Vehicle control device, notification device, and vehicle control method

Abstract

The invention provides a vehicle control device, a notification device, and a vehicle control method capable of improving immediate responsiveness of emergency operation. A vehicle control device (110) according to the present disclosure controls the operation of a vehicle (100) traveling in a queue, and is provided with a control information acquisition unit (101), an emergency information acquisition unit (102), and a travel control unit (104). A control information acquisition unit (101) acquires control information relating to operation control of a vehicle (100) from a server. An emergency information acquisition unit (102) acquires emergency information, which is information for notifying an emergency situation, from another vehicle (100) running in a queue. When the emergency information acquisition unit (102) does not acquire the emergency information, the travel control unit (104) controls the operation of the vehicle (100) on the basis of the control information, and when the emergency information acquisition unit (102) acquires the emergency information, the travel control unit (104) controls the operation of the vehicle (100) so as to execute an emergency operation.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle control device, a notification device, and a vehicle control method. BACKGROUND

[0002] In Patent Literature 1, a control device that controls a running state of at least one vehicle among a plurality of vehicles that perform platooning is described.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2022-057152

[0006] Further, in a case where platooning is performed, for example, in a case where one vehicle performs emergency stop, it is necessary for a following vehicle to also perform emergency stop. In this case, in a case where the emergency stop of the following vehicle is low in promptness of response, there is a problem that the inter-vehicle distance decreases due to the emergency stop, and thus the platoon is disturbed. In Patent Literature 1, a technology that solves such a problem is not disclosed. SUMMARY

[0007] The present disclosure is achieved in order to solve such a problem, and has an object to provide a vehicle control device, a notification device, and a vehicle control method that can improve promptness of response of emergency action.

[0008] The vehicle control device of the present disclosure is a vehicle control device that controls an action of a vehicle that performs platooning, in which the vehicle control device includes a control information acquisition section, an emergency information acquisition section, and a running control section. The control information acquisition section acquires control information related to action control of the vehicle from a server. The emergency information acquisition section acquires emergency information that is information that notifies of an emergency situation from another vehicle that performs platooning. The running control section controls the action of the vehicle based on the control information in a case where the emergency information acquisition section does not acquire the emergency information, and controls the action of the vehicle in a manner that an emergency action is performed in a case where the emergency information acquisition section acquires the emergency information.

[0009] According to such a configuration, the vehicle control device 110 of the present embodiment can perform action control for coping with an emergency situation in a manner that communication via the server is not performed. As a result thereof, the vehicle control device 110 can improve promptness of response of emergency action of the vehicle 100.

[0010] In the vehicle control device of the present disclosure, it can also be that the emergency information acquisition section acquires the emergency information from a preceding vehicle that runs in front in platooning.

[0011] In the vehicle control device of the present disclosure, a transmission unit that transmits the emergency information to a following vehicle that is traveling behind in the platooning can also be provided in the case where the emergency information is acquired by the emergency information acquisition unit.

[0012] The notification device of the present disclosure is a notification device mounted on a vehicle that performs platooning, and includes an emergency situation detection unit and an emergency information output unit. The emergency situation detection unit detects occurrence of an emergency situation. The emergency information output unit outputs, to another vehicle that performs platooning based on external control from a server, emergency information that notifies of the occurrence of the emergency situation.

[0013] The vehicle control method of the present disclosure is a vehicle control method that controls an action of a vehicle that performs platooning. In the vehicle control method of the present disclosure, control information related to action control of the vehicle is acquired from a server. Further, in a case where emergency information that is information that notifies of an emergency situation is not acquired from another vehicle that performs platooning, the action of the vehicle is controlled based on the control information. Furthermore, in a case where the emergency information is acquired from another vehicle that performs platooning, the action of the vehicle is controlled in such a manner that an emergency action is performed.

[0014] Effects of Invention

[0015] With the present disclosure, a vehicle control device, a notification device, and a vehicle control method that can improve prompt responsiveness of an emergency action can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic plan view showing the configuration of a control system of the first embodiment.

[0017] Figure 2 is a block diagram showing the configuration of a server of the first embodiment.

[0018] Figure 3 is a block diagram showing the configuration of a vehicle of the first embodiment.

[0019] Figure 4 is a block diagram showing the configuration of a vehicle control device of the first embodiment.

[0020] Figure 5 is a flowchart showing a control method of the first embodiment.

[0021] Figure 6 is a flowchart showing a control method of the first embodiment.

[0022] Figure 7 is a flowchart showing a control method of the first embodiment.

