer constituting the monitoring system 100 may also be a track control ECU that makes the actual track follow the target track of the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may also be an actuator ECU that controls each electric actuator 50 of the host autonomous vehicle 1.

[0059] The dedicated computer constituting the monitoring system 100 may also be a sensor ECU that controls the sensor type 20 of the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may also be a locator ECU that estimates the self-state quantity including the self-position of the host autonomous vehicle 1 based on the map database 30. The dedicated computer constituting the monitoring system 100 may also be an information prompting ECU that controls the information prompting system 40 of the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may also be a computer outside the vehicle body 10 that constitutes, for example, an external center or a mobile terminal that can communicate via the communication-type external sensor 21.

[0060] The dedicated computer constituting the monitoring system 100 has at least one memory 101 and a processor 102. The memory 101 is a non-transitory tangible storage medium (non-transitory tangible storage medium) of at least one type such as a semiconductor memory, a magnetic medium, and an optical medium, which non-temporarily stores programs and data that can be read by the computer. The storage can be a temporary storage that retains and accumulates data even if the host autonomous driving vehicle 1 is started or shut down, or the data is deleted when the host autonomous driving vehicle 1 is started or shut down. The processor 102 includes at least one type such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor) as a core.

[0061] In the monitoring system 100, the processor 102 executes a plurality of commands included in the monitoring program stored in the memory 101 in order to monitor the surroundings of the host autonomous vehicle 1. Thus, the monitoring system 100 is constructed with a plurality of functional blocks for monitoring the surroundings of the host autonomous vehicle 1. Figure 4As shown, a plurality of functional blocks constructed in the monitoring system 100 include a travel control block 110 , a diagnosis block 120 , a monitoring block 130 , an output block 140 , and a regulation block 150 .

[0062] Through all of these driving control blocks 110, diagnosis blocks 120, monitoring blocks 130, output blocks 140, and regulation blocks 150, the monitoring system 100 monitors the surroundings of the host autonomous driving vehicle 1 in accordance with the monitoring method of Figures 5 to 7 The monitoring flow shown in the figure is executed. This monitoring flow is repeatedly executed during the startup of the host autonomous driving vehicle 1. In addition, each "S" in this monitoring flow represents a plurality of steps executed by a plurality of commands included in the monitoring program. Figure 5 , 6 The monitoring process shown is executed by, for example, the processor 102 mounted on the host autonomous driving vehicle 1. Figure 7 The monitoring process shown is executed, for example, by a processor 102 mounted in a management center that manages the operation of a plurality of vehicles including the host autonomous driving vehicle 1 and the target autonomous driving vehicle 2 .

[0063] First, in S10, the travel control block 110 determines whether it is necessary to charge the driving host autonomous driving vehicle 1 based on the internal boundary information of the internal boundary sensor 22 of the charging status detection type. If it is determined that charging is not necessary, this process ends. If it is determined that charging is necessary, this process transfers to S20.

[0064] In S20, the travel control block 110 performs travel control to the charging position where the charging device C is installed based on information such as the map database 30. In addition, when there are multiple charging devices C that can charge, the travel control block 110 can also select a charging device C that can monitor the dead spot area BAa described later and travel. For example, the travel control block 110 distinguishes the charging device C that can monitor the position of the dead spot area BAa and the charging device C that cannot monitor the position of the dead spot area BAa from the unused charging devices C that can be reached by the current battery remaining amount. And the travel control block 110 can preferentially select the charging device C that can monitor the position of the dead spot area BAa as the device to be used.

[0065] In the next S30, the driving control block 110 performs driving control to connect the host autonomous vehicle 1 traveling to the charging position with the charging device C in a state where the external sensor 21 as an object detection type is directed toward the blind spot area BAa. The driving control block 110 connects to the charging device C in a manner such that the external sensor 21 including the front of the host autonomous vehicle 1 in the detection direction DA is directed toward the blind spot area BAa. The driving control block 110 performs driving control on the host autonomous vehicle 1 so as to electrically connect the power supply unit 70 with the charging device C. The power supply unit 70 and the charging device C may be mechanically connected to each other through a connector, or may be electrically connected in a non-contact manner by bringing a power supply coil and a power receiving coil that realize wireless power supply close to each other.

