Control system for autonomous driving vehicle

Abstract

A control system for a vehicle (1) capable of automatic travel is provided with: a stop position setting unit (12) that sets a stop position at a position further forward than the vehicle (1) in the travel direction; a travel control unit (13) that causes the vehicle (1) to automatically travel to the stop position set by the stop position setting unit (12); and a projection unit (60) that projects a projection element indicating the stop position by a light beam irradiated onto the road surface from the vehicle (1) while the vehicle (1) is automatically driven to the stop position by the travel control unit (13).

Description

Technical Field

[0001] This invention relates to a control system for an autonomous vehicle capable of autonomous driving. Background Art

[0002] Conventionally, among special-purpose vehicles equipped with a working section where an operator performs operations, a garbage truck (garbage collection vehicle) equipped with a garbage inlet as the working section is known. In the garbage truck, the operator performs the operation of throwing garbage into the garbage inlet. In this regard, Patent Document 1 below discloses the following technology: on the condition that there is no person (operator) near the garbage inlet, the working speed of the movable device for pushing garbage into the storage box is increased. As a result, while ensuring safety, the work efficiency is improved.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2018 - 193205 Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] In recent years, research and experiments have been conducted on making vehicles with the above-described working section drive unmanned through autonomous driving. If such unmanned autonomous driving is achieved, it is not necessary for the operator to repeatedly get on and off the vehicle for driving the vehicle and operating the working section, and thus an improvement in work efficiency is expected.

[0008] Considering the case of making a vehicle with the above-described working section drive unmanned through autonomous driving using a portable terminal such as a smartphone or a tablet terminal, during driving, the vehicle automatically stops at a preset parking place, and after the operator has performed the operation, it drives to the next parking place. In addition, in the garbage truck, it is considered that when a garbage accumulation place is detected by a camera or a sensor mounted on the vehicle, the vehicle stops at a stop position corresponding to the detection result.

[0009] However, when the vehicle in unmanned driving automatically determines the next stop position, it is difficult to communicate between the vehicle side and the operator. Therefore, compared with the case where the next stop position is determined by the manual driving operation of the driver using a portable terminal, sometimes it is difficult for the operator to intuitively grasp the exact position of the next stop.

[0010] This application is invented in view of the above problems, and one of the purposes is to enable people around the operator to intuitively grasp the stop position of the vehicle in a vehicle capable of autonomous driving.

[0011] Technical Solution for Solving the Problem

[0012] This application is completed to solve at least a part of the above problems and can be implemented as the following technical solutions or application examples.

[0013] (1) The control system of an automatically drivable vehicle according to this application example includes: a stop position setting unit that sets a stop position at a position in front of the vehicle in the traveling direction; a traveling control unit that causes the vehicle to automatically travel to the stop position set by the stop position setting unit; and a projection unit that projects a projection element indicating the stop position on the road surface by irradiating light from the vehicle during the period when the vehicle is automatically traveling to the stop position by the traveling control unit.

[0014] According to this application, a stop position is set at a position in front of the vehicle in the traveling direction, and during the period when the vehicle is automatically traveling to the stop position, a projection element indicating the stop position is projected on the road surface by irradiating light from the vehicle. Thereby, it is possible to visually notify an operator outside the vehicle and people around of the stop position of the vehicle in advance before the vehicle stops at the stop position. Therefore, the operator and the like can intuitively grasp the stop position of the vehicle before the vehicle stops at the stop position.

[0015] (2) The control system of an automatically drivable vehicle according to this application example may also include a traveling route setting unit that sets a normal route and a parking route. The normal route is a traveling path for the vehicle to automatically travel, and a stop point is preset on the traveling path. The parking route is a route for the vehicle to automatically travel from the vicinity (adjacent side position) of the stop point to the stop position. The traveling control unit causes the vehicle to automatically travel along the normal route, and causes the vehicle to automatically travel from the vicinity of the stop point to the stop position along the parking route. The projection unit projects the projection element when the vehicle reaches the vicinity of the stop point. Thereby, since the projection element is projected when the vehicle reaches the vicinity of the stop point, it is possible to grasp the stop position of the vehicle before the vehicle reaches the stop point.

[0016] (3) The control system of an autonomous vehicle according to this application example may also be such that the traveling control unit causes the vehicle to automatically travel along the parking route after temporarily stopping the vehicle at the vicinity of the stop point, and the projection unit projects the projection element when the vehicle is temporarily stopped at the vicinity of the stop point.

[0017] Thereby, the projection element is projected when the vehicle is temporarily stopped at the vicinity of the stop point. Therefore, the operator can confirm the stop position of the vehicle with a time margin and can more easily grasp the stop position of the vehicle.

[0018] (4) The control system of the autonomous vehicle involved in this application example may also be such that the projection unit projects the projection element onto a range that is approximately the same size as the vehicle when viewed from above. In this case, it is easy for an operator or the like to confirm and grasp the actual parking range of the vehicle.

[0019] (5) The control system of the autonomous vehicle involved in this application example may also be such that the projection unit includes a front projector provided in front of the front bumper of the vehicle. It is easy to project the projection element in front of the vehicle and / or directly below the front end of the vehicle through the front projector.