[0023] Explanation of Reference Numerals

[0024] 100: vehicle; 101: control information acquisition section; 102: emergency information acquisition section; 103: transmission section; 104: travel control section; 105: emergency situation detection section; 106: emergency information output section; 110: vehicle control device; 111: processor; 112: memory; 113: input / output interface; 114: internal bus; 120: actuator group; 130: communication device; 50: control system; 200: server; 201: processor; 202: memory; 203: input / output interface; 204: internal bus; 205: communication device; 300: external sensor. DETAILED DESCRIPTION

[0025] <First Embodiment> (Configuration of Vehicle Control System) Hereinafter, a first embodiment of the present disclosure will be described in detail with reference to the drawings. First, the configuration of the vehicle control device of the present embodiment will be described.

[0026] Figure 1 is a schematic plan view for describing the configuration of the control system 50 of the present embodiment and the vehicle 100 that is a control target thereof. The vehicle control device 110 of the present embodiment is a device that is mounted on the vehicle 100 that performs platooning as shown in Figure 1 , and controls the operation of the vehicle 100 on which it is mounted. The vehicle control device 110 of the present embodiment controls the operation of the vehicle 100 on the basis of the control by the control system 50.

[0027] The control system 50 has the server 200 and the external sensor 300, and controls the platooning of a plurality of vehicles 100 as described above. As will be described in detail later, the control system 50 of the present embodiment outputs control information of the vehicle 100 and transmits it to the vehicle 100. Then, the vehicle 100 that receives the control information performs autonomous driving on the basis of the control information, thereby performing platooning.

[0028] Note that the "autonomous driving" referred to here means driving that does not depend on the driving operation of an occupant. Further, the driving operation means an operation related to at least any one of "traveling", "turning", and "stopping" of the vehicle 100.

[0029] However, in the vehicle 100 that is traveling by autonomous driving, an occupant who does not perform the driving operation can also be on board. The occupant who does not perform the driving operation includes, for example, a person who is simply seated on a seat of the vehicle 100, and an occupant who performs work different from the driving operation such as assembly, inspection, and switching of a group while riding the vehicle 100.

[0030] The control system 50 can be used for any purpose as long as a plurality of vehicles that form a queue are caused to travel. For example, the control system 50 can also be used for transporting a plurality of vehicles manufactured in a manufacturing plant of the vehicle to a yard. Further, the control system 50 can also be used for loading a plurality of vehicles into a ship, a freight train. Moreover, the control system 50 can also be used for causing vehicles in an unfinished state to travel in a queue in the manufacturing plant of the vehicle.

[0031] Figure 2 is a block diagram showing the configuration of the server 200 of the first embodiment. The server 200 is configured by a computer provided with a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected in a manner capable of bidirectional communication via the internal bus 204, and a communication device 205 for communicating with various devices outside the server 200 is connected to the input / output interface 203. The communication device 205 is capable of communicating with the vehicle 100 by wireless communication, and is capable of communicating with each external sensor 300 by wired or wireless communication. The processor 201 realizes various functions by executing a program stored in the memory 202.

[0032] The server 200 acquires a detection result obtained by the sensor, and generates control information for controlling the actuator group of the vehicle 100 using the detection result. Then, the server 200 transmits the control information to the vehicle 100, whereby the vehicle 100 is caused to travel by remote control. It can also be that the server 200 not only generates and outputs control information related to the travel of the vehicle 100, but also generates and outputs, for example, a control signal for controlling an actuator that causes various auxiliary machines possessed by the vehicle 100, or various equipment such as a wiper, a power window, a lamp, to act. That is, the server 200 can also cause such various equipment, various auxiliary machines to act by remote control.

[0033] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. The external sensor 300 is provided with a communication device (not shown), and is capable of communicating with other devices such as the server 200 by wired or wireless communication.

[0034] Specifically, the outside sensor 300 of the present embodiment is constituted by a camera. The camera as the outside sensor 300 captures an image including the vehicle 100, and outputs the captured image as a detection result. However, the constitution of the outside sensor 300 is not limited to this, and the outside sensor 300 can be, for example, a LiDAR (Light Detection And Ranging), a millimeter wave radar, an ultrasonic sensor, or the like. That is, as long as it is a sensor that outputs a detection result that can be used to determine the position information of the vehicle 100, the outside sensor 300 can be any sensor.