[0066] The blind spot area BAa pointed to by the external sensor 21 in the host autonomous driving vehicle 1 connected to the charging device C is defined by the positional relationship with the charging device C. Figure 8 In the example shown, the blind spot area BAa is a side road NR that connects two avenues WR1 and WR2 as driving facilities, and the side road NR is a driving facility that is narrower than the avenues WR1 and WR2. In addition, the avenues WR1 and WR2 and the side road NR are divided by walls and the like, and the facility users of the avenues WR1 and WR2 and the facility users of the side road NR are in a state where they cannot visually recognize each other. In addition, the side road NR is of a width that makes it difficult for autonomous vehicles and people to cross each other, and the autonomous vehicles travel in the center of the side road NR. The charging device C is set in the extension direction of the side road NR so that it can charge the host autonomous vehicle 1 in a state where the side road NR is in front.

[0067] In addition, Fig.10 In the example shown, the blind spot area BAa is an area of ​​the elevator E as a moving facility and the elevator waiting area H as a moving facility connected to the elevator E that is a blind spot from the elevator E. Furthermore, the charging device C is installed in the elevator waiting area H on the side opposite to the area near the entrance and exit of the elevator E, so that the external sensor 21 points to the area near the entrance and exit. In addition, as Fig. 9 and Fig.10 As shown, the blind spot area BAa can be determined geometrically according to the structure of the driving facility. In addition, the blind spot area BAa can also be determined by considering the detection direction DA of the external sensor 21 in the target autonomous driving vehicle 2 described later.

[0068] The travel control block 110 in S30 performs travel control to electrically connect the power supply unit 70 to the charging devices C, thereby achieving a state in which the external sensor 21 faces the blind spot area BAa during charging. Figure 8As shown, for the blind spot area BAa that can be monitored by the external sensor 21, there is a blind spot area BAb that becomes a blind spot due to the facility users in the blind spot area BAa. In addition, the blind spot area BAb can be determined geometrically according to the structure of the driving facility, and can also be determined by considering the vision of the facility users, etc., similarly to the blind spot area BAa.

[0069] Next, in S40, the diagnosis block 120 and the output block 140 execute a charging diagnosis process for monitoring the height position abnormality of the host autonomous driving vehicle 1 during charging. Figure 6 The detailed processing of S40 will be described.

[0070] First, in S41, the diagnostic block 120 determines whether the diagnostic condition is met for the host autonomous driving vehicle 1. For example, the diagnostic condition is determined to be met when multiple auxiliary conditions are all met. One of the auxiliary conditions is, for example, that the host autonomous driving vehicle 1 is connected to the charging device C and is charging. Another auxiliary condition is, for example, that it is in a parked state. Another auxiliary condition is that there is a charging position for comparison information. Here, the comparison information is a previously acquired detection result that is compared with the detection result described later. Another auxiliary condition is that the inclination of the charging position is within the allowable range. Another auxiliary condition is that there is no cargo.

[0071] If the diagnosis condition is determined not to be met, the process ends and returns to the interrupt diagnosis state. Figure 5 On the other hand, if it is determined that the diagnostic condition is met, the process transfers to S42.

[0072] In S42, the diagnostic block 120 performs a diagnostic process for monitoring an abnormality related to at least one of the height position and posture in the host autonomous vehicle 1. In the diagnostic process, the diagnostic block 120 uses the sensor class 20 to detect at least one of the own position and posture of the host autonomous vehicle 1. For example, the diagnostic block 120 detects its own position including at least the height by using SLAM (Simultaneous Localization and Mapping) based on the external sensor 21, satellite positioning, etc. In addition, the diagnostic block 120 detects the posture including at least the pitch angle information by using the information of SLAM, pitch angle sensor, etc. In addition, when using the information of the pitch angle sensor, the internal boundary sensor 22 is also included in the monitoring sensor in the abnormality monitoring.