[0020] (6) The control system of the autonomous vehicle involved in this application example may also be such that the projection unit includes a rear projector provided in the rear bumper of the vehicle, and after the vehicle is parked at the stop position by the travel control unit, the projection element is projected onto the road surface behind the vehicle.

[0021] In this case, after the vehicle is parked at the stop position, the projection element is projected onto the road surface behind the vehicle. Therefore, it is easy for an operator existing behind the vehicle after parking to confirm and grasp the stop position of the vehicle. In addition, since a rear projector is provided in the rear bumper of the vehicle, it is easy to project the projection element directly below the rear end of the vehicle.

[0022] (7) The vehicle equipped with the control system of the autonomous vehicle involved in this application example may also be a vehicle having a working unit for an operator to perform operations.

[0023] (8) Specifically, the vehicle may also be a garbage truck having a garbage inlet at the rear of the vehicle as the working unit.

[0024] In this vehicle, by projecting the projection element onto the road surface before the vehicle stops, the stop position can be grasped, so that the operator can smoothly perform operations on the working unit when parking. Thereby, the operation efficiency can be improved. For example, in the case where the vehicle is a garbage truck, the garbage collection operation efficiency can be improved.

[0025] (9) The control system of the autonomous vehicle involved in this application example may also further include a camera that photographs the surroundings of the vehicle, and the stop position setting unit sets the stop position based on the image information captured by the camera. Therefore, an appropriate stop position can be set based on the conditions around the vehicle.

[0026] (10) In the case where the vehicle is a garbage truck having a garbage inlet at the rear of the vehicle as the working unit, a camera for photographing the periphery of the vehicle may further be provided. When the stop position setting unit detects garbage accumulated at a garbage accumulation site in front of the vehicle in the traveling direction through the camera, the stop position is set based on the position of the detected garbage. In this case, an appropriate stop position that is easy for the operator to perform garbage collection work can be set based on the actual position of the garbage in the garbage accumulation site.

[0027] Advantages of the Invention

[0028] According to the present application, in a vehicle capable of autonomous driving, people around the operator can intuitively grasp the stop position of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a block diagram showing the configuration of an autonomous driving vehicle equipped with the control system related to the application example.

[0030] Figure 2 is Figure 1 an example of an autonomous driving vehicle and is a schematic side view of a garbage truck.

[0031] Figure 3 is an explanatory diagram of driverless driving (autonomous driving control) in the control system of an autonomous driving vehicle.

[0032] Figure 4 (a) to (c) of is an explanatory diagram of projection control in the control system of an autonomous driving vehicle.

[0033] Figure 5 is for Figure 1 an example of projection control and autonomous driving control in the control system of an autonomous driving vehicle.

[0034] Figure 6 is for Figure 1 an example of garbage detection processing in the control system of an autonomous driving vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0035] The embodiments of the present application will be described with reference to the accompanying drawings. The following embodiments are merely illustrative and are not intended to exclude various modifications and technical applications not explicitly shown in the embodiments. Each configuration of the following embodiments can be implemented with various modifications within the scope of their gist. In addition, selection can be made as needed, or they can be appropriately combined.

[0036] In the case where the control system of the autonomous vehicle involved in this application example parks the autonomous vehicle during autonomous driving, the stop position is prompted to the surroundings (e.g., an operator outside the vehicle) in the front side closer than the stop position.

[0037] The vehicle involved in this application example is a vehicle (truck, bus, car, etc.) capable of autonomous driving. In addition, the vehicle capable of autonomous driving mentioned here does not refer to a vehicle in which the driver sits in the driver's seat and manually performs driving operations, but refers to a vehicle having a function of being able to drive automatically. For a vehicle capable of autonomous driving, in autonomous driving control, the in-vehicle control device performs acceleration control, steering control, and braking control to drive the vehicle instead of the driver's manual driving operation.

[0038] In the following description, the forward direction of the vehicle 1 is set as the front (\"FR\" in the figure), and the opposite direction is set as the rear (\"RR\"). In addition, based on the state facing the front of the vehicle 1, the left-right direction and the up-down direction are determined. In the figure, \"LH\" represents left, \"RH\" represents right, \"UP\" represents up, and \"DW\" represents down.

[0039] [1. Configuration]

[0040] Figure 1 It is a block diagram showing the configuration of the autonomous vehicle 1 (also referred to as \"vehicle 1\") equipped with the control system (control system of the autonomous vehicle) involved in this application example. Figure 2 It is a schematic view of the vehicle 1 observed from the side.

[0041] The vehicle 1 has a function (autonomous driving function) of being able to drive automatically without relying on the driver's manual driving operation, and has an operation unit 3 for an operator (worker) to perform operations. In this specification, the driving of the vehicle 1 based on autonomous driving is referred to as \"autonomous driving\". The operator is a passenger of the vehicle 1 and is a person who performs operations with the operation unit 3.

[0042] In this application example, as Figure 2 shown, as an example, the case where the vehicle 1 is a garbage truck having a garbage inlet 3A as the operation unit 3 is cited.