[0035] Figure 3 is a block diagram showing the constitution of the vehicle of the present embodiment. The vehicle 100 is a vehicle that performs platooning by unmanned driving. More specifically, the vehicle 100 of the present embodiment is provided with a vehicle control device 110, and performs unmanned driving based on the control of the vehicle control device 110 that has acquired control information from the server 200.

[0036] The vehicle control device 110 of the present embodiment is provided with a control information acquisition section 101, an emergency information acquisition section 102, a transmission section 103, a travel control section 104, an emergency situation detection section 105, and an emergency information output section 106 as functional blocks.

[0037] The control information acquisition section 101 acquires control information related to the movement control of the vehicle 100 from the server 200. More specifically, the control information acquisition section 101 acquires the control information of the vehicle 100 from the server 200 via wireless communication. The control information acquisition section 101 outputs the acquired control information to the travel control section 104.

[0038] Note that, in the present embodiment, the control information contains the acceleration and the steering angle of the vehicle 100 as parameters. In other embodiments, the control signal can contain the speed of the vehicle 100 instead of the acceleration of the vehicle 100 as a parameter, or in addition to the acceleration of the vehicle 100, the speed of the vehicle 100 can be contained as a parameter.

[0039] The emergency information acquisition section 102 acquires emergency information that is information that notifies of an emergency situation from other vehicles 100 that perform platooning. The emergency information acquisition section 102 outputs the acquired emergency information to the travel control section 104. More specifically, the emergency information acquisition section 102 acquires the emergency information from the other vehicles 100 by performing inter-vehicle communication using the communication device that each of the vehicles 100 has.

[0040] Note that the emergency information here refers to information that notifies other vehicles 100 that are performing platooning based on external control from the server 200 of the occurrence of an emergency situation. Also, the emergency situation here refers to a situation in which the vehicle 100 needs to perform a response action that is highly responsive, such as a situation in which a worker rushes out, or a situation in which a part of the vehicles 100 stops due to poor communication, and the like.

[0041] Here, the emergency information acquisition unit 102 can also acquire emergency information from a preceding other vehicle 100 that is traveling ahead in platooning. Also, it can be configured such that the vehicle 100 transmits the emergency information to a following other vehicle 100 that is traveling behind in platooning in a case in which the emergency information acquisition unit 102 acquires the emergency information. In other words, it can also be provided with a transmission unit 103 that transmits the emergency information to the following vehicle 100 that is traveling behind in platooning in a case in which the emergency information acquisition unit 102 acquires the emergency information. That is, in the control system 50 of the present embodiment, it can also be configured such that, in a case in which one vehicle 100 issues the emergency information, the emergency information is transmitted to the vehicles behind one by one in order.

[0042] However, the method of transmitting the emergency information of the present disclosure is not limited to the above, and, for example, it can also be configured such that the vehicle 100 that issued the emergency information transmits the emergency information to two or more vehicles 100. Also, for example, it can also be configured such that the vehicle 100 that issued the emergency information transmits the emergency information to vehicles 100 that exist within a prescribed range from the vehicle 100. Also, for example, it can also be configured such that the vehicle 100 that issued the emergency information transmits the emergency information to all vehicles 100 that are controlled by the server 200. Also, the emergency information is not limited to information that is notified from other vehicles in a case in which an emergency situation has occurred, and it can also be information that indicates a notification that is normally continuously notified from other vehicles has been interrupted. That is, as long as it has a configuration in which a vehicle 100 that is under the control of the server 200 transmits emergency information to other vehicles 100 that are under the control of the server 200, the method of transmitting the emergency information of the present disclosure can be any configuration.

[0043] The travel control unit 104 controls the action of the vehicle based on the control information in a case in which the emergency information acquisition unit 102 does not acquire the emergency information, and controls the action of the vehicle in such a manner that an emergency action is performed in a case in which the emergency information acquisition unit 102 acquires the emergency information.

[0044] However, the emergency action here refers to a response action to the above-described emergency situation, and is preferably an action that is performed in a manner that is highly responsive. As examples of the emergency action, there can be mentioned a temporary stop of platooning, an action that causes the vehicle 100 to retreat to a prescribed space, and the like.

[0045] That is, the vehicle control device 110 of the present embodiment controls the platooning of the vehicle 100 on a regular basis on the basis of the control from the server 200. Also, in the case where the emergency information is acquired, that is, in the case where the emergency situation has occurred, the platooning of the vehicle 100 is controlled on the basis of the aforementioned inter-vehicle communication, not on the basis of the control from the server 200. According to such a configuration, the vehicle control device 110 of the present embodiment can execute the action control for coping with the emergency situation in a manner that communication via the server is not executed. As a result thereof, the vehicle control device 110 can improve the prompt responsiveness of the emergency action of the vehicle 100.