[0073] In the next S43, the diagnosis block 120 determines whether the diagnosis process in S42 is successful. If the diagnosis condition continues to be satisfied until the diagnosis process is completed, the diagnosis block 120 determines that the diagnosis process is successful. If the diagnosis condition becomes unsatisfactory midway, the diagnosis block 120 determines that the diagnosis process has failed. If it is determined that the diagnosis process has failed, the present process ends. On the other hand, if it is determined that the diagnosis process is successful, the present process transfers to S44.

[0074] In S44, the diagnostic block 120 determines whether an abnormality is detected in at least one of the height and pitch angle related to the host autonomous driving vehicle 1 based on the diagnostic result. The diagnostic block 120 determines the presence or absence of abnormality detection by comparing with the comparison information of each of the height and the pitch angle. For example, for the height and the pitch angle, the diagnostic block 120 determines that an abnormality is detected when the difference between the height and the pitch angle and the comparison information is outside the allowable range. If it is determined that no abnormality is detected, the present process ends. On the other hand, if it is determined that an abnormality is detected, the present process transfers to S45. In S45, the output block 140 notifies the management center of information related to the abnormality. This notification is equivalent to outputting monitoring data related to the abnormality.

[0075] return Figure 5 In S50, the monitoring block 130 determines whether the target autonomous vehicle 2, which is another autonomous vehicle of the facility user, is approaching the blind spot area BAa monitored by the external sensor 21 of the object detection type. The monitoring block 130 obtains the approach information related to the target autonomous vehicle 2 from the management center through the external sensor 21 of the communication type, for example, to determine the approach. In addition, the monitoring block 130 can also directly obtain the approach information from the target autonomous vehicle 2 via the external sensor 21 of the communication type. In the case where a person who is a facility user exists in the blind spot area BAa, the approach information is equivalent to the monitoring data of the blind spot area BAb for the person. In S50, the process waits until it is determined that the target autonomous vehicle 2 is approaching.

[0076] If it is determined that the target autonomous vehicle 2 is approaching, the process moves to S60. In S60, the output block 140 outputs the monitoring data related to the blind spot area BAa. Specifically, the output block 140 sends the monitoring data to the management center that manages the operation of the autonomous vehicle. In addition, the output block 140 may also send the monitoring data directly to the target autonomous vehicle 2. The monitoring data includes at least information related to the presence or absence of the occupant 3 in the blind spot area BAa, who is a person who is a facility user in the blind spot area BAa.

[0077] Next, in S70, the monitoring block 130 determines whether a person who is a facility user exists in the blind spot area BAa based on the monitoring data. If it is determined that there is no person, this process ends. On the other hand, if it is determined that there is a person, this process moves to S80.

[0078] In S80, the output block 140 implements notification to the person through the information presentation system 40 of the host autonomous vehicle 1. The output block 140 notifies the information related to the approach of the target autonomous vehicle 2 through at least one type of information presentation system 40 of visual stimulation type and auditory stimulation type. For example, in the case where the person is coming toward the host autonomous vehicle 1 side, the output block 140 preferably implements notification by the information presentation system 40 of visual stimulation type, and does not use the information presentation system 40 of auditory stimulation type. The notification to the person in S80 is equivalent to "output of monitoring data" in the same way as the transmission of monitoring data in S60.

[0079] Next, refer to Figure 7 , a description will be given of a process of the target autonomous driving vehicle 2 approaching the blind spot area BAa using the monitoring data.

[0080] First, in S90, the prescribed block 150 determines the monitoring status corresponding to the monitoring data. Specifically, the prescribed block 150 determines whether the occupant 3 is present in the blind spot area BAa, the occupant 3 is not present in the blind spot area BAa, or whether the occupant 3 is present in the blind spot area BAa cannot be clearly determined based on the monitoring data.