[0043] In the control system of the vehicle 1, in addition to the working unit 3, there are also provided a control device 10 for controlling the vehicle 1, a camera 20, various sensors 21, an acceleration device (denoted as "ACC" in the figure) 30, a braking device (denoted as "BRK" in the figure) 40, a steering device (denoted as "STR" in the figure) 50, a projection system (projection unit) 60, and a communication device 70. The control device 10 is, for example, an electronic control unit (ECU) configured by integrating LSI devices such as a microprocessor, ROM, and RAM, and embedded electronic devices. The control device 10 implements automatic driving control and the irradiation control described later by executing software programs stored in storage devices such as ROM and RAM. In addition, the control device 10 can be configured as a part of an electronic control unit (VCU) for comprehensively controlling various devices provided in the vehicle 1, or can be configured by an electronic control device different from the VCU.

[0044] The camera 20 is a photographing device (image sensor) that photographs the surroundings of the vehicle 1 with still images and / or moving images. By analyzing the images photographed by the camera 20, the situation around the vehicle 1 can be grasped with high precision.

[0045] The cameras 20 are respectively arranged at the four corners of the vehicle 1, that is, the right side of the front end, the left side of the front end, the right side of the rear end, and the left side of the rear end. Figure 2 In the figure, the camera 20FL on the left side of the front end and the camera 20RL on the right side of the rear end among the four-corner cameras 20 are illustrated, and the other cameras are omitted. As Figure 2 shown, the cameras 20 are arranged at approximately the center in the vertical direction in the vehicle 1. By arranging the cameras 20 at the four corners of the vehicle 1 and at approximately the center in the vertical direction, the surroundings including the vicinity of the vehicle 1 can be grasped with high precision.

[0046] In addition, in the vehicle 1, in addition to the cameras 20, various sensors 21 are also provided. The various sensors 21 include a radar, GNSS, a vehicle speed sensor, an acceleration sensor, an accelerator opening sensor, a brake sensor, a steering angle sensor, etc. as sensors for obtaining information used in the automatic driving control of the vehicle 1.

[0047] The information (image data) photographed by the camera 20 and the information (detection signals) detected by the various sensors 21 are input to the control device 10.

[0048] The communication device 70 is an electronic control device for wirelessly communicating with devices outside the vehicle 1. The communication targets of the communication device 70 in this embodiment include the portable terminal 4 held by the operator. The portable terminal 4 is a portable communication terminal device, such as a mobile phone (smartphone), a tablet terminal, etc. The communication device 70 inputs the information received from the portable terminal 4 into the control device 10, and transmits the information received from the control device 10 to the portable terminal 4.

[0049] The acceleration device 30, the braking device 40, and the steering device 50 are devices controlled by the control device 10 when the vehicle 1 is automatically driving. For example, when the automatic driving mode is set, the control device 10 calculates the target output (target torque), the target vehicle speed, the target steering angle, etc. of the vehicle 1, and controls the acceleration device 30, the braking device 40, and the steering device 50 respectively to implement the automatic driving (driverless driving) of the vehicle 1. In addition, the description of these devices 30, 40, 50 is omitted.

[0050] The projection system 60 is a system for projecting a projection element ( Figure 3 and Figure 4 the reference numeral 82 in Figure 4 ) representing the stop position of the vehicle 1 onto the road surface by the light irradiated from the vehicle 1, and includes a projector 61 and a projection control unit 62.

[0051] The projector 61 is a device that irradiates light forming a projection element ( Figure 4 the reference numeral 7 in

[0052] As Figure 2 shown, the projector 61 includes a front projector 61F provided in front of the front bumper 5 of the vehicle 1 and a rear projector 61R provided behind the rear bumper 6 of the vehicle 1.

[0053] The projection control unit 62 controls the projector 61 to project a projection element ( Figure 3 and 4 the reference numeral 82 in Figure 4 ) representing the stop position of the vehicle 1 onto the road surface. The projection control unit 62 is set, for example, as software executed using the hardware resources of an electronic control device. In addition, in Figure 1 , the projection control unit 62 is provided separately from the above-mentioned control device 10, but the projection control unit 62 may also be provided in the control device 10.

[0054] [2. Control]

[0055] Vehicle 1 performs automatic driving until it reaches a stop position that is set at least in front of vehicle 1 in the driving direction ( Figure 3 and 4 the reference numeral 82 in the attached drawings). During this process, projection control is implemented to continuously project a projection element ( Figure 4 the reference numeral 7 in the attached drawings) onto the road surface. Thus, the operator of vehicle 1 is notified of the stop position ( Figure 3 and 4 the reference numeral 82 in the attached drawings) of vehicle 1 in advance before actually stopping.

[0056] As Figure 1 shown, as functional elements for implementing projection control, a driving route setting unit 11, a stop position setting unit 12, and a driving control unit 13 are provided in the control device 10. The functional elements 11 to 13 in the control device 10 are used to classify and represent the functions of the control device 10 for convenience, and are set as software executed using the hardware resources of the control device 10, for example. In addition, the above-mentioned projection control unit 62 is provided in the projection system 60 as a functional element for implementing projection control.

[0057] A camera 20 and various sensors 21 are connected to the input side of the control device 10. In addition, an acceleration device 30, a braking device 40, a steering device 50, and a projection system 60 are connected to the output side of the control device 10. A communication device 70 is connected to both the input side and the output side of the control device 10.