[0046] In the present embodiment, the emergency information is output by the vehicle 100 that detects the occurrence of the emergency situation, and is transmitted to the other vehicles 100 via the inter-vehicle communication. Therefore, the vehicle 100 of the present embodiment is provided with the emergency situation detection section 105 that detects the occurrence of the emergency situation and the emergency information output section 106 that outputs the emergency information.

[0047] The emergency situation detection section 105, for example, acquires the detection result of the in-vehicle sensor equipped in the vehicle 100, and detects the occurrence of the emergency situation on the basis of the acquired detection result. Note that the in-vehicle sensor referred to here can be any sensor as long as it can output the detection result that can be used for the detection of the occurrence of the emergency situation, such as an in-vehicle camera or the like. In the case where the in-vehicle sensor is the in-vehicle camera, the emergency situation detection section 105, for example, can also acquire the image of the outside of the vehicle 100 imaged by the in-vehicle camera. Also, the emergency situation detection section 105 can detect the occurrence of the emergency situation by performing image processing on the imaged image.

[0048] The emergency information output section 106 outputs the emergency information that notifies of the occurrence of the emergency situation to the other vehicles 100 that are platooning on the basis of the external control from the server 200. As described above, by executing the inter-vehicle communication, the emergency information output by the emergency information output section 106 is transmitted to the other vehicles 100.

[0049] In other words, the vehicle control device 110 of the present embodiment can notify the other vehicles 100 under the control of the server 200 of the occurrence of the emergency situation. Therefore, the vehicle control device 110 of the present embodiment can also be referred to as a notification device.

[0050] Figure 4 is a block diagram for explaining the configuration of the vehicle 100 in more detail. The vehicle 100 is provided with the vehicle control device 110 for controlling each section of the vehicle 100, the actuator group 120 including one or more actuators that are driven under the control of the vehicle control device 110, and the communication device 130 for communicating with the external device such as the server 200 through wireless communication.

[0051] The vehicle control device 110 is constituted by a computer provided with a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected in a manner capable of bidirectional communication via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113.

[0052] The processor 111 realizes various functions including the functions of the control information acquisition section 101, the emergency information acquisition section 102, the transmission section 103, the travel control section 104, the emergency situation detection section 105, and the emergency information output section 106 by executing the program stored in the memory 112.

[0053] The actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a brake device for decelerating the vehicle 100.

[0054] The communication device 130 performs communication between itself and the server 200 and other vehicles that perform platooning. The communication device 130 receives the control signal from the server 200. The communication device 130 outputs the received control signal to the vehicle control device 110.

[0055] Further, the communication device 130 is configured to be capable of transmitting and receiving the emergency information between itself and other vehicles 100. The communication device 130 outputs the acquired emergency information to the vehicle control device 110 in a case where the emergency information is acquired from other vehicles 100. Further, the communication device 130 transmits the acquired emergency information to other vehicles 100 in a case where the emergency information output from the vehicle control device 110 is acquired.

[0056] (Action of vehicle control device) Next, the action of the vehicle control device of the present embodiment, that is, the vehicle control method of the present embodiment will be described in more detail. Figure 5 And Figure 6 is a flowchart for describing the vehicle control method of the first embodiment. Note that in the following description, the above-described Figure 2 , Figure 3 and Figure 4 will be appropriately referred to.

[0057] First, the processing procedure shown in Figure 5 will be described in detail. In Figure 5In the processing shown, the processor 111 of the vehicle control device 110 functions as the control information acquisition section 101, the emergency information acquisition section 102, the transmission section 103, and the travel control section 104 by executing the program stored in the storage 112.

[0058] First, the processor 111 acquires control information from the server 200 (step Sll). More specifically, the processor 111 acquires the control information from the server 200 via the communication device 205 and the communication device 130. In step Sll, the processor 111 functions as the control information acquisition section 101.

[0059] Next, the processor 111 determines whether or not emergency information is acquired from other vehicles 100 that are performing platooning travel (step S12). Note that in step S12, the processor 111 functions as the travel control section 104.

[0060] In a case where no emergency information is acquired from other vehicles that are performing platooning travel (NO in step S12), the processor 111 controls the action of the vehicle 100 on the basis of the control parameter (step S15), and ends the series of actions. The processor 111 repeatedly performs the series of actions described above at a prescribed cycle. That is, in step S15, the processor 111 controls the action of the vehicle 100 on the basis of the control from the server 200. A detailed control scheme in this case will be described later. Note that in step S15, the processor 111 functions as the travel control section 104.

