Travel management system and travel management method

Abstract

The invention relates to a driving management system and a driving management method. A travel management system is provided with: a recognition sensor that is provided in a prescribed area and recognizes a condition within the prescribed area; and a management server. The management server is configured to manage a passage path that specifies a travel position of a vehicle for a passage of the vehicle in a prescribed area. Further, the management server is configured to: sense an object within the prescribed area using the recognition sensor; and performing a process of calculating a vehicle speed curve that gives a vehicle speed condition that the vehicle should follow at each location on the passage path on the basis of the sensed positional relationship of the object and the passage path. Further, the management server is configured to transmit, to a control system of the target vehicle, at least a travel position of a travel section in the passage path in which the target vehicle travels and a vehicle speed profile of the travel section when the travel of the target vehicle is managed.

Description

Technical Field

[0001] The present disclosure relates to a technique for managing the travel of vehicles within a specified area. Background Art

[0002] Patent Document 1 discloses a travel control device for remotely controlling an autonomous vehicle traveling within an automatic operation area. The travel control device disclosed in Patent Document 1 includes: a sensing unit that detects a target within a detection range defined within the automatic operation area; a path generation unit that generates a travel path of the autonomous vehicle traveling within the detection range using the detection information of the targets detected by the sensing unit; and a path transmission unit that transmits a control command based on the travel path to the autonomous vehicle.

[0003] In addition to this, as a document showing the technical level of this technical field, there is also the following Patent Document 2.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-134583

[0007] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2015-074321

[0008] In the case of managing the travel of vehicles within a specified area, generally, there are a plurality of vehicles that are the objects of travel management within the area. In the technique disclosed in Patent Document 1, it is necessary to consider the calculation of each object (target) detected within the area for each vehicle. Therefore, when there are a plurality of vehicles that are the objects of travel management, the processing load may become large. Thus, conventionally, a high processing load has been a problem in the technique for managing the travel of vehicles within an area. Summary of the Invention

[0009] In view of the above problems, an object of the present disclosure is to reduce the processing load with respect to a technique for managing the travel of vehicles within an area.

[0010] A first aspect of the present disclosure relates to a driving management system for managing the driving of vehicles within a specified area. The driving management system includes: an identification sensor disposed in the specified area for identifying the conditions within the specified area; and a management server. The management server is configured to: manage a travel path that specifies the driving position of a vehicle on a passage for vehicles within the specified area. In addition, the management server is configured to: sense an object within the specified area using the identification sensor; and perform a process of calculating a vehicle speed curve based on the positional relationship between the sensed object and the travel path, where the vehicle speed curve gives the vehicle speed conditions that the vehicle should follow at each location on the travel path. In addition, the management server is configured to: when the driving of a vehicle to be managed is in progress, send the driving position of at least the driving section traveled by the vehicle to be managed in the travel path and the vehicle speed curve of the driving section to the control system of the vehicle to be managed.

[0011] A second aspect of the present disclosure relates to a driving management method for managing the driving of vehicles within a specified area. The driving management method includes the following processes through the cooperation of one or more processors and one or more storage devices: manage a travel path that specifies the driving position of a vehicle on a passage for vehicles within the specified area; sense an object within the specified area using an identification sensor; perform a process of calculating a vehicle speed curve based on the positional relationship between the sensed object and the travel path, where the vehicle speed curve gives the vehicle speed conditions that the vehicle should follow at each location on the travel path; and when the driving of a vehicle to be managed is in progress, send the driving position of at least the driving section traveled by the vehicle to be managed in the travel path and the vehicle speed curve of the driving section to the control system of the vehicle to be managed.

[0012] Advantages of the Invention

[0013] According to the present disclosure, a travel path that specifies the driving position of a vehicle is managed, and a vehicle speed curve is calculated based on the positional relationship between the sensed object sensed within the specified area and the travel path. Then, in the driving management of the vehicle to be managed, the driving position of the driving section traveled by the vehicle to be managed in the travel path and the vehicle speed curve are sent to the control system of the vehicle to be managed. Thereby, the driving management of each vehicle can be performed without performing an operation that considers the sensed object for each vehicle. As a result, even when the number of vehicles to be managed as the object of driving management increases, an increase in the processing burden can be suppressed, thereby reducing the processing burden. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a conceptual diagram for explaining an example of the driving management of a vehicle performed by a driving management system as an AVP system.

[0015] Figure 2This is a diagram showing an example of the configuration of a driving management system according to an embodiment.

[0016] Figure 3 This is a block diagram showing an example of the functional configuration of a management server related to the function of sending instruction information.

[0017] Figure 4 This is a conceptual diagram showing an example of passing route data.

[0018] Figure 5 This is a conceptual diagram showing an example of a vehicle speed curve.

[0019] Figure 6 This is a diagram showing an example of the data management of a vehicle speed curve.

[0020] Figure 7 This is a flowchart showing the processing flow of the processing executed by the management server regarding the function of sending instruction information.