[0058] Hereinafter, the projection control will be described with appropriate reference to Figure 3 and Figure 4 (a) to (c) thereof. In these figures, a case is shown where vehicle 1 that is automatically driving along road 8 stops at a stop position 82 near a garbage accumulation area 9 on the road shoulder of road 8. In addition, in Figure 3 and Figure 4 (a) to (c) thereof, the circle with the reference numeral 2 represents the operator who performs operations on the garbage inlet 3A (operation unit 3) of vehicle 1, and the ellipse with the reference numeral 9A represents the garbage accumulated in the garbage accumulation area 9.

[0059] The driving route setting unit 11 sets a normal route 80 for vehicle 1 to automatically drive along road 8 and a parking route 81 that branches off from the normal route 80 and allows vehicle 1 to automatically drive to the stop position 82.

[0060] The normal route 80 is a driving path from a certain starting point to a certain destination point. The normal route 80 is indicated by a solid black arrow in Figure 3 . One or more stop points are preset on the normal route 80. A stop point is a location (geographical position) that is predefined in advance as a predetermined parking position on the normal route 80.

[0061] In the case where the vehicle 1 is a garbage truck, as the normal route 80, a circular route that starts from a garbage disposal site, makes rounds at a plurality of garbage accumulation sites 9, and then returns to the garbage disposal site can be cited as an example. In this case, the plurality of garbage accumulation sites 9 existing on the circular route are set as stop points on the normal route 80. The information on the normal route 80 and the garbage accumulation sites (stop points) 9 on the normal route 80 can be set based on map information of GNSS (not shown).

[0062] The parking route 81 is a route for automatically driving the vehicle 1 from in front of the garbage accumulation site (stop point) 9 to a stop position 82 described later, and is a driving path branched from the normal route 80. In Figure 3 and Figure 4 in (a) to (c), the parking route 81 is indicated by a white arrow.

[0063] The switching point 81A where the parking route 81 branches from the normal route 80 is set at a position on the front side at a predetermined distance X from the garbage accumulation site 9. The switching point 81A can be set based on map information of GNSS (not shown). In addition, Figure 3 the vehicle 1 that has reached the switching point 81A is indicated by a dashed line in

[0064] The stop position setting unit 12 sets the stop position 82 at a position in front of the vehicle 1 in the traveling direction.

[0065] The stop position 82 is a parking position for parking the vehicle 1 near the garbage accumulation site 9 and allowing the operator 2 to perform garbage collection operations. Therefore, the stop position setting unit 12 detects the garbage 9A of the garbage accumulation site 9 existing in front of the vehicle 1 in the traveling direction based on the image information input from the camera 20, and sets the stop position 82 based on the position of the detected garbage 9A. Specifically, the stop position 82 is set so that the rear end portion of the vehicle 1, that is, the garbage inlet 3A (working unit 3), is located at a substantially central position 9B along the traveling direction of the vehicle 1 in the garbage 9A.

[0066] The shape and size of the stop position 82 are set in consideration of the shape and size of the vehicle 1. Specifically, the stop position 82 is set to form a region having substantially the same size as the vehicle 1 when viewed from above, in other words, a region that at least overlaps the entire length (the overall length in the vehicle length direction) and the entire width (the overall width in the vehicle width direction) of the vehicle 1 when viewed from above. For example, in Figure 3 the stop position 82 is set to a rectangular frame-shaped region that surrounds the outer periphery of the vehicle 1 when viewed from above.

[0067] The stop position setting unit 12 continuously acquires image information from the camera 20 during the automatic driving of the vehicle 1. Therefore, during the automatic driving of the vehicle 1, the stop position setting unit 12 can continuously detect garbage based on the image information acquired from the camera 20, and continuously set (update) the stop position 82 based on the detection result. Therefore, it can be said that the stop position where it is easy for the operator to perform garbage collection operations is set in real time based on the actual position of the garbage, for the information of the garbage accumulation area (stop point) 9 preset based on the map information.

[0068] In addition, well-known techniques such as image recognition techniques using AI can be applied to the technique of detecting garbage based on image information.

[0069] The travel control unit 13 performs automatic travel control along the normal route 80 and the parking route 81 set by the travel route setting unit 11 based on the information from the camera 20 and various sensors 21.

[0070] The automatic travel control implemented by the travel control unit 13 in this embodiment includes three modes: the normal mode, the temporary stop mode, and the parking mode. The normal mode is a mode in which the vehicle 1 automatically travels along the normal route 80. The temporary stop mode is a mode in which the vehicle 1 temporarily stops at the switching point 81A. The parking mode is a mode in which the vehicle 1 automatically travels from the switching point 81A along the parking route 81 to the stop position 82 and the vehicle 1 stops at the stop position 82. In addition, well-known autonomous driving techniques can be applied to the specific control of the acceleration device 30, the braking device 40, and the steering device 50 in each mode. In addition, Figure 3 and Figure 4 the parking route 81 is depicted as a straight line in the drawing for simplicity, but in reality, the vehicle 1 moves on a curve for a smooth movement.

[0071] As described above, the projection control unit 62 controls the projector 61 to project the projection element 7 indicating the stop position 82 onto the road surface.

