Movable body operation system, operation method, and operation program

Abstract

To reduce waste of a connection ID necessary for connection to a distribution device that distributes correction information for achieving high-accuracy positioning.SOLUTION: An ID management unit 11a assigns a first connection ID (N01) to a first vehicle V1 in a first period, and assigns the first connection ID (N01) to a second vehicle V2 in a second period. A correction information acquisition unit 11b, in the first period, connects to a distribution device 201 by using the first connection ID (N01), and receives correction information for the first vehicle V1 from the distribution device 201. The correction information acquisition unit 11b, in the second period, connects to the distribution device 201 by using the first connection ID (N01), and receives correction information for the second vehicle V2 from the distribution device 201.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to an operation system, an operation method, and an operation program for managing moving objects such as autonomous vehicles, unmanned aerial vehicles, and robots. [Background technology]

[0002] In controlling moving objects such as self-driving vehicles and unmanned aerial vehicles, the position of the moving object is monitored at a management center. In Patent Documents 1 and 2, high-precision positioning using the RTK (Real Time Kinematic) method is used. With the RTK method, the error is within a few centimeters. Therefore, the position information obtained by the RTK method can be used to determine whether the movement of the moving object is following a planned route generated in advance.

[0003] In the RTK method, a GNSS (Global Navigation Satellite System) signal is received at a reference station whose exact position is specified, and correction information obtained from this GNSS signal is used. The correction information includes, for example, a pseudo distance (the distance from the reference station to the GNSS satellite) calculated from the GNSS signal and carrier phase information. The correction information is transmitted from the reference station to a broadcasting device, and then transmitted from the broadcasting device to the mobile body. A reference station close to the position of the mobile body is selected from a plurality of reference stations installed nationwide or in a specific region. Then, the correction information obtained from the reference station is transmitted to the mobile body via the broadcasting device. In the mobile body, a correction calculation is performed using the correction information, and highly accurate position information is calculated. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-156840 A [Patent Document 2] JP 2020-067358 A Summary of the Invention [Problem to be solved by the invention]

[0005] When using the RTK method, a mobile object connects to a distribution device via a wireless communication network such as LTE (Long Term Evolution) or the fifth generation (5G). In order to receive correction information, the mobile object connects to the distribution device using an ID given to the mobile object by the distribution device. However, some mobile objects have periods during which high-precision positioning is not required. For example, there are mobile objects that are used only during the day and mobile objects that are used only at night. If IDs are secured for all of such multiple types of mobile objects, IDs will be wasted. This may result in extra costs for the operators of the mobile objects. [Means for solving the problem]

[0006] (1) A navigation system proposed in the present disclosure is a navigation system that receives correction information for calculating high-precision location information of a mobile body from a broadcasting device from provisional location information of the mobile body, and operates the mobile body using the high-precision location information. The navigation system includes an ID management unit that assigns connection IDs used for connecting to the broadcasting device to multiple mobile bodies, and a correction information acquisition unit that transmits the provisional location information of the mobile body to the broadcasting device and receives the correction information corresponding to the provisional location indicated by the provisional location information from the broadcasting device. The ID management unit assigns a first connection ID to a first mobile body that is one of the multiple mobile bodies during a first period, and assigns the first connection ID to a second mobile body that is another one of the multiple mobile bodies during a second period. The correction information acquisition unit connects to the broadcasting device using the first connection ID during the first period and receives the correction information for the first mobile body from the broadcasting device, and connects to the broadcasting device using the first connection ID during the second period and receives the correction information for the second mobile body from the broadcasting device. According to this operation system, the connection IDs can be used efficiently and the number of connection IDs can be reduced, which reduces the cost imposed on the operator of the vehicle.

[0007] (2) In the operation system of (1), the use of the first moving body and the use of the second moving body may be different. According to this, the period during which the use of the first moving body is exercised can be defined as a "first period" and the period during which the use of the second moving body is exercised can be defined as a "second period."

[0008] (3) In the operation system of (1) or (2), the driving area permitted for the first moving body may be different from the driving area permitted for the second moving body. If the driving areas are different, the time periods during which the moving bodies are used often differ, and as a result, it becomes easier to separate the first period from the second period.