[0021] Figure 8 This is a block diagram showing an example of the functional configuration of a management server related to the function of calculating a vehicle speed curve.

[0022] Figure 9 This is a diagram showing an example of the vehicle speed curve calculated by the vehicle speed curve calculation unit.

[0023] Figure 10 This is a flowchart showing the processing flow of the processing executed by the management server regarding the function of calculating a vehicle speed curve.

[0024] Figure 11 This is a block diagram showing an example of the functional configuration of a management server related to the dynamic update of passing route data.

[0025] Figure 12 This is a diagram showing an example of the passing route data updated by the passing route update unit.

[0026] Figure 13 This is a flowchart showing the processing flow of the processing executed by the management server regarding the dynamic update of passing route data.

[0027] Description of Reference Numerals

[0028] 1: Vehicle, 4: Sensed Object, 5: Influence Range, 10: Driving Management System, 100: Management Server, 101: Identification Sensor, 110: Processor, 120: Storage Device, 121: Computer Program, 130: Communication Interface, 200: Vehicle Control System, 300: Communication Network, D1: Management Database, D10: Passing Route Data, D20: Vehicle Speed Curve, TP: Driving Position. Detailed implementation mode

[0029] 1 Driving management system

[0030] The driving management system of this implementation mode manages the driving of vehicles within a specified area. The vehicles within the specified area drive based on instructions from the driving management system.

[0031] The specified area to which the driving management system is applied is not particularly limited. Examples of the specified area include a parking lot, the land of a factory, a warehouse, a street, etc. The specified area can also be a part of these areas.

[0032] The driving management system of this implementation mode can be used as a system that provides various functions according to the specified area and the type of vehicle. For example, when the specified area is a parking lot, the driving management system can be used as an AVP (Auto Valet Parking) system that provides automatic valet parking. That is to say, at this time, the driving management system provides the function of automatically entering and exiting the vehicles in the parking lot without relying on the user's operation. In addition, for example, when the specified area is a warehouse, the driving management system can be used as a system that provides the function of managing the driving of an automated guided vehicle that moves goods in and out of the warehouse.

[0033] Figure 1 It is a conceptual diagram for explaining an example of the driving management of vehicle 1 by the driving management system as an AVP system. Figure 1 It shows the situation where the driving management system manages the driving of vehicles 1 (1-A and 1-B) in parking lot 2.

[0034] The driving management of vehicle 1-A involves parking in AVP. At this time, the driving management system manages the driving of vehicle 1-A in such a way that vehicle 1-A drives from the parking position 21 to the parking space 22-A. Route 3-A shows an example of the driving of vehicle 1-A achieved through the driving management implemented by the driving management system.

[0035] The driving management of vehicle 1-B involves leaving the parking lot in AVP. At this time, the driving management system manages the driving of vehicle 1-B in such a way that vehicle 1-B drives from the parking space 22-B to the exit position 23. Route 3-B shows an example of the driving of vehicle 1-B achieved through the driving management implemented by the driving management system.

[0036] In this way, the driving management of vehicle 1 implemented by the driving management system of this implementation mode includes indicating the driving position of vehicle 1.

[0037] Furthermore, assume that in the specified area where the driving management system is applied, there are some objects in addition to the vehicle 1 under driving management. For example, there may be pedestrians and dropped objects in the parking lot 2. The driving management system takes these objects into consideration for the driving management of the vehicle 1. More specifically, the driving management system manages the driving of the vehicle 1 in such a way that the vehicle speed is reduced near these objects, or the vehicle 1 is temporarily stopped near these objects.

[0038] Thus, the driving management of the vehicle 1 implemented by the driving management system of this embodiment includes: considering the objects existing in the specified area and indicating the vehicle speed conditions that the vehicle 1 should follow for the driving position of the vehicle 1.

[0039] The driving management system generally manages the driving of multiple vehicles 1 in the specified area. Therefore, the driving management system performs driving management for each vehicle 1 considering the objects existing in the specified area. Conventionally, when performing driving management considering each object in the specified area for each vehicle, the processing burden is high when there are multiple vehicles 1 as the objects of driving management, which has been a problem. In the driving management system of this embodiment, even when the number of vehicles 1 as the objects of driving management increases, the increase in the processing burden can be suppressed. Hereinafter, the driving management system of this embodiment will be described in detail.

[0040] Figure 2 FIG. is an example of the configuration of the driving management system 10 of this embodiment. The driving management system 10 includes: a management server 100 that communicates with the vehicle control system 200 of the vehicle 1; and an identification sensor 101 that is communicably connected to the management server 100.