[0081] If it is determined that there is no occupant 3, then in S100, block 150 specifies a passing upper limit speed Vm2 for the upper limit speed of the target autonomous vehicle 2 around the blind spot area BAa. The passing upper limit speed Vm2 is a speed lower than the normal upper limit speed Vm1. Here, considering the maximum deceleration amax of the target autonomous vehicle 2, the escape distance D from the blind spot area BAa, the assumed maximum speed Vmax of the occupant 3, and the delay time Td of the system, the passing upper limit speed Vm2 is specified as a speed that satisfies the relationship of the following mathematical formula (1). The escape distance D is the distance from the blind spot area BAa to the host autonomous vehicle 1 assuming that the host autonomous vehicle 1 exists in the contact assumption position Pc described later. As Fig. 9 As shown, in the case of a facility structure in which the road WR1 and the lane NR intersect vertically, the runout distance D is the distance between the wall portion on the lane NR side of the road WR1 and the side portion on the wall side of the autonomous vehicle 1. In addition, the maximum deceleration amax is the deceleration that can be output at the performance limit of the target autonomous vehicle 2.

[0082] (Mathematical formula 1)

[0083] Vm2≤amax(D / Vmax-Td)···(1)

[0084] The passing upper limit speed Vm2 is the upper limit speed after the contact assumption position Pc when the occupant 3 is assumed to be present. Fig. 9 As shown, until the contact assumption position Pc is reached, the upper limit speed is reduced from the normal upper limit speed Vm1 to the upper limit speed Vm2. The contact assumption position Pc is the position of the host autonomous vehicle 1 that contacts the occupant 3 when the occupant 3 rushes out of the blind spot area BAa. The contact assumption position Pc is, for example, the intersection position of the assumed travel path of the occupant 3 and the predetermined travel route R of the host autonomous vehicle 1. The assumed travel path of the occupant 3 can be set based on the shape of the blind spot area BAa, etc., and can also be set based on the assumed or detected position and travel direction of the occupant 3, etc. In addition, in Fig. 9 In the example, the driving route R planned by the host autonomous driving vehicle 1 is a route from the highway WR1 to the highway WR2 via the small road NR, but the upper speed limit is similarly defined even for a route that goes straight on the highway WR1.

[0085] On the other hand, if it is determined in S90 that there is an occupant 3, the process moves to S110. Thus, the regulation block 150 determines whether the target autonomous vehicle 2 is located in the elevator E. If it is determined that it is not in the elevator E, in S120, the regulation block 150 stipulates temporary stop control for the travel of the target autonomous vehicle 2. Specifically, in the temporary stop control, the target autonomous vehicle 2 reduces the upper limit speed from the normal upper limit speed Vm1 as it approaches the temporary stop position Ps, so as to stop at the temporary stop position Ps. The temporary stop position Ps is a position Ps stipulated by the blind spot area BAa, and is set to a position where the target autonomous vehicle 2 does not rush out to the side of the blind spot area BAa. For example, the temporary stop position Ps is set to the end position of the blind spot area BAb.

[0086] In the case where it is determined in S90 that the presence or absence of the occupant 3 is unclear, or in the case where it is determined in S110 that the target autonomous vehicle 2 is in the elevator E, in S130, the regulation block 150 stipulates the deceleration control. In the deceleration control, the regulation block 150 stipulates the deceleration speed Vm3 as the upper limit speed of the target autonomous vehicle 2 around the blind spot area BAa. The deceleration speed Vm3 is a speed lower than the normal upper limit speed Vm1 and the passing upper limit speed Vm2. Here, considering the assumed deceleration a of the target autonomous vehicle 2, the rushing distance D from the blind spot area BAa, the maximum speed Vmax of the occupant 3, and the delay time Td of the system, the deceleration speed Vm3 is stipulated as a speed that satisfies the relationship of the following mathematical formula (2). Here, the assumed deceleration a is stipulated as a deceleration that does not cause a sense of discomfort to the subsequent facility users such as pedestrians when stopping at the contact assumed position Pc and suppresses the shaking of the goods.