[0061] In a case where emergency information is acquired from other vehicles that are performing platooning travel (YES in step S12), the processor 111 controls the action of the vehicle 100 in such a manner that an emergency action is performed (step S13). In other words, in step S13, the processor 111 controls the action of the vehicle 100 on the basis of the emergency information acquired from other vehicles 100. Note that in step S13, the processor 111 functions as the emergency information acquisition section 102 and the travel control section 104.

[0062] Next, the processor 111 transmits the emergency information to other vehicles 100 (step S14), and ends the series of actions. The processor 111 repeatedly performs the series of actions described above at a prescribed cycle. Note that in step S14, the processor 111 functions as the transmission section 103. However, the order of execution of step S13 and step S14 can also be reversed. Furthermore, step S13 and step S14 can also be executed in parallel.

[0063] Next, the processing procedure shown in Fig. 2 will be described in detail. Figure 6 The processing procedure shown in Fig. 2 will be described in detail. In the processing shown in Fig. 2, the processor 111 of the vehicle control device 110 functions as the control information acquisition section 101, the emergency information acquisition section 102, the transmission section 103, and the travel control section 104 by executing the program stored in the storage 112. Figure 6In the processing of the vehicle control device 110, the processor 111 functions as the travel control section 104, the emergency situation detection section 105, and the emergency information output section 106 by executing the program stored in the memory 112. That is, in the processing of the vehicle control device 110, the processor 111 functions as the vehicle control device of the first embodiment, and also functions as the notification device of the first embodiment. Figure 6 In the processing of the vehicle control device 110, the processor 111 functions as the travel control section 104, the emergency situation detection section 105, and the emergency information output section 106 by executing the program stored in the memory 112. That is, in the processing of the vehicle control device 110, the processor 111 functions as the vehicle control device of the first embodiment, and also functions as the notification device of the first embodiment.

[0064] First, the processor 111 detects the occurrence of an emergency situation (step S21). Note that in step S21, the processor 111 functions as the emergency situation detection section 105.

[0065] Next, the processor 111 performs an emergency action (step S22). In step S22, the processor 111 functions as the travel control section 104.

[0066] Next, the processor 111 outputs emergency information to the other vehicle 100 (step S23), and ends the series of actions. The processor 111 repeatedly performs the series of actions described above at a prescribed cycle. Note that in step S23, the processor 111 functions as the emergency information output section 106. Here, the order of execution of step S22 and step S23 can also be reversed. Further, step S22 and step S23 can also be executed in parallel.

[0067] With such a configuration, the vehicle control device 110 of the first embodiment can appropriately perform an emergency action even in a case where it itself detects an emergency situation. Further, with such a configuration, the vehicle control device 110 of the first embodiment can appropriately notify an emergency situation that it itself detects to the other vehicle 100 under the control of the server 200.

[0068] (Method of controlling vehicles by a server) Figure 7 is a flowchart showing the processing of travel control of the vehicle 100 in the first embodiment. In the processing of the vehicle control device 110, Figure 7 In the processing of the vehicle control device 110, the processor 111 functions as the travel control section 104, the emergency situation detection section 105, and the emergency information output section 106 by executing the program stored in the memory 112. That is, in the processing of the vehicle control device 110, the processor 111 functions as the vehicle control device of the first embodiment, and also functions as the notification device of the first embodiment.

[0069] Note that the processing of travel control explained by the following content corresponds to step S11 and step S15 in the flowchart shown in Figure 5 . That is, the travel control mode explained by the following content is a detailed explanation of the travel control in a case where emergency information is not acquired, that is, the travel control by the server 200.

[0070] In step S1, the processor 201 of the server 200 acquires vehicle position information of the vehicle 100 using the detection result output from the external sensor 300. The vehicle position information is position information that is a basis for generating a control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in a global coordinate system of the factory.

[0071] Specifically, in step S1, the processor 201 acquires the vehicle position information using a captured image acquired from the camera as the external sensor 300. In detail, in step S1, the processor 201 detects the outer shape of the vehicle 100 from the captured image, for example, calculates the coordinates of the position of the vehicle 100 in a coordinate system of the captured image, i.e., a local coordinate system, and converts the calculated coordinates into coordinates in a global coordinate system, thereby acquiring the position of the vehicle 100.