[0041] The identification sensor 101 is provided in the specified area where the driving management system 10 is applied. The identification sensor 101 identifies the conditions in the specified area. The identification sensor 101 is composed of sensors such as cameras, LiDAR (Light Detection and Ranging), radars, or a combination of one or more of these sensors. The identification sensor 101 at least senses the objects in the specified area and obtains information on the sensed objects. For example, the identification sensor 101 obtains the position of the sensed object in the specified area. In addition, for example, the identification sensor 101 obtains the state of the sensed object (e.g., speed, acceleration, etc.). In addition, for example, the identification sensor 101 obtains the category of the sensed object (e.g., pedestrians, bicycles, dropped objects, etc.). In addition, for example, the identification sensor 101 obtains the attributes of the sensed object (e.g., moving object, stationary object, size, etc.). The information obtained by the identification sensor 101 is sent to the management server 100.

[0042] The management server 100 generates instruction information for the driving management of the vehicle 1 and transmits the generated instruction information to the vehicle control system 200 of the vehicle 1.

[0043] The management server 100 includes a processor 110, a storage device 120, and a communication interface (communication I / F) 130.

[0044] The processor 110 executes various processes. The processor 110 is constituted by, for example, a general-purpose processor, a special-purpose processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, an existing type of circuit, and a combination of one or more of them. The processor 110 may also be referred to as circuitry or processing circuitry. "Circuit" is hardware programmed to implement the functions described in the present disclosure or hardware that executes such functions.

[0045] The storage device 120 stores various information necessary for the execution of the processes of the processor 110. The storage device 120 is constituted by recording media such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), and an HDD (Hard Disk Drive), for example. A computer program 121 is stored in the storage device 120. The computer program 121 can be recorded on a computer-readable recording medium. The computer program 121 describes the processes to be executed by the processor 110. The functions of the management server 100 are realized through the cooperation of the processor 110 that executes the computer program 121 and the storage device 120.

[0046] The communication interface 130 is an interface for connecting to a communication network 300 to communicate with devices external to the management server 100. The communication network 300 is constituted by, for example, the Internet, a mobile communication network, a LAN (Local Area Network), etc. The management server 100 exchanges information with the vehicle control system 200 via the communication interface 130. In addition to this, the management server 100 may also exchange information with the user's user terminal (for example: a smart phone, a tablet terminal) via the communication interface 130.

[0047] The vehicle control system 200 is a system for controlling the vehicle 1.

[0048] The vehicle control system 200 includes a communication device 210, an in-vehicle sensor 220, a control device 230, and a driving device 240.

[0049] The communication device 210 is connected to the communication network 300 to transmit and receive information. The vehicle control system 200 transmits and receives information with the management server 100 via the communication device 210. The communication device 210 receives at least the instruction information from the management server 100. The information received by the communication device 210 is sent to the control device 230.

[0050] The in-vehicle sensor 220 is mounted on the vehicle 1 and detects the driving environment of the vehicle 1. Information such as the conditions around the vehicle 1 (e.g., other vehicles, white lines, obstacles) and the driving state of the vehicle 1 (e.g., vehicle speed, acceleration / deceleration, yaw rate) is obtained by the in-vehicle sensor 220. Examples of the in-vehicle sensor 220 include a camera, a radar, a LiDAR, a wheel speed sensor, an IMU (Inertial Measurement Unit), and a GNSS (Global Navigation Satellite System) sensor. The detection information obtained by the in-vehicle sensor 220 is sent to the control device 230.

[0051] The control device 230 is a computer that controls the vehicle 1 based on various information. In particular, the control device 230 has a function of controlling the vehicle 1 in such a manner that the vehicle 1 travels according to the instruction information. The control device 230 obtains the instruction information from the management server 100 via the communication device 210. In addition, the control device 230 obtains the detection information of the driving environment of the vehicle 1 from the in-vehicle sensor 220. Then, the control device 230 generates a control signal based on the detection information to achieve the driving of the vehicle 1 according to the instruction information. The control signal generated by the control device 230 is sent to the driving device 240.

[0052] The control device 230 includes a processor 231 and a storage device 232. The processor 231 performs various processes. The processor 231 is constituted by, for example, a general-purpose processor, a specific-purpose processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, an existing type of circuit, and a combination of one or more of them. The storage device 232 stores various information required for the execution of the processes of the processor 231. The storage device 232 is constituted by, for example, recording media such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), and an HDD (Hard Disk Drive). A computer program 233 is stored in the storage device 232. The computer program 233 can be recorded on a computer-readable recording medium. The computer program 233 describes the processes to be executed by the processor 231. The functions of the control device 230 are realized by the cooperation of the processor 231 that executes the computer program 233 and the storage device 232.

[0053] The traveling device 240 is mounted on the vehicle 1 and provides the traveling function of the vehicle 1. It includes a driving device, a braking device, and a steering device. The driving device generates a driving force. Examples of the driving device include an engine and an electric motor. The braking device generates a braking force. The steering device steers the wheels of the vehicle 1. Each device may include an actuator that can be controlled by the control device 230. The traveling device 240 operates the driving device, the braking device, and the steering device according to the control signal obtained from the control device 230. Thereby, the traveling of the vehicle 1 according to the instruction information is realized.