[0009] (4) In the operation system of (1) to (3), the ID management unit may have ID management information that associates a mobile object ID for identifying a plurality of mobile objects with a plurality of connection IDs, and may correspond a first mobile object ID assigned to the first mobile object to the first connection ID during the first period, and may correspond a second mobile object ID assigned to the second mobile object to the first connection ID during the second period. This facilitates management of connection IDs.

[0010] (5) In the operation system of (1) to (4), when a predetermined condition is satisfied, the ID management unit selects a connection ID to be assigned to the mobile unit ID of each mobile unit from among a plurality of connection IDs.

[0011] (6) In the operation system of (1) to (5), the ID management unit may refer to operation schedule information indicating a period during which the correction information is used in controlling the plurality of moving bodies, and selectively assign the first connection ID to the first moving body and the second moving body. This allows the assignment of connection IDs to be performed in a planned manner, and a shortage of connection IDs can be avoided.

[0012] (7) In the operation system of (1) to (5), the ID management unit may selectively assign the first connection ID to the first moving body and the second moving body based on driving information of the first moving body and the second moving body. This increases the degree of freedom in assigning connection IDs.

[0013] (8) The operation system of (1) to (7) may include a management device having the ID management unit and the correction information acquisition unit. The correction information acquisition unit may transmit the correction information received from the distribution device to the first moving body during the first period, and transmit the correction information received from the distribution device to the second moving body during the second period. This simplifies processing in the vehicle compared to a system in which the vehicle directly connects to the distribution device using a connection ID.

[0014] (9) The operation system of (1) to (8) may include a management device having the ID management unit and the correction information acquisition unit, and the management device may further include a monitoring unit that receives information representing the operating state of each of the plurality of moving bodies from each of the plurality of moving bodies. This allows the moving bodies to share a communication module for monitoring and a communication module for receiving the correction information, thereby reducing costs.

[0015] (10) In the operation system of (9), the monitoring unit may manage the second moving body based on the provisional position information of the second moving body during the first period, and manage the first moving body based on the provisional position information of the first moving body during the second period. This makes it possible to monitor the position of the moving body based on the approximate position of the moving body even during a period in which a connection ID is not assigned.

[0016] (11) In the operation systems of (1) to (10), the first period may be at least a portion of a period during which the second moving body is stopped or manually driven, and the second period may be at least a portion of a period during which the first moving body is stopped or manually driven.

[0017] (12) In the operation system of any one of (1) to (11), the number of the connection IDs permitted to connect to the distribution device may be less than the number of the mobile objects managed by the operation system, thereby reducing the costs imposed on the operators of the mobile objects.

[0018] (13) In the operation system of (1) to (12), the plurality of moving bodies may further include a third moving body and a fourth moving body, and the ID management unit may assign a second connection ID to the third moving body in the first period and assign the second connection ID to the fourth moving body in the second period. In this way, the plurality of moving bodies (the first moving body and the third moving body) operate in the first period, and the plurality of moving bodies (the second moving body and the fourth moving body) operate in the second period. This improves user convenience.

[0019] (14) In the operation system of any one of (1) to (13), the first period and the second period may not overlap each other. This can facilitate the process of allocating connection IDs.

[0020] (15) A travel method proposed in the present disclosure is a method of receiving correction information for calculating high-precision location information of a mobile body from a broadcasting device from tentative location information of the mobile body, and traveling the mobile body using the high-precision location information. The travel method includes an ID management step of assigning a connection ID used for connecting to the broadcasting device to the mobile bodies, and a correction information acquisition step of transmitting the tentative location information of the mobile bodies to the broadcasting device and receiving correction information corresponding to the tentative location indicated by the tentative location information from the broadcasting device. In the ID management step in a first period, a first connection ID is assigned to a first mobile body, and in the ID management step in a second period, the first connection ID is assigned to a second mobile body. In the correction information acquisition step in the first period, a mobile body connects to the broadcasting device using the first connection ID and receives the correction information for the first mobile body from the broadcasting device. In the correction information acquisition step in the second period, a mobile body connects to the broadcasting device using the first connection ID and receives the correction information for the second mobile body from the broadcasting device. This operation method allows efficient use of connection IDs and reduces the number of connection IDs, thereby reducing the costs imposed on the operator of the mobile unit.