[0072] The projection element 7 is an element that is presented by the light irradiated from the projector 61 onto the road surface so that the operator 2 can visually recognize the position (range) of the stop position 82 set by the stop position setting unit 12 on the road surface. That is, the projection element 7 is projected in such a way that it at least partially overlaps with the stop position 82 set by the stop position setting unit 12.

[0073] For example, in Figure 3 , as an example, a case where a rectangular frame-shaped projection element 7 is projected along the contour of the rectangular frame-shaped range set as the stop position 82 is cited. In addition, Figure 3 in, the vehicle 1 that has stopped at the stop position 82 is indicated by a dashed line.

[0074] The projection control unit 62 causes the projection element 7 to perform projection at least during the period when the vehicle 1 automatically travels from the switching point 81A to the stop position 82.

[0075] Specifically, as shown in (a) of Figure 4 , when the vehicle 1 is temporarily stopped at the switching point 81A by the travel control unit 13 (temporary stop mode), the projection control unit 62 controls the front projector 61F to cause the projection element 7 to perform projection.

[0076] In addition, as shown in (b) of Figure 4 , during the period when the vehicle 1 automatically travels along the parking route 81 to the stop position 82 by the travel control unit 13, the projection control unit 62 controls the front projector 61F to cause the projection element 7 to perform projection.

[0077] Furthermore, as shown in (c) of Figure 4 , after the vehicle 1 has stopped at the stop position 82 by the travel control unit 13, the projection control unit 62 controls the front projector 61F and the rear projector 61R to cause the projection element 7 to perform projection. In the state where the vehicle 1 has stopped at the stop position 82, when viewed from above, the vehicle 1 exists in a manner overlapping with the stop position 82. Therefore, the front side portion 7F of the projection element 7 is projected by the front projector 61F, and the rear side portion 7R of the projection element 7 is projected by the rear projector 61R. The front side portion 7F is projected onto the road surface in front of the vehicle 1 (specifically, directly below the front end portion of the vehicle 1), and the rear side portion 7R is projected onto the road surface behind the vehicle 1 (specifically, directly below the rear end portion of the vehicle 1).

[0078] That is, after the vehicle 1 has been temporarily stopped at the switching point 81A, until it automatically travels along the parking route 81 to the stop position 82 and stops at the stop position 82, the projection control unit 62 controls the projector 61 to project the projection element 7 onto the road surface. Here, as described above, the stop position setting unit 12 continuously updates the stop position 82 based on the image information obtained from the camera 20. Therefore, the projection control unit 62 can project the projection element 7 onto the stop position 82 that is continuously updated as the vehicle 1 progresses.

[0079] Figure 5 is a flowchart for explaining an example of the automatic travel control and projection control implemented by the control system. In addition, Figure 6 is a flowchart for explaining an example of the garbage detection process implemented by the control system.

[0080] Figure 5 and Figure 6The flowchart is set to start when the vehicle 1 starts automatic driving and end when the vehicle 1 stops at the stop position 82. That is, Figure 5 and Figure 6 The flowchart is implemented in parallel.

[0081] First, refer to Figure 6 An example of garbage detection processing will be described.

[0082] Figure 6 The garbage detection processing is the processing that starts when the vehicle 1 starts automatic driving as described above, is repeatedly executed during the automatic driving of the vehicle 1, and ends when the vehicle 1 stops at the stop position 82.

[0083] In Figure 6 In step S10, the stop position setting unit 12 determines whether the garbage 9A in the garbage accumulation area 9 existing in front of the traveling direction of the vehicle 1 is detected based on the image information input from the camera 20. If the garbage 9A is not detected (step S10: No), the stop position setting unit 12 repeatedly makes the determination in step S10.

[0084] If the garbage 9A is detected (step S10: Yes), in step S11, the stop position setting unit 12 sets the stop position 82, and the traveling route setting unit 11 sets the parking route 81 from the predetermined switching point 81A to the set stop position 82 (create a garbage collection scenario).

[0085] The stop position setting unit 12 repeatedly performs the processing from step S10 to step S12 until the vehicle 1 stops at the stop position 82 (until step S12 becomes "Yes"). Thus, the garbage detection processing is continuously executed during the automatic driving of the vehicle 1.

[0086] Next, refer to Figure 5 An example of automatic driving control and projection control will be described.

[0087] In step S1, the driving control unit 13 makes the vehicle 1 automatically drive along the normal route 80 set by the traveling route setting unit 11.

[0088] In step S2, receiving a signal from the traveling route setting unit 11, the driving control unit 13 determines whether the vehicle 1 traveling along the normal route 80 has reached the switching point 81A. Before the vehicle 1 reaches the switching point 81A (step S2: No), the driving control unit 13 repeatedly performs step S2 while making the vehicle 1 automatically drive along the normal route 80.

[0089] When the vehicle 1 reaches the switching point 81A (step S2: Yes), in step S3, asFigure 4 As shown in (a) of FIG. , the travel control unit 13 temporarily stops the vehicle 1 at the switching point 81A, and the projection control unit 62 controls the front projector 61F to project the projection element 7 onto the road surface.