[0072] The outer shape of the vehicle 100 included in the captured image can be detected by inputting the captured image to a detection model that effectively utilizes artificial intelligence, for example. The detection model is prepared within the control system 50, outside the control system 50, for example, and is stored in advance in the memory 202 of the server 200.

[0073] As the detection model, for example, a learned machine learning model that has been learned in a manner to realize either of semantic segmentation and instance segmentation can be listed. As the machine learning model, a convolutional neural network (hereinafter, CNN) that has been learned by supervised learning using a learning data set can be used, for example. The learning data set has a plurality of training images including the vehicle 100, and labels indicating which of the region representing the vehicle 100 and the region other than the vehicle 100 each region in the training image represents, for example. At the time of learning of the CNN, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) to reduce the error between the output result by the detection model and the label.

[0074] Further, the processor 201 can estimate the orientation of the vehicle 100 based on the orientation of the movement vector of the vehicle 100 calculated from the position change of the feature point of the vehicle 100 between the frames of the captured image, for example, using an optical flow method, thereby acquiring the orientation of the vehicle 100.

[0075] In step S2, the processor 201 of the server 200 decides a target position to which the vehicle 100 should go next. In the present embodiment, the target position is represented by coordinates of X, Y, Z in a global coordinate system. A reference route as a route along which the vehicle 100 should travel is stored in advance in the memory 202 of the server 200. The route is represented by nodes representing departure locations, nodes representing passing points, nodes representing destinations, and lines connecting the nodes. The processor 201 decides the target position to which the vehicle 100 should go next using the vehicle position information and the reference route. The processor 201 decides the target position on the reference route ahead of the current location of the vehicle 100.

[0076] In step S3, the processor 201 of the server 200 generates a control signal for causing the vehicle 100 to travel toward the decided target position. The processor 201 calculates a travel speed of the vehicle 100 according to the progress of the position of the vehicle 100, and compares the calculated travel speed with a target speed. In a case where the travel speed is lower than the target speed as a whole, the processor 201 decides an acceleration in such a manner that the vehicle 100 accelerates, and in a case where the travel speed is higher than the target speed as a whole, the processor 201 decides an acceleration in such a manner that the vehicle 100 decelerates.

[0077] Further, in a case where the vehicle 100 is on the reference route, the processor 201 decides a steering angle and an acceleration in such a manner that the vehicle 100 does not deviate from the reference route, and in a case where the vehicle 100 is not on the reference route, in other words, in a case where the vehicle 100 has deviated from the reference route, the processor 201 decides a steering angle and an acceleration in such a manner that the vehicle 100 returns to the reference route.

[0078] In step S4, the processor 201 of the server 200 transmits the generated control signal to the vehicle 100. The processor 201 repeatedly performs acquisition of the position of the vehicle 100, decision of the target position, generation of the control signal, and transmission of the control signal, and the like, at a prescribed cycle.

[0079] In step S5, the processor 111 of the vehicle 100 receives the control signal transmitted from the server 200.

[0080] In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received control signal, thereby causing the vehicle 100 to travel at the acceleration and the steering angle represented by the control signal. The processor 111 repeatedly performs reception of the control signal and control of the actuator group 120 at a prescribed cycle.

[0081] By such a travel control method, it is possible to cause the vehicle 100 to travel by remote control, and it is possible to move the vehicle 100 without using a crane, a conveyor, or the like.

[0082] As explained above, the vehicle control device 110 of the present embodiment controls the platooning of the vehicle 100 based on the control from the server 200 in normal times, and in a case where emergency information is acquired, that is, in a case where an emergency situation has occurred, controls the platooning of the vehicle 100 based on the aforementioned inter-vehicle communication, not based on the control from the server 200. According to such a configuration, the vehicle control device 110 of the present embodiment can execute the action control for coping with the emergency situation in a manner not to perform the communication via the server. As a result thereof, the vehicle control device 110 can improve the prompt responsiveness of the emergency action of the vehicle 100.

[0083] <YY Other Embodiments>(YY1) In each of the above embodiments, the external sensor 300 is a camera. In contrast to this, the external sensor 300 can not be a camera, and for example, can be a LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 can be three-dimensional point cloud data indicating the vehicle 100. In this case, the server 200 and the vehicle 100 can acquire the vehicle position information by template matching using the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0084] (YY2) In the above first embodiment, the server 200 executes the processing from the acquisition of the vehicle position information to the generation of the control signal. In contrast to this, at least a part of the processing from the acquisition of the vehicle position information to the generation of the control signal can be executed by the vehicle 100. For example, the following (1) to (3) can be the case.