[0087] (Mathematical formula 2)

[0088] Vm3≤a(D / Vmax-Td)···(2)

[0089] The deceleration speed Vm3 is the upper limit speed after the contact assumption position Pc, which is the position where the vehicle contacts the occupant 3 when the occupant 3 is assumed to exist. Fig. 9 As shown, until reaching the contact assumed position Pc, the upper limit speed is reduced from the normal upper limit speed Vm1 to the deceleration speed Vm3.

[0090] According to the first embodiment described above, in the driving facility, the blind spots BAa and BAb of the facility users can be monitored by the external sensors 21 of the host autonomous driving vehicle 1 during charging. And the monitoring data of the blind spots BAa and BAb are output. Therefore, the host autonomous driving vehicle 1 during charging can be used in the monitoring of the blind spots BAa and BAb. Therefore, the autonomous driving vehicle 1 can be effectively used.

[0091] According to the first embodiment, the battery 60 of the host autonomous driving vehicle 1 is charged so that the external sensor 21 capable of detecting an object in the outside world is directed toward the blind spot area BAa. Therefore, the blind spot area BAa can be reliably monitored by the external sensor 21 of the object detection type.

[0092] Furthermore, according to the first embodiment, the host autonomous driving vehicle 1 is autonomously driven to a charging position where the battery 60 can be charged by the external charging device C, thereby being electrically connected to the charging device C. Therefore, the host autonomous driving vehicle 1 can reliably autonomously drive so that the blind spot area BAa can be monitored by the external sensor 21 during charging.

[0093] In addition, according to the first embodiment, the blind spot area BAa of the target autonomously traveling vehicle 2 as another autonomously traveling vehicle is monitored. Therefore, the target autonomously traveling vehicle 2 can also obtain information about its own blind spot area BAa from the monitoring data and perform autonomous driving.

[0094] According to the first embodiment, monitoring data is transmitted to the management center that manages the host autonomous driving vehicle 1 and the target autonomous driving vehicle 2. Therefore, the management center can realize operation management that takes the blind spot area BAa of the target autonomous driving vehicle 2 into consideration.

[0095] Furthermore, according to the first embodiment, the upper speed limit of the target autonomous driving vehicle 2 is defined according to the monitoring status of the blind spot area BAa based on the monitoring data. Therefore, the driving control of the target autonomous driving vehicle 2 with higher safety can be realized according to the monitoring status of the blind spot area BAa.

[0096] In addition, according to the first embodiment, the blind spot area BAb of a person who is a facility user is monitored. Therefore, monitoring data related to the blind spot area BAb of the person can be output.

[0097] According to the first embodiment, a warning is issued to a person in the blind spot area BAa of the target autonomously traveling vehicle 2, which is another facility user. Therefore, the person can be warned of the existence of the target autonomously traveling vehicle 2 at the position of the blind spot.

[0098] Furthermore, according to the first embodiment, in the driving facility, the abnormality of at least one of the height position and the posture of the host autonomous driving vehicle 1 is monitored by the external sensor 21 in the host autonomous driving vehicle 1 during charging. Therefore, the abnormality of at least one of the height position and the posture can be monitored by utilizing the charging condition.

[0099] (Second Embodiment)

[0100] like Fig.11 As shown, the second embodiment is a modification of the first embodiment. In the second embodiment, an external information prompting device S is provided on the opposite side of the charging device C across the blind spot area BAa in the driving facility. The external information prompting device S is an information prompting device that is provided on the outside of the host autonomous driving vehicle 1 and prompts notification information to surrounding personnel. For example, the external information prompting device S is a structure such as a digital billboard that can at least provide information prompts based on visual stimulation. The external information prompting device S is configured to be able to communicate directly with the host autonomous driving vehicle 1, or indirectly via a management center, etc. Thus, the external information prompting device S can execute a notification corresponding to the notification instruction from the host autonomous driving vehicle 1.