[0090] In step S4, it is determined whether the operator 2 has confirmed the stop position. Specifically, the control device 10 sends a request to urge the confirmation of the stop position of the vehicle 1 to the portable terminal 4 of the operator 2 (refer to Figure 3 and Figure 4 ) via the communication device 70. On the portable terminal 4 of the operator 2 (refer to Figure 3 and Figure 4 ), for example, as a means for replying to confirm the intention of the stop position, a button image is displayed. When the operator 2 (refer to Figure 3 and Figure 4 ) visually recognizes the projection element 7 projected on the road surface, the operator 2 replies from the portable terminal 4 held by himself / herself to the vehicle 1 to confirm the intention of the stop position.

[0091] Before receiving the confirmation reply from the portable terminal 4 of the operator 2 (step S4: No), the control device 10 repeats step S4. That is, it remains in a state where the vehicle 1 is temporarily stopped at the switching point 81A and waits.

[0092] When receiving the confirmation reply from the portable terminal 4 of the operator 2 (step S4: Yes), in step S5, as Figure 4 shown in (b) of FIG. , the travel control unit 13 makes the vehicle 1 automatically travel along the parking route 81, and the projection control unit 62 controls the front projector 61F to project the projection element 7 onto the road surface.

[0093] In step S6, the travel control unit 13 makes the vehicle 1 automatically travel to the stop position 82 to stop the vehicle 1. At this time, as Figure 4 shown in (c) of FIG. , the projection control unit 62 controls the rear projector 61R to project the rear side portion 7R of the projection element 7 onto the road surface, and controls the front projector 61F to project the front side portion 7F of the projection element 7 onto the road surface. Then, the process of Figure 5 ends.

[0094] During the period when the vehicle 1 is stopped, the operator 2 performs the garbage collection operation. And when the garbage collection operation is completed, the vehicle 1 restarts the automatic travel on the normal route 80 to the next stop position 82. That is, the control system executes the processes of Figure 5 and Figure 6 .

[0095] [3. Operational Effects]

[0096] The present embodiment described above can achieve the following operational effects.

[0097] In the control system of the autonomous driving vehicle involved in this application example, a stop position 82 is set at a position in front of the vehicle 1 in the traveling direction. During the period when the vehicle 1 automatically travels to the stop position 82 and stops at the stop position 82, a projection element 7 indicating the stop position 82 is projected onto the road surface.

[0098] Thus, for example, as shown in (a) to (c) of Figure 4 , it is possible to visually notify an operator 2 outside the vehicle 1 of the stop position of the vehicle 1 in advance before the vehicle 1 stops at the stop position 82. Therefore, the operator 2 can intuitively grasp the stop position 82 of the vehicle 1 before the vehicle 1 stops at the stop position 82.

[0099] In the control system of the autonomous driving vehicle involved in this application example, when the vehicle 1 reaches near a garbage accumulation area 9 (stop point) preset on the normal route 80, the projection element 7 is projected onto the road surface. Therefore, the operator 2 can grasp the stop position 82 of the vehicle 1 before the vehicle 1 reaches the garbage accumulation area 9.

[0100] In the control system of the autonomous driving vehicle involved in this application example, when the vehicle 1 temporarily stops near the garbage accumulation area 9, the projection element 7 is projected. Therefore, the operator 2 can confirm the stop position 82 of the vehicle 1 with a time margin and can more easily grasp the stop position 82 of the vehicle 1.

[0101] In the control system of the autonomous driving vehicle involved in this application example, the projection system (projection unit) 60 projects the projection element 7 onto the road surface in a range approximately the same size as the vehicle 1 when viewed from above. Therefore, it is easy for the operator 2 to confirm and grasp the actual parking range of the vehicle 1.

[0102] In the control system of the autonomous driving vehicle involved in this application example, the projection system 60 includes a front projector 61F provided in front of the front bumper 5 of the vehicle 1. Therefore, it is easy to project the projection elements 7 and 7F in front of the vehicle 1 and directly below the front end of the vehicle 1.

[0103] In the control system of the autonomous driving vehicle involved in this application example, the projection system 60 includes a rear projector 61R provided behind the rear bumper 6 of the vehicle 1. After the vehicle 1 stops at the stop position 82, the projection element 7R is projected onto the road surface behind the vehicle 1. Therefore, it is easy for the operator 2 who is behind the vehicle 1 after the vehicle 1 stops to confirm and grasp the stop position 82 of the vehicle 1. In addition, since the rear projector 61R is provided on the rear bumper 6 of the vehicle 1, it is easy to project the projection elements 7 and 7R directly below the rear end of the vehicle 1.

[0104] In the control system of the autonomous vehicle according to this application example, the vehicle 1 has an operation unit 3.

[0105] In conventional autonomous vehicles, it has been difficult to achieve communication between the vehicle side and the operator. Therefore, in a technique where only the driver determines the next stop position through manual driving operation using the portable terminal 4, the operator sometimes has difficulty intuitively grasping the exact position where the vehicle will stop next. When it is difficult to grasp the next stop position, the operation on the operation unit cannot be carried out smoothly. As a result, there is room for improvement in improving the operation efficiency during the autonomous driving of the vehicle.