[0085] (1) It can be the case that the server 200 acquires the vehicle position information, decides a target position to which the vehicle 100 should go next, and generates a route from the current position of the vehicle 100 indicated by the acquired vehicle position information to the target position. The server 200 can generate a route to the target position between the current position and the destination, or can generate a route to the destination. It can be the case that the server 200 transmits the generated route to the vehicle 100. It can be the case that the vehicle 100 generates the control signal in such a manner that the vehicle 100 travels on the route received from the server 200, and controls the actuator group 120 using the generated control signal.

[0086] (2) Alternatively, the server 200 acquires the vehicle position information, and transmits the acquired vehicle position information to the vehicle 100. Alternatively, the vehicle 100 determines a target position to which the vehicle 100 should go next, generates a route from a current position of the vehicle 100 indicated by the received vehicle position information to the target position, generates a control signal in such a manner that the vehicle 100 travels on the generated route, and controls the actuator group 120 using the generated control signal.

[0087] (3) Alternatively, in the above-described (1) and (2), at least one of the route generation and the control signal generation uses a detection result output from an internal sensor mounted on the vehicle 100. The internal sensor is a sensor mounted on the vehicle 100. The internal sensor may, for example, include a sensor that detects a motion state of the vehicle 100, a sensor that detects an operation state of each part of the vehicle 100, and a sensor that detects an environment around the vehicle 100. Specifically, the internal sensor may, for example, include a camera, a LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS (Global Positioning System) sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above-described (1), the server 200 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the route at the time of the route generation. Alternatively, in the above-described (1), the vehicle 100 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the control signal at the time of the control signal generation. Alternatively, in the above-described (2), the vehicle 100 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the route at the time of the route generation. Alternatively, in the above-described (2), the vehicle 100 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the control signal at the time of the control signal generation.

[0088] (YY3) Alternatively, in the above-described embodiment, the vehicle 100 is mounted with an internal sensor, and at least one of the route generation and the control signal generation uses a detection result output from the internal sensor. For example, the vehicle 100 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the route at the time of the route generation. Alternatively, the vehicle 100 acquires the detection result of the internal sensor, and reflects the detection result of the internal sensor in the control signal at the time of the control signal generation.

[0089] (YY4) In the above-described embodiment, the vehicle 100 acquires the vehicle position information using the detection result of the external sensor 300. In contrast, it can also be that the vehicle 100 is equipped with an internal sensor, the vehicle 100 acquires the vehicle position information using the detection result of the internal sensor, decides a target position to which the vehicle 100 should go next, generates a route from the current position of the vehicle 100 indicated by the acquired vehicle position information to the target position, generates a control signal for traveling on the generated route, and controls the actuator group 120 using the generated control signal. In this case, the vehicle 100 can travel without using the detection result of the external sensor 300 at all. Note that the vehicle 100 can also acquire the target arrival time and congestion information from the outside of the vehicle 100, and cause the target arrival time and congestion information to be reflected in at least one of the route and the control signal.

[0090] (YY5) In the above-described first embodiment, the server 200 automatically generates the control signal transmitted to the vehicle 100. In contrast, it can also be that the server 200 generates the control signal transmitted to the vehicle 100 in accordance with an operation by an external operator located outside the vehicle 100. For example, it can also be that the external operator operates a manipulation device provided with a display that displays a captured image output from the external sensor 300, a steering wheel, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 through wired or wireless communication, and the server 200 generates a control signal corresponding to the operation applied to the manipulation device.

[0091] (YY6) In each of the above-described embodiments, the vehicle 100 can have a configuration that enables movement by autonomous driving, and for example, can be in a platform manner having the following configuration. Specifically, in order to exhibit the three functions of "traveling", "turning", and "stopping" by autonomous driving, the vehicle 100 can have at least the vehicle control device 110 and the actuator group 120. In a case where the vehicle 100 acquires information from the outside for autonomous driving, the vehicle 100 can have the communication device 130. That is, the vehicle 100 that enables movement by autonomous driving can not have at least a part of interior members such as a driver's seat and an instrument panel, can not have at least a part of exterior members such as a bumper and a fender, and can not have a vehicle body shell. In this case, it can be that the remaining members such as the vehicle body shell are attached to the vehicle 100 during a period from when the vehicle 100 is shipped from a factory, or it can be that the remaining members such as the vehicle body shell are attached to the vehicle 100 after the vehicle 100 is shipped from the factory in a state where the remaining members such as the vehicle body shell are not attached to the vehicle 100. Each of the members can be attached from any of the upper side, the lower side, the front side, the rear side, the right side, and the left side of the vehicle 100, can be attached from the same direction, or can be attached from different directions. Note that the position of the platform can be determined in the same manner as the vehicle 100 in the first embodiment.