[0054] In the vehicle control system 200, the communication device 210 and the control device 230 may also be provided outside the vehicle 1. For example, the communication device 210 and the control device 230 may also be provided as part of the infrastructure equipment in a specified area. In this case, the control device 230 may be configured to transmit and receive information to and from the in-vehicle sensors 220 and the traveling device 240 of each vehicle 1 via the communication device 210.

[0055] In this way, the traveling management system 10 of the present embodiment is configured. Hereinafter, the functions of the management server 100 will be described in more detail based on the above configuration.

[0056] 2 Functions of the Management Server

[0057] 2.1 Sending of Indication Information

[0058] In the driving management system 10, the management server 100 generates indication information for driving management of the vehicle 1 and sends the generated indication information to the vehicle control system 200 of the vehicle 1. Figure 3 It is a block diagram showing an example of the functional configuration of the management server 100 associated with the function of sending indication information. The management server 100 manages the management database D1. The management database D1 is stored in the storage device 120, for example.

[0059] The management database D1 includes the passage route data D10 and the vehicle speed curve D20.

[0060] The passage route data D10 is data for a passage route that specifies the driving position of the vehicle 1 on the passage for the vehicle 1 within a specified area. Figure 4 It is shown as setting the specified area as Figure 1 a conceptual diagram of an example of the passage route data D10 when the shown parking lot 2. In Figure 4 it, the driving position TP (thick dashed line) specified by the passage route data D10 is shown. The passage route data D10 can manage the driving position TP by coordinate data of two-dimensional coordinates (x, y) that determine the position within the parking lot 2. Alternatively, the passage route data D10 can also manage the driving position TP by chart data having the driving direction of the vehicle 1 at each location.

[0061] In addition, as Figure 4 shown, the passage route data D10 can also manage information on the path width WD of the passage route. At this time, the passage route represented by the passage route data D10 becomes an area determined by the driving position TP and the path width WD (the area surrounded by the thin dashed line). The path width WD is set, for example, to a value obtained by adding a specified margin to the vehicle width of the vehicle 1 whose driving is managed by the driving management system 10.

[0062] The passage route data D10 is pre-made according to the specified area to which the driving management system 10 is applied. However, the management server 100 can also be configured to appropriately update (update) the passage route data D10. For example, the management server 100 receives new passage route data D10 via the communication network 300. Then, the management server 100 updates the passage route data D10 in the management database D1 to the received new passage route data D10.

[0063] The vehicle speed curve D20 is data that gives the vehicle speed conditions that vehicle 1 should follow at each location on the passage path represented by the passage path data D10. The vehicle speed conditions can adopt appropriate conditions according to the manner of driving management of vehicle 1 by the driving management system 10. Typically, the vehicle speed condition is the maximum vehicle speed or the target vehicle speed of vehicle 1. Hereinafter, the vehicle speed condition is set to the maximum vehicle speed of vehicle 1. That is to say, the vehicle speed curve D20 gives the maximum vehicle speed of vehicle 1 at each location on the passage path represented by the passage path data D10. However, when the vehicle speed condition is set to the target vehicle speed, the "maximum vehicle speed" in the following description can be appropriately replaced with the "target vehicle speed".

[0064] Figure 5 It is a conceptual diagram showing an example of the vehicle speed curve D20 regarding a part of the passage path data D10. As Figure 5 shown, the vehicle speed curve D20 gives the maximum vehicle speed between the basic speed and zero. In Figure 5 the example shown, the vehicle speed curve D20 gives the maximum vehicle speed of the interval SC1 of the passage path at the basic speed. In addition, the vehicle speed curve D20 gives the maximum vehicle speed of the interval SC2 of the passage path at a speed lower than the basic speed (suppression speed). And, the vehicle speed curve D20 gives the maximum vehicle speed of the interval SC3 of the passage path at zero.

[0065] The vehicle speed curve D20 can be managed by making the maximum vehicle speed correspond to the data of each location on the passage path. Figure 6 An example of the data of the vehicle speed curve D20 is shown. In Figure 6 the example shown, the driving position TP on the passage path is managed with coordinate data.

[0066] The vehicle speed curve D20 is calculated based on the positional relationship between the object within the specified area and the passage path. The calculation of the vehicle speed curve D20 will be described later.

[0067] Refer to Figure 3 again. As a functional block, the management server 100 includes a request acquisition unit P110, a driving interval determination unit P120, and an instruction information transmission control unit P130. These functional blocks are realized, for example, through the cooperation of the processor 110 that executes the computer program 121 and the storage device 120.

[0068] The request acquisition unit P110 acquires a request related to the driving management of vehicle 1 via the communication network 300. The vehicle 1 (target vehicle) to be the object of driving management is determined according to the acquired request. In addition, the content of the driving management is determined according to the acquired request. For example, the request acquisition unit P110 acquires a request for the storage of vehicle 1 from the user. The request acquisition unit P110 can also acquire a request from vehicle 1.