[0106] In contrast, in the control system of the autonomous vehicle according to this application example, by projecting the projection element 7 onto the road surface before the vehicle 1 stops, the stop position 82 can be grasped, so that the operator 2 can smoothly carry out the operation on the operation unit 3 when stopping. As a result, the operation efficiency can be improved.

[0107] For example, when the vehicle 1 is a garbage truck having a garbage inlet 3A as the operation unit 3 at the rear of the vehicle 1, the garbage collection operation efficiency can be improved.

[0108] The control system of the autonomous vehicle according to this application example further includes a camera 20 that captures images of the surroundings of the vehicle 1, and sets the stop position 82 based on the image information captured by the camera 20. Therefore, an appropriate stop position 82 can be set based on the conditions around the vehicle 1.

[0109] For example, when the vehicle 1 is a garbage truck having a garbage inlet 3A as the operation unit 3 at the rear of the vehicle 1, when garbage 9A piled up at the garbage accumulation site 9 existing in front of the traveling direction of the vehicle 1 is detected based on the image information captured by the camera 20, the stop position 82 is set based on the position of the detected garbage 9A. Therefore, an appropriate stop position 82 that is easy for the operator 2 to carry out the garbage collection operation can be set based on the actual position of the garbage 9A.

[0110] [4. Other]

[0111] In the above-described embodiment, as an example, a case where the switching point 81A where the vehicle branches from the normal route 80 to the stop route 81 is set at a position in front of the garbage accumulation site 9 at a predetermined distance X is given, but the switching point 81A is not limited to this. For example, the switching point 81A can also be set at a position a predetermined time before reaching the garbage accumulation site 9 based on the current position, vehicle speed, and position of the garbage accumulation site 9 of the vehicle 1 in the above-mentioned Figure 6 step S11 (making a garbage collection plan). In this case, in the above-mentioned Figure 5In step S2, the travel control unit 13 receives a signal from the above-mentioned Figure 6 step S11 (create a garbage collection plan) and determines whether the vehicle 1 in motion has reached the switching point 81A along the normal route 80.

[0112] In addition, the switching point 81A is not limited to being preset based on the position (stop point) of the garbage accumulation site 9 on the map, and can also be set at a position in front of the position of the garbage detected by the camera 20 at a predetermined distance X (or at a position before a predetermined time).

[0113] The stop position 82 is not limited to being set based on the central position 9B of the detected garbage 9A, and can also be set based on the downstream end position or the upstream end position of the detected garbage 9A along the travel direction. In addition, the stop position 82 is not limited to being set based on the position of the detected garbage 9A, and can also be set based on the position (stop point) of the garbage accumulation site 9 on the map. Further, based on the image information obtained from the camera 20, the control device 10 can determine the garbage recognized by AI learning as the garbage 9A.

[0114] The shape of the projection element 7 is not limited to the above-mentioned rectangular frame shape (linear shape), and can also be other appropriate shapes such as a shape that projects in a planar shape within the set range of the stop position 82, a shape that projects only a part of the rectangular frame, etc.

[0115] The vehicle 1 is not limited to a garbage truck, and can also be any vehicle type such as other vehicles equipped with the working unit 3, trucks without the working unit 3, buses, or ordinary cars.

[0116] [5. Note]

[0117] The following note is disclosed regarding the embodiment including the above-mentioned modification examples.

[0118] (Note 1)

[0119] A control system for an autonomous vehicle, which is a control system for a vehicle capable of autonomous driving, is characterized by comprising:

[0120] A stop position setting unit that sets a stop position at a position in front of the vehicle in the travel direction;

[0121] A travel control unit that causes the vehicle to automatically travel to the stop position set by the stop position setting unit; and

[0122] A projection unit that projects a projection element indicating the stop position on the road surface by light irradiated from the vehicle during the period when the travel control unit causes the vehicle to automatically travel to the stop position.

[0123] (Supplementary Note 2)

[0124] The control system for an autonomous vehicle according to Supplementary Note 1, characterized in that

[0125] it is provided with a travel route setting unit that sets a normal route and a parking route. The normal route is a travel path for the vehicle to automatically travel, and stop points are preset on the travel path. The parking route is a route for the vehicle to automatically travel from in front of the stop point to the stop position.

[0126] The travel control unit causes the vehicle to automatically travel along the normal route, and causes the vehicle to automatically travel from in front of the stop point to the stop position along the parking route.

[0127] The projection unit projects the projection elements when the vehicle arrives in front of the stop point.

[0128] (Supplementary Note 3)

[0129] The control system for an autonomous vehicle according to Supplementary Note 2, characterized in that

[0130] After the travel control unit temporarily stops the vehicle in front of the stop point, it causes the vehicle to automatically travel along the parking route.

[0131] The projection unit projects the projection elements when the vehicle temporarily stops in front of the stop point.

[0132] (Supplementary Note 4)

[0133] The control system for an autonomous vehicle according to any one of Supplementary Notes 1 to 3, characterized in that

[0134] The projection unit projects the projection elements onto a range that is approximately the same size as the vehicle when viewed from above.

[0135] (Supplementary Note 5)

[0136] The control system for an autonomous vehicle according to any one of Supplementary Notes 1 to 4, characterized in that

[0137] The projection unit includes a front projector provided on the front bumper of the vehicle.