[0021] (16) The management program proposed in the present disclosure is an operation program that causes a computer to function as a system that receives correction information for calculating high-precision location information of a mobile body from provisional location information of the mobile body from the mobile body, and operates the mobile body using the high-precision location information. The operation program causes the computer to function as an ID management unit that assigns connection IDs used for connecting to the distribution device to a plurality of mobile bodies, and a correction information acquisition unit that transmits the provisional location information of the mobile body to the distribution device and receives correction information corresponding to the provisional location indicated by the provisional location information from the distribution device. The ID management unit assigns a first connection ID to a first mobile body in a first period, and assigns the first connection ID to a second mobile body in a second period. The correction information acquisition unit connects to the distribution device using the first connection ID in the first period and receives the correction information for the first mobile body from the distribution device, and connects to the distribution device using the first connection ID in the second period and receives the correction information for the second mobile body from the distribution device. The management program allows efficient use of connection IDs and reduces the number of connection IDs, thereby reducing costs imposed on mobile operators. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a block diagram showing an example of a transportation system. [Diagram 2] FIG. 1 is a block diagram illustrating an example of hardware for an autonomous vehicle. [Diagram 3] FIG. 2 is a block diagram illustrating an example of hardware of a management device. [Figure 4] 2 is a block diagram showing functions of a control unit of an autonomous driving vehicle. FIG. [Diagram 5] FIG. 2 is a block diagram showing functions of a management device. [Figure 6] FIG. 13 illustrates an example of an ID management table. [Figure 7] FIG. 11 is a diagram showing a first example of an operation schedule table. [Figure 8] FIG. 2 is a diagram showing an example of a driving allowable area. [Figure 9] FIG. 2 is a sequence diagram showing a flow of processing executed in the operation system. [Figure 10A] 11 is a flow chart showing a connection ID assignment process executed in the management device. FIG. [Figure 10B] FIG. 11 is a flow diagram showing a process for terminating the assignment of a connection ID, which is executed in the management device. [Figure 11A] FIG. 11 is a diagram showing a second example of an operation schedule table. [Figure 11B] FIG. 11 is a diagram showing a third example of an operation schedule table. [Figure 12] FIG. 1 is a diagram for explaining a transportation system in which a connection ID is assigned based on an operating state. [Figure 13] 11 is a flow diagram showing an example of a process executed in a management device that assigns a connection ID based on an operating state. [Figure 14] FIG. 11 is a block diagram showing another example of a navigation system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] An example of a mobile object operation system proposed in this disclosure will be described below. Fig. 1 is a diagram showing an operation system 100 which is an example of the operation system.

[0024] In the present disclosure, a moving body is a device that moves using a power source such as a motor or an engine. The moving body is, for example, an autonomous vehicle. The moving body may also be an unmanned aircraft, a railroad car, a robot, or the like.

[0025] [Elements of the operation system] As shown in Fig. 1, the operation system 100 has multiple autonomous vehicles V11, V12, V13, etc., and autonomous vehicles V21, V22, V23, etc. In the following, when there is no need to distinguish between the vehicles V11, V12, V13, etc., the reference symbol "V1" will be used for these vehicles. Similarly, when there is no need to distinguish between the vehicles V21, V22, V23, etc., the reference symbol "V2" will be used for these vehicles.

[0026] The multiple vehicles V1 and the multiple vehicles V2 are different in terms of usage. That is, the vehicle V1 and the vehicle V2 are mainly used in different time periods. In other words, the vehicle V1 and the vehicle V2 require high-precision positioning in different time periods. This time period may be specified in advance by, for example, an operator of the vehicles V1 and V2.

[0027] Here, the "time period" refers to, for example, a time period in a day. Vehicle V1 is, for example, a vehicle used for transporting people during the day, or a vehicle used at a construction site during the day. In contrast, vehicle V2 is, for example, a vehicle used for security at night, or a vehicle used for picking goods in a warehouse or the like at night.