[0069] The travel section determination unit P120 accesses the management database D1 to refer to the passage route data D10. Then, the travel section determination unit P120 determines the travel section in which the target vehicle travels in the passage route for the request acquired by the request acquisition unit P110. For example, when the request is for the entry of vehicle 1 from a user, the travel section determination unit P120 determines the section from the entry position 21 to the parking position 22-A in the passage route as the travel section of the target vehicle.

[0070] The instruction information transmission control unit P130 generates instruction information to be transmitted to the vehicle control system 200 of the target vehicle. The instruction information transmission control unit P130 accesses the management database D1 to refer to the passage route data D10 and the vehicle speed curve D20. In addition, the instruction information transmission control unit P130 acquires the travel section determined by the travel section determination unit P120. Then, the instruction information transmission control unit P130 generates the travel position TP of the acquired travel section and the vehicle speed curve D20 as the instruction information. The instruction information transmission control unit P130 transmits the generated instruction information to the vehicle control system 200 of the target vehicle via the communication network 300.

[0071] Figure 7 It is a flowchart showing the processing flow of the function for transmitting instruction information and executed by the management server 100.

[0072] First, in step S110, the management server 100 acquires a request related to the travel management of vehicle 1 via the communication network 300.

[0073] Next, in step S120, the management server 100 determines the travel section of the target vehicle based on the acquired request.

[0074] Next, in step S130, the management server 100 accesses the management database D1 to acquire the travel position TP of the travel section determined in step S120 and the vehicle speed curve D20. Then, the management server 100 transmits the acquired travel position TP of the travel section and the vehicle speed curve D20 as the instruction information. As described later, the vehicle speed curve D20 is changed according to the objects sensed in the specified area. Therefore, it is possible that each time the vehicle speed curve D20 is changed, the management server 100 executes the process related to step S130.

[0075] As described above, the management server 100 sends the instruction information to the vehicle control system 200 of the target vehicle. The instruction information includes the traveling position TP of the traveling section in which the target vehicle travels on the passing route and the vehicle speed curve D20. Therefore, the vehicle control system 200 of the target vehicle controls the traveling of the target vehicle in such a manner that the target vehicle satisfies the traveling position TP and the vehicle speed curve D20 of the instruction information.

[0076] 2.2 Calculation of Vehicle Speed Curve

[0077] The management server 100 uses the recognition sensor 101 to sense the objects in the specified area. Then, the management server 100 calculates the vehicle speed curve D20 based on the positional relationship between the sensed objects (sensed objects) and the passing route, and manages it. Figure 8 It is a block diagram showing an example of the functional configuration of the management server 100 associated with the function of calculating the vehicle speed curve D20.

[0078] In Figure 8 As functional blocks, the management server 100 includes an object sensing information acquisition unit P140, an object location determination unit P150, and a vehicle speed curve calculation unit P160. These functional blocks are realized, for example, through the cooperation of the processor 110 that executes the computer program 121 and the storage device 120.

[0079] The object sensing information acquisition unit P140 acquires the sensing information of the objects in the specified area sensed by the recognition sensor 101.

[0080] The object location determination unit P150 acquires the sensing information from the object sensing information acquisition unit P140. In addition, the object location determination unit P150 accesses the management database D1 to refer to the passing route data D10. The object location determination unit P150 determines the object location in the passing route for the sensed object based on the sensing information. Typically, the object location is the location on the passing route where the distance to the sensed object is the smallest. The object location determination unit P150 also calculates the distance between the sensed object and the object location. When multiple objects are sensed in the specified area, the object location determination unit P150 can also determine the object location for each sensed object. In addition, the object location determination unit P150 can also calculate the distance to the object location for each sensed object.

[0081] The vehicle speed curve calculation unit P160 calculates the vehicle speed curve D20. The calculation of the vehicle speed curve D20 performed by the vehicle speed curve calculation unit P160 is carried out as follows.

[0082] The vehicle speed curve calculation unit P160 acquires sensing information from the object sensing information acquisition unit P140. When there is no sensed object in the specified area (when no object is sensed in the specified area), the vehicle speed curve calculation unit P160 calculates a vehicle speed curve D20 with the maximum vehicle speed at each location on the travel path as the basic speed. That is to say, the basic speed is the maximum vehicle speed when the vehicle 1 travels without considering the sensed object situation.

[0083] When there is a sensed object in the specified area, the vehicle speed curve calculation unit P160 acquires the target location and the distance between the sensed object and the target location from the target location determination unit P150. The vehicle speed curve calculation unit P160 calculates the vehicle speed curve D20 in the following manner: Based on the basic speed, the maximum vehicle speed of the section (target section) including the target location is changed according to the distance between the sensed object and the target location. Typically, the target section is the section located between a certain distance from the target location.