[0138] (Supplementary Note 6)

[0139] The control system for an autonomous vehicle according to any one of Supplementary Notes 1 to 5, characterized in that

[0140] The projection unit includes a rear projector provided on the rear bumper of the vehicle, and projects the projection element onto the road surface behind the vehicle after the vehicle has stopped at the stop position by the driving control unit.

[0141] (Appendix 7)

[0142] The control system of the autonomous vehicle according to any one of Appendices 1 to 6, characterized in that the vehicle is a vehicle having a working unit for an operator to perform operations.

[0143] (Appendix 8)

[0144] The control system of the autonomous vehicle according to Appendix 7, characterized in that the vehicle is a garbage truck having a garbage inlet at the rear of the vehicle as the working unit.

[0145] (Appendix 9)

[0146] The control system of the autonomous vehicle according to any one of Appendices 1 to 8, characterized in that

[0147] it further includes a camera for photographing the surroundings of the vehicle,

[0148] the stop position setting unit sets the stop position based on the image information captured by the camera.

[0149] (Appendix 10)

[0150] The control system of the autonomous vehicle according to Appendix 8, characterized in that

[0151] it further includes a camera for photographing the surroundings of the vehicle,

[0152] when the stop position setting unit detects garbage accumulated at a garbage accumulation site in front of the vehicle in the driving direction, the stop position is set based on the position of the detected garbage.

[0153] Explanation of reference numerals

[0154] 1 Autonomous vehicle

[0155] 2 Operator

[0156] 3 Working unit

[0157] 3A Garbage inlet

[0158] 4 Portable terminal

[0159] 5 Front bumper

[0160] 6 Rear bumper

[0161] 7 Projection element

[0162] 7F Front part (projection element)

[0163] 7R Rear part (projection element)

[0164] 8 Road

[0165] 9 Garbage dump (stop point)

[0166] 9A Garbage

[0167] 9B Central position

[0168] 10 Control device

[0169] 11 Travel route setting unit

[0170] 12 Stop position setting unit

[0171] 13 Travel control unit

[0172] 20 Camera

[0173] 21 Various sensors

[0174] 30 Acceleration device

[0175] 40 Braking device

[0176] 50 Steering device

[0177] 60 Projection system (projection unit)

[0178] 61 Projector

[0179] 61F Front projector

[0180] 61R Rear projector

[0181] 62 Projection control unit

[0182] 70 Communication device

[0183] 80 Normal route

[0184] 81 Parking route

[0185] 81A Switching point

[0186] 82 Stop position

Claims

1. A control system for an autonomous vehicle, which is a control system for a vehicle capable of autonomous driving, characterized in that, Comprising: A stop position setting unit that sets a stop position at a position in front of the vehicle in the traveling direction; A travel control unit that causes the vehicle to automatically travel to the stop position set by the stop position setting unit; And A projection unit that projects a projection element indicating the stop position by light irradiated from the vehicle onto the road surface during the period when the vehicle is automatically traveling to the stop position by the travel control unit.

2. The control system for an autonomous vehicle according to claim 1, characterized in that It comprises a travel route setting unit that sets a normal route and a parking route. The normal route is a travel path for the vehicle to automatically travel, and a stop point is preset on the travel path. The parking route is a route for the vehicle to automatically travel from in front of the stop point to the stop position. The travel control unit causes the vehicle to automatically travel along the normal route, and causes the vehicle to automatically travel from in front of the stop point to the stop position along the parking route. The projection unit projects the projection element when the vehicle reaches in front of the stop point.

3. The control system for an autonomous vehicle according to claim 2, characterized in that The travel control unit causes the vehicle to automatically travel along the parking route after temporarily stopping the vehicle in front of the stop point. The projection unit projects the projection element when the vehicle temporarily stops in front of the stop point.

4. The control system for an autonomous vehicle according to claim 1, characterized in that The projection unit projects the projection element within a range that is approximately the same size as the vehicle when viewed from above.

5. The control system for an autonomous vehicle according to claim 1, characterized in that The projection unit includes a front projector provided on the front bumper of the vehicle.

6. The control system for an autonomous vehicle according to claim 1, characterized in that The projection unit includes a rear projector provided on the rear bumper of the vehicle, and projects the projection element on the road surface behind the vehicle after the vehicle stops at the stop position by the travel control unit.

7. The control system for an autonomous vehicle according to claim 1, characterized in that The vehicle is a vehicle having a working unit for an operator to perform operations.

8. The control system for an autonomous vehicle according to claim 7, characterized in that The vehicle is a garbage truck having a garbage inlet at the rear of the vehicle as the working unit.

9. The control system for an autonomous vehicle according to claim 1, characterized in that It further comprises a camera for photographing the surroundings of the vehicle. The stop position setting unit sets the stop position based on the image information captured by the camera.

10. The control system for an autonomous vehicle according to claim 8, characterized in that It further comprises a camera for photographing the surroundings of the vehicle. When the stop position setting unit detects, via the camera, garbage piled up at a garbage accumulation site in front of the vehicle in the traveling direction, the stop position is set based on the position of the detected garbage.

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