[0028] The "time period" may be a day of the week. For example, vehicle V1 may be a vehicle used for commuting to work or school on weekdays. In contrast, vehicle V2 may be a vehicle used on holidays at a tourist spot or facility.

[0029] The time period may be a day in a month or a month in a year. For example, vehicle V1 may be used in the first half of January, and vehicle V2 may be used in the second half of January. As another example, vehicle V1 may be used in the summer, and vehicle V2 may be used in the winter.

[0030] The driving area permitted for vehicle V1 may be different from the driving area permitted for vehicle V2. For example, the driving area permitted for vehicle V1 may be set in an urban area of ​​a city, while the driving area permitted for vehicle V2 may be set in a tourist destination. Even in this case, the two types of vehicles V1 and V2 differ in the time periods in which they are mainly used.

[0031] As will be described in detail later, multiple vehicles V1 and multiple vehicles V2 connect to a distribution device 201 that distributes correction information for performing high-precision positioning via the management device 10. A connection ID (identification information) used by the vehicle V1 to connect to the distribution device 201 and a connection ID used by the vehicle V2 to connect to the distribution device 201 are shared. Such ID sharing is possible because the purpose of the vehicle V1 (time period during which the correction information is used) is different from the purpose of the vehicle V2 (time period during which the correction information is used).

[0032] The operation system 100 may manage vehicles for a third purpose in addition to the vehicle V1 for the first purpose and the vehicle V2 for the second purpose. In this case, the purposes (time periods during which the correction information is used) of the three types of vehicles V1, V2, and V3 may share an ID.

[0033] As shown in FIG. 1, the operation system 100 includes a management device 10. The management device 10 and a plurality of vehicles V1 and V2 are connected via a network N1. The network N1 may include a wide area network (WAN) including the Internet or a dedicated line, and a local area network (LAN). These include a wired communication network and / or a wireless communication network. The wireless communication network may use wireless communication technology such as fourth generation (4G) or fifth generation (5G). The operation system 100 includes the management device 10 and a plurality of vehicles V1 and V2. A broadcasting device 201 and a reference station 202 described later may not be elements of the operation system 100.

[0034] The management device 10 is connected to the distribution device 201 via a network N2. Like the network N1, this network N2 may include a WAN including the Internet or a dedicated line, and a LAN. The distribution device 201 is connected to multiple reference stations 202. Each reference station 202 is installed at a fixed point whose exact position is measured in advance. The reference station 202 acquires the distance from a GNSS satellite to the reference station 202 (hereinafter referred to as "pseudo distance") and carrier phase information based on GNSS signals received from multiple GNSS satellites (not shown).

[0035] The broadcasting device 201 and the reference station 202 constitute, for example, a Global Navigation Satellite System (GNSS) of a Real Time Kinematic (RTK) system. Note that the system constituted by the broadcasting device 201 and the reference station 202 may constitute another GNSS. For example, the broadcasting device 201 and the reference station 202 may constitute a network-type RTK-GNSS (VRS system or FKP system).

[0036] The management device 10 receives correction information from the broadcasting device 201. The correction information is information for calculating high-precision position information of each vehicle V1 and V2 from the provisional position information of each vehicle V1 and V2. The correction information is, for example, information for performing RTK correction, in other words, information for performing interferometric positioning. The correction information is obtained from a GNSS signal of a reference station 202 that is closest to the provisional position among the multiple reference stations 202. The correction information includes, for example, a pseudo distance from the reference station 202 to each satellite and carrier phase information. The correction information may also include known accurate position information of the reference station 202, a difference between the pseudo distance and the accurate distance, a carrier phase error of the received GNSS signal, satellite orbit information, clock correction information, tropospheric delay correction information, ionospheric delay correction information, and the like.