[0092] (YY7) The vehicle 100 can also be manufactured by combining a plurality of modules. A module refers to a unit constituted by a plurality of members that are grouped according to the position and function of the vehicle 100. For example, the platform of the vehicle 100 can also be manufactured by combining a front module that constitutes the front portion of the platform, a central module that constitutes the central portion of the platform, and a rear module that constitutes the rear portion of the platform. Note that the number of modules that constitute the platform is not limited to three, and can be two or less or four or more. Furthermore, it can be that, in addition to the members that constitute the platform being modularized, members that constitute portions of the vehicle 100 other than the platform are modularized, or members that constitute portions of the vehicle 100 other than the platform are modularized instead of the members that constitute the platform. Furthermore, each of the various modules can include any of the exterior members such as a bumper and a grill, and any of the interior members such as a seat and a console. Furthermore, the vehicle 100 is not limited, and any of various types of moving bodies can be manufactured by combining a plurality of modules. Such a module can be manufactured by joining a plurality of members by welding, a fixing member, or the like, or can be manufactured by integrally molding at least a part of the members that constitute the module into one member by casting. The molding method in which one member, particularly a large member, is integrally molded is also referred to as Giga Cast or Mega Cast. For example, the above-described front module, central module, and rear module can be manufactured using Giga Cast.

[0093] (YY8)In each of the above-described embodiments, a part or all of the functions and processes implemented by software can be implemented by hardware. Also, a part or all of the functions and processes implemented by hardware can be implemented by software. As the hardware for implementing the functions in each of the above-described embodiments, various circuits, such as an integrated circuit or a discrete circuit, can be used.

[0094] (Supplement)In the above-described embodiments, the control object of the control system is a vehicle, but the control object of the control system of the present disclosure is not limited to a vehicle. That is, the control system of the present disclosure can have as the control object all moving bodies capable of platooning. However, in the present disclosure, a "moving body" refers to a movable object, such as a vehicle, an electric vertical take-off and landing aircraft (so-called flying car). The vehicle can be a vehicle that travels by wheels or a vehicle that travels by tracks, such as a passenger vehicle, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, and the like. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. In the case where the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "moving body", and the expression "travel" can be appropriately replaced with "move".

[0095] An action of transporting the vehicle 100 by using the travel of the vehicle 100 based on the unmanned driving is also referred to as "self-transportation". Also, a configuration for achieving the self-transportation is also referred to as "vehicle remote control autonomous travel transportation system". Further, a production method of producing the vehicle 100 by using the self-transportation is also referred to as "self-production". In the self-production, for example, at least a part of the transportation of the vehicle 100 in a factory where the vehicle 100 is manufactured is achieved by the self-transportation.

[0096] Note that the present application is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist.

Claims

1. A vehicle control device for controlling the movements of vehicles traveling in a convoy, wherein, The vehicle control device includes: The control information acquisition unit acquires control information related to the motion control of the vehicle from the server. The emergency information acquisition unit acquires emergency information from other vehicles traveling in a convoy as information to notify of an emergency situation; as well as The driving control unit controls the vehicle's movement based on the control information when the emergency information acquisition unit does not acquire the emergency information, and controls the vehicle's movement by performing an emergency action when the emergency information acquisition unit acquires the emergency information.

2. The vehicle control device according to claim 1, wherein, The emergency information acquisition unit acquires the emergency information from the preceding vehicle traveling in the convoy.

3. The vehicle control device according to claim 1 or 2, wherein, It also includes a transmitting unit that, when the emergency information acquisition unit acquires the emergency information, transmits the emergency information to the next vehicle traveling behind in the convoy.

4. A notification device mounted on vehicles traveling in a convoy, wherein, The notification device includes: an emergency situation detection unit for detecting the occurrence of an emergency; and an emergency information output unit for outputting emergency information notifying other vehicles in the convoy that the emergency has occurred, based on external control from a server.

5. A vehicle control method for controlling the movements of vehicles traveling in a convoy, wherein, The system obtains control information related to the vehicle's motion control from the server. If no emergency information is obtained from other vehicles in the execution queue as notification of an emergency situation, the system controls the vehicle's motion based on the control information. If the emergency information is obtained from other vehicles in the execution queue, the system controls the vehicle's motion in a manner that performs an emergency action.

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