[0101] In the second embodiment, in S80, the output block 140 selectively performs notification based on the information presentation system 40 of the host autonomous driving vehicle 1 and notification in the external information presentation device S. Specifically, in Figure 8 As shown in FIG. 1 , when the contact assumption position Pc between the occupant 3 and the target autonomous driving vehicle 2 is located on the host autonomous driving vehicle 1 side, the output block 140 performs notification by the information presentation system 40 in the same manner as in the first embodiment. Fig.11 As shown in the figure, when the assumed contact position Pc between the occupant 3 and the target autonomous vehicle 2 is located on the opposite side of the host autonomous vehicle 1 from the occupant 3, the output block 140 performs the notification by the external information presentation device S by sending the notification instruction. In other words, when the occupant 3 cannot visually confirm the status of the visual stimulation type information presentation system 40 in the host autonomous vehicle 1, the output block 140 performs the notification by the external information presentation device S.

[0102] (Other embodiments)

[0103] Although a plurality of embodiments have been described above, the present invention is not limited to these embodiments and can be applied to various embodiments and combinations within a scope not departing from the gist of the present invention.

[0104] In a modified example, the dedicated computer constituting the monitoring system 100 may also have at least one of a digital circuit and an analog circuit as a processor. The digital circuit is at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), a SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). In addition, such a digital circuit may also have a memory for storing a program.

[0105] In addition to the above-described embodiments, the monitoring system 100 may be implemented as a monitoring device that is a control device that can be mounted on the host autonomous driving vehicle 1 and includes at least one processor 102 and one memory 101. Specifically, the above-described embodiments and modifications may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.).

[0106] (Public technical ideas)

[0107] This specification discloses a plurality of technical concepts described in a plurality of items listed below, and discloses a plurality of combined technical concepts represented by selectively citing the previous technical concepts in the subsequent technical concepts.

[0108] (Technical Thought 1)

[0109] A monitoring system has a processor (102) and monitors the periphery of a host autonomous driving vehicle (1), wherein the host autonomous driving vehicle is provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a driving source, wherein:

[0110] The processor is configured to execute:

[0111] In a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can drive, a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor in the host autonomous driving vehicle being charged; and

[0112] The monitoring data of the blind spot area is output.

[0113] (Technical Thought 2)

[0114] In the monitoring system described in Technical Concept 1,

[0115] The battery in the host autonomous driving vehicle is charged in such a manner that the monitoring sensor capable of detecting the external object is directed toward the blind spot area.

[0116] (Technical Thought 3)

[0117] In the monitoring system described in Technical Idea 2,

[0118] Charging the host autonomous vehicle comprises:

[0119] The host autonomous driving vehicle is driven autonomously to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting the host autonomous driving vehicle to the charging device (C).

[0120] (Technical Thought 4)

[0121] In the monitoring system described in any one of technical concepts 1 to 3,

[0122] Monitoring the blind spot area includes:

[0123] The blind spot area of ​​an autonomously driven vehicle (2) as a target of other autonomously driven vehicles is monitored.

[0124] (Technical Thought 5)

[0125] In the monitoring system described in Technical Idea 4,

[0126] Outputting the monitoring data includes:

[0127] The monitoring data is sent to a management center that manages the host autonomous vehicle and the target autonomous vehicle.

[0128] (Technical Thought 6)

[0129] In the monitoring system described in technical concept 4 or 5,

[0130] The method is configured to further define an upper limit speed of the target autonomous driving vehicle corresponding to a monitoring condition of the blind spot area based on the monitoring data.

[0131] (Technical Thought 7)

[0132] In the monitoring system described in any one of technical concepts 1 to 6,

[0133] Monitoring the blind spot area includes:

[0134] The blind spot area of ​​people who are users of the facility is monitored.

[0135] (Technical Thought 8)

[0136] In the monitoring system described in Technical Idea 7,

[0137] Outputting the monitoring data includes:

[0138] An alert is performed to the person in the blind spot area of ​​the target autonomous driving vehicle which is other of the facility users.