[0037] The provisional position information is the position information of the vehicles V1 and V2 required for the broadcasting device 201 to select and calculate the correction information to be transmitted to the management device 10. The provisional position information is, for example, the position information of the vehicles V1 and V2 obtained by single point positioning. The provisional position information may be position information by differential GPS (relative positioning). As the differential GPS, for example, a system that does not require connection authentication to receive correction information, such as a satellite-based augmentation system (SBAS), may be used. In general, the calculation period of the position information by single point positioning based on the GNSS signal is shorter than the reception period of the correction information. Therefore, as another example of the provisional position information, high-precision position information calculated based on the previous correction information and the immediately previous position information obtained by single point positioning may be used.

[0038] The broadcasting device 201 broadcasts correction information corresponding to the tentative positions of the vehicles V1 and V2 to the management device 10. For example, when calculating the high-precision position of the vehicle V11, the broadcasting device 201 transmits correction information obtained from the reference station 202 that is close to the tentative position of the vehicle V11 to the management device 10.

[0039] [Autonomous vehicle hardware] 2 is a block diagram showing the hardware of autonomous vehicles V1 and V2. As shown in the figure, vehicles V1 and V2 have a control unit 51, a drive unit 52, a steering unit 53, a braking unit 54, a communication unit 55, and a sensor unit F. In this figure, vehicles V1 and V2 have the same hardware, but may have different hardware depending on their applications.

[0040] The drive unit 52 has an electric motor that drives the drive wheels of the vehicles V1 and V2, a drive circuit (e.g., an inverter circuit) that supplies power to the electric motor, a battery, etc. The drive circuit supplies power from the battery to the electric motor according to commands from the control unit 51. The drive source of the vehicles V1 and V2 is not limited to the electric motor, and may be an engine.

[0041] The steering unit 53 has a steering device, an actuator (steering motor) that moves the steering device, etc. The actuator is controlled by the control unit 51. The braking unit 54 has a braking device, an actuator that moves the braking device, etc. This actuator is also controlled by the control unit 51.

[0042] The sensor unit F includes sensors, devices, and circuits that output signals related to the running and state of the vehicle. The sensor unit F may include, for example, a vehicle speed sensor that outputs a signal corresponding to the vehicle speed, an IMU (Inertial Measurement Unit) that outputs a signal corresponding to the acceleration and / or angular velocity acting on the vehicles V1 and V2, a circuit that measures the battery current, a camera that captures images of the surroundings of the vehicles V1 and V2, a LIDAR (Light Detection and Ranging), a millimeter wave radar, etc. The sensors and the like included in the sensor unit F are not limited to the examples described here.

[0043] The control unit 51 includes a calculation unit 51A including a CPU (Central Processing Unit) and a storage unit 51B including a RAM (Random Access Memory) and a ROM (Read Only Memory). The control unit 51 controls the vehicles V1 and V2 by causing the calculation unit 51A to execute a program stored in the storage unit 51B. The control unit 51 controls the drive unit 52, the steering unit 53, and the braking unit 54 so that the vehicles V1 and V2 travel according to, for example, a travel plan (travel route and speed) set by a user of the vehicles V1 and V2 or a travel plan set by an operator of the vehicles V1 and V2.

[0044] The control unit 51 may have an automatic driving mode in which it controls the drive unit 52, etc. according to a driving plan without requiring operation by the occupant, and a manual driving mode in which it controls the drive unit 52, etc. according to operation by the occupant (accelerator operation or steering operation).

[0045] The GNSS receiver 56 receives GNSS signals from multiple GNSS satellites and outputs them to the control unit 51. As will be described in detail later, the control unit 51 performs standalone positioning using the GNSS signals, and performs high-precision positioning (correction calculation using correction information) using correction information received via the management device 10. The control unit 51 may use position information by differential GPS as provisional position information, instead of standalone positioning.

[0046] The communication unit 55 transmits information relating to the traveling and status of the vehicles V1 and V2 (e.g., output of the sensor unit F, driving mode, position information, etc.) to the management device 10. Hereinafter, the information relating to the traveling and status of the vehicles V1 and V2 will be referred to as "driving information." The communication unit 55 is, for example, a wireless device capable of two-way wireless communication with the management device 10.

[0047] [Management device hardware] Fig. 3