[0084] Specifically, when the distance between the sensed object and the target location is less than or equal to the first threshold value, the vehicle speed curve calculation unit P160 calculates the vehicle speed curve D20 in such a way that the maximum vehicle speed of the target section is set to an inhibition speed lower than the basic speed. That is to say, in this case, the vehicle 1 decelerates to below the inhibition speed when traveling in the target section. Moreover, the vehicle speed curve calculation unit P160 can also calculate the vehicle speed curve D20 in such a way that the inhibition speed decreases as the distance between the sensed object and the target location becomes smaller.

[0085] In addition, when the distance between the sensed object and the target location is less than or equal to a second threshold value smaller than the first threshold value, the vehicle speed curve calculation unit P160 calculates the vehicle speed curve D20 in such a way that the maximum vehicle speed of the target section is set to zero. That is to say, in this case, the vehicle 1 temporarily stops in the target section.

[0086] It should be noted that when the distance between the sensed object and the target location is greater than the first threshold value, the vehicle speed curve calculation unit P160 sets the maximum vehicle speed of the target section to maintain the basic speed. That is to say, in this case, the vehicle 1 also travels at a normal speed in the target section. Therefore, the distance between the sensed object and the target location being greater than the first threshold value means that the sensed object is far enough from the travel path.

[0087] Figure 9 of (A)~ Figure 9 of (D) is a diagram showing an example of the vehicle speed curve D20 calculated by the vehicle speed curve calculation unit P160. Figure 9 of (A)~ Figure 9 of (D) respectively shows the sensed object 4, the target location, the target section, the distance d between the sensed object and the target location, the first threshold value th1, and the second threshold value th2.

[0088] InFigure 9 In (A), the distance d is greater than the first threshold th1. Therefore, in the vehicle speed curve D20, the maximum vehicle speed in the target section remains at the basic speed. In Figure 9 In (B), the distance d is less than or equal to the first threshold th1. Therefore, in the vehicle speed curve D20, the maximum vehicle speed in the target section becomes a suppression speed lower than the basic speed. In Figure 9 In (C), the distance d is also less than or equal to the first threshold th1. In addition, in Figure 9 In (C), Figure 9 compared with (B), the distance d is smaller. Therefore, in the vehicle speed curve D20, the maximum vehicle speed in the target section becomes a suppression speed lower than the basic speed. In addition, Figure 9 the suppression speed of the vehicle speed curve D20 in (C) is lower than Figure 9 the suppression speed of the vehicle speed curve D20 in (B). In Figure 9 (D), the distance d is less than or equal to the second threshold th2. Therefore, in the vehicle speed curve D20, the maximum vehicle speed in the target section becomes zero.

[0089] The vehicle speed curve calculation unit P160 can be further configured to: obtain the category of the sensed object 4 from the sensing information; and change at least one of the first threshold, the second threshold, and the suppression speed according to the category of the sensed object 4. For example, when the category of the sensed object 4 is a bicycle, the first threshold th1 and the second threshold th2 are increased, and the suppression speed is decreased compared with when the category of the sensed object 4 is a pedestrian. Thus, when a bicycle approaches the traffic path, the vehicle 1 decelerates significantly at an earlier stage compared with when a pedestrian approaches the traffic path. In addition, the vehicle 1 temporarily stops at an earlier stage. In addition, for example, when the category of the sensed object 4 is a dropped object, the first threshold and the second threshold are decreased compared with when the category of the sensed object 4 is a person. Thus, when a dropped object approaches the traffic path, the deceleration and temporary stop of the vehicle 1 can be judged more gently compared with when a person approaches the traffic path.

[0090] Figure 10 is a flowchart showing a processing flow of processing executed by the management server 100 regarding the function of calculating the vehicle speed curve D20. Figure 10 The processing flow shown is repeatedly executed at a prescribed processing cycle.

[0091] First, in step S210, the management server 100 uses the recognition sensor 101 to sense an object in a prescribed area.

[0092] In the absence of the sensed object 4 (step S220: No), the management server 100 calculates the vehicle speed curve D20 in which the maximum vehicle speed at each point on the traffic path becomes the basic speed (step S230).

[0093] In the case where the sensing object 4 is present (step S220: Yes), the management server 100 determines the target location on the passing path for the sensing object 4 (step S240). Then, the management server 100 calculates the distance between the sensing object 4 and the target location (step S241).

[0094] When the distance between the sensing object 4 and the target location is less than or equal to the second threshold (step S250: Yes), the management server 100 calculates the vehicle speed curve D20 by setting the maximum vehicle speed in the target section to zero (step S260).

[0095] When the distance between the sensing object 4 and the target location is greater than the second threshold (step S250: No) and less than or equal to the first threshold (step S270: Yes), the management server 100 calculates the vehicle speed curve D20 by setting the maximum vehicle speed in the target section to the suppression speed (step S280).

[0096] When the distance between the sensing object 4 and the target location is greater than the first threshold (step S250: No, step S270: No), the management server 100 calculates the vehicle speed curve D20 by setting the maximum vehicle speed in the target section to the basic speed (step S290).

[0097] In this way, the management server 100 calculates the vehicle speed curve D20 based on the positional relationship between the sensing object 4 and the passing path.

[0098] 3 Effects

[0099] As described above, according to the travel management system 10 of the present embodiment, in the travel management of the target vehicle, the travel position TP and the vehicle speed curve D20 of the travel section in which the target vehicle travels in the passing path are transmitted to the vehicle control system 200 of the target vehicle. The vehicle control system 200 controls the travel of the target vehicle so that the target vehicle satisfies the transmitted travel position TP and vehicle speed curve D20. In particular, the vehicle speed curve D20 is calculated based on the positional relationship between the sensing object 4 sensed in the specified area and the passing path. In this way, the travel management system 10 of the present embodiment updates the vehicle speed curve D20 for the sensing object 4, thereby performing the travel management of the vehicle 1 considering the sensing object 4. Therefore, according to the travel management system 10 of the present embodiment, the updated vehicle speed curve D20 is transmitted to each vehicle 1, so there is no need to consider the operation of the sensing object 4 for each vehicle 1. As a result, the travel management system 10 of the present embodiment can suppress an increase in the processing load and thus reduce the processing load even when the number of vehicles 1 to be managed as travel increases.

[0100] 4 Modification Example: Dynamic Update of Passing Path Data

[0101] In the vehicle speed curve D20, setting the maximum vehicle speed in a certain section to the suppression speed or zero will cause the vehicle 1 performing travel management to decelerate or temporarily stop in that section. That is to say, the operation rate of the vehicle 1 will be reduced. Furthermore, the vehicle speed curve D20 is calculated based on the positional relationship between the sensed object 4 and the traffic path. Therefore, it can be expected that by changing the traffic path, the section in which the maximum vehicle speed in the vehicle speed curve D20 becomes the suppression speed or zero can be reduced.

[0102] Therefore, in the travel management system 10 of the present embodiment, the management server 100 can be further configured to dynamically update the traffic path data D10 as follows.

[0103] Figure 11 It is a block diagram showing an example of the functional configuration of the management server 100 associated with the dynamic update of the traffic path data D10.

[0104] In Figure 11 As functional blocks, the management server 100 includes an object sensing information acquisition unit P140, an influence range calculation unit P170, an update determination unit P180, and a traffic path update unit P190. These functional blocks are realized, for example, by the cooperation of the processor 110 executing the computer program 121 and the storage device 120.

[0105] The object sensing information acquisition unit P140 is the same as the object sensing information acquisition unit P140 described in Figure 8 . The object sensing information acquisition unit P140 acquires the sensing information of the objects in the specified area sensed by the recognition sensor 101.

[0106] The influence range calculation unit P170 acquires the sensing information from the object sensing information acquisition unit P140. The influence range calculation unit P170 calculates the influence range in which the sensed object 4 affects the travel of the vehicle 1 based on the sensing information. For example, when the sensed object 4 is a moving object, the influence range calculation unit P170 calculates the movement prediction range of the moving object as the influence range. The movement prediction range can be calculated based on the speed and acceleration of the sensed object 4. In addition, for example, when the sensed object 4 is a stationary object, the influence range calculation unit P170 calculates the influence range based on the size of the stationary object.

[0107] The update determination unit P180 determines whether to update the passage path data D10. The update determination unit P180 obtains the influence range of the sensing object 4 from the influence range calculation unit P170. First, the update determination unit P180 determines whether the influence range of the sensing object 4 is connected to the passage path. When the influence range of the sensing object 4 is not connected to the passage path, the update determination unit P180 determines not to update the passage path data D10. When the influence range of the sensing object 4 is connected to the passage path, then, the update determination unit P180 refers to the passage path data D10 and determines whether it is possible to perform a change to move the driving position TP in the section where the influence range of the sensing object 4 is connected away from the influence range. For example, when there is room to move the driving position TP away from the influence range of the sensing object 4 in the connected section, it is determined that the change can be performed. When it is determined that the change can be performed, the update determination unit P180 determines to update the passage path data D10.

[0108] When the update determination unit P180 determines to update the passage path data D10, the passage path update unit P190 executes processing. The passage path update unit P190 updates the passage path data D10 in such a way that the driving position TP in the section where the influence range of the sensing object 4 is connected moves away from the influence range.

[0109] Figure 12 It is a diagram showing an example of the passage path data D10 updated by the passage path update unit P190. Before the update, the influence range 5 of the sensing object 4 is connected to the passage path. On the other hand, there is a surplus width to move the driving position TP away from the influence range 5. Therefore, the update determination unit P180 determines to update the passage path data D10. After the update, the driving position TP in the connected section moves away from the influence range 5. Thus, as Figure 12 shown, the sensing object 4 can be moved away from the passage path. That is to say, it is possible to expect an increase in the distance between the sensing object 4 and the target location on the passage path.

[0110] Figure 13 It is a flowchart showing the processing flow of the processing executed by the management server 100 regarding the dynamic update of the passage path data D10. Figure 13 The processing flow shown is repeatedly executed at a prescribed processing cycle.

[0111] First, in step S310, the management server 100 uses the identification sensor 101 to sense the objects in the prescribed area.

[0112] Next, in step S320, the management server 100 calculates the influence range 5 of the sensing object 4 based on the sensing information from the identification sensor 101.

[0113] Next, in step S330, the management server 100 refers to the passage path data D10 to determine whether the influence range 5 is connected to the passage path. When the influence range 5 is not connected to the passage path (step S330: No), the management server 100 ends the current process without updating the passage path data D10.

[0114] When the influence range 5 is connected to the passage path (step S330: Yes), the management server 100 determines whether it is possible to change the travel position TP of the passage path in the section connected to the influence range 5 in a direction away from the influence range 5 (step S340). When the change cannot be made (step S340: No), the management server 100 ends the current process without updating the passage path data D10.

[0115] When the change can be made (step S340: Yes), the management server 100 updates the passage path data D10 by changing the travel position TP of the connected section in a direction away from the influence range 5 (step S350).

[0116] As described above, according to the travel management system 10 of the modified example, the passage path is updated in such a way that the travel position TP of the section connected to the influence range 5 of the sensing object 4 moves in a direction away from the influence range 5. Thereby, the sensing object 4 can be moved away from the passage path. That is to say, it is possible to expect an increase in the distance between the sensing object 4 and the target location on the passage path. As a result, the section in which the maximum vehicle speed becomes the suppression speed or zero in the vehicle speed curve D20 can be reduced.

Claims

1. A driving management system for managing the driving of vehicles within a specified area, the driving management system comprising: An identification sensor disposed in the specified area for identifying the conditions within the specified area; and A management server, The management server is configured to: Manage the traffic path, where The traffic path specifies the driving position of the vehicle for the passage of the vehicle within the specified area; Use the identification sensor to sense objects within the specified area; Execute a process of calculating a vehicle speed curve based on the positional relationship between the sensed object and the traffic path, where the vehicle speed curve gives the vehicle speed conditions that the vehicle should follow at each location on the traffic path; And When the vehicle under management is driving, send at least the driving position of the driving section where the target vehicle is driving and the vehicle speed curve of the driving section in the traffic path to the control system of the target vehicle.

2. The driving management system according to claim 1, wherein, The vehicle speed condition is the maximum vehicle speed or the target vehicle speed of the vehicle.

3. The driving management system according to claim 2, wherein, In the process of calculating the vehicle speed curve, the management server is configured to: When no object is sensed, set the maximum vehicle speed or the target vehicle speed as the basic speed; and When the distance between the sensed object and the target location on the traffic path is less than or equal to a first threshold, set the maximum vehicle speed or the target vehicle speed in the target section including the target location in the traffic path as a suppression speed lower than the basic speed.

4. The driving management system according to claim 3, wherein, In the process of calculating the vehicle speed curve, the management server is configured to: When the distance is less than or equal to the first threshold, reduce the suppression speed as the distance becomes smaller.

5. The driving management system according to claim 3, wherein, In the process of calculating the vehicle speed curve, the management server is configured to: When the distance is less than or equal to a second threshold smaller than the first threshold, set the maximum vehicle speed or the target vehicle speed in the target section to zero.

6. The driving management system according to claim 5, wherein, The management server is configured to: Obtain the category of the object; and According to the category of the object, change at least one of the first threshold, the second threshold, and the suppression speed.

7. The driving management system according to any one of claims 1 to 6, wherein, The management server is further configured to: Calculate the influence range that affects the driving of the vehicle for the object; When the influence range is connected to the traffic path, judge whether a change can be made to move the driving position of the connected section away from the influence range; and When it is judged that the change can be made, move the driving position of the connected section away from the influence range.

8. The driving management system according to claim 7, wherein, When the object is a moving object, the management server sets the influence range as the movement prediction range of the moving object.

9. A driving management method for managing the driving of vehicles within a specified area, the driving management method including the following processing through the cooperation of one or more processors and one or more storage devices: Manage the passage path, where The passing path specifies the driving position of the vehicle for the passage of the vehicle within the specified area; Using an identification sensor provided in the specified area and identifying the conditions within the specified area to sense an object within the specified area; Performing a process of calculating a vehicle speed curve based on the positional relationship between the sensed object and the passing path, where the vehicle speed curve gives the vehicle speed conditions that the vehicle should follow at each location on the passing path; And When driving the vehicle to be managed, sending at least the driving position of the driving section where the target vehicle travels and the vehicle speed curve of the driving section in the passing path to the control system of the target vehicle.

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