[0139] (Technical Thought 9)

[0140] In the monitoring system described in any one of technical concepts 1 to 6,

[0141] The method further comprises: monitoring, by the monitoring sensor in the host autonomous driving vehicle being charged, an abnormality in at least one of a height position and a posture of the host autonomous driving vehicle in the driving facility;

[0142] Outputting the monitoring data includes:

[0143] The monitoring data for the abnormality is output.

[0144] Furthermore, the above technical concepts 1 to 9 can also be implemented in other categories. Specifically, the technical concepts 1 to 9 can be implemented as a monitoring device, an autonomous vehicle, a monitoring method, and a monitoring program.

Claims

1. A monitoring system having a processor (102) and monitoring the periphery of a host autonomous driving vehicle (1), wherein the host autonomous driving vehicle is provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a driving source, characterized in that: The processor is configured to execute: In a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can drive, a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor in the host autonomous driving vehicle being charged; and The monitoring data of the blind spot area is output.

2. The monitoring system according to claim 1, characterized in that The battery in the host autonomous driving vehicle is charged in such a manner that the monitoring sensor capable of detecting the external object is directed toward the blind spot area.

3. The monitoring system according to claim 2, characterized in that: Charging the host autonomous vehicle comprises: The host autonomous driving vehicle is driven autonomously to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting the host autonomous driving vehicle to the charging device (C).

4. The monitoring system according to claim 1, characterized in that Monitoring the blind spot area includes: The blind spot area is monitored by an autonomously traveling vehicle as a target of other autonomously traveling vehicles.

5. The monitoring system according to claim 4, characterized in that Outputting the monitoring data includes: The monitoring data is sent to a management center that manages the host autonomous vehicle and the target autonomous vehicle.

6. The monitoring system according to claim 4 or 5, characterized in that: The method is configured to further define an upper limit speed of the target autonomous driving vehicle corresponding to a monitoring condition of the blind spot area based on the monitoring data.

7. The monitoring system according to claim 1, characterized in that Monitoring the blind spot area includes: The blind spot area of ​​people who are users of the facility is monitored.

8. The monitoring system according to claim 7, characterized in that: Outputting the monitoring data includes: An alert is performed to the person in the blind spot area of ​​the target autonomous driving vehicle which is other of the facility users.

9. The monitoring system according to claim 1, characterized in that: The method further comprises: monitoring, by the monitoring sensor in the host autonomous driving vehicle being charged, an abnormality in at least one of a height position and a posture of the host autonomous driving vehicle in the driving facility; Outputting the monitoring data includes: The monitoring data for the abnormality is output.

10. A monitoring device having a processor (102), which is mounted on a host autonomous vehicle (1) and monitors the surroundings, wherein the host autonomous vehicle is provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a driving source, characterized in that: The processor is configured to execute the following: In a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can drive, a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor in the host autonomous driving vehicle being charged; and The monitoring data of the blind spot area is output.

11. An autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a driving source, characterized in that: The processor is configured to execute the following: In drivable driving facilities (WR1, WR2, NR, E, H), a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor during charging; and The monitoring data of the blind spot area is output.

12. A monitoring method, executed by a processor (102) for monitoring the periphery of a host autonomous driving vehicle (1), the host autonomous driving vehicle being provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a driving source, characterized in that: Include: In a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can drive, a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor in the host autonomous driving vehicle being charged; and The monitoring data of the blind spot area is output.

13. A monitoring program, comprising commands stored in a storage medium (101) and executed by a processor (102) for monitoring the periphery of a host autonomous driving vehicle (1), wherein the host autonomous driving vehicle is provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a driving source, characterized in that: The command contains: In a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can drive, a blind spot area (BAa, BAb) that becomes a blind spot for facility users (2, 3) is monitored by the monitoring sensor in the host autonomous driving vehicle being charged; and The monitoring data of the blind spot area is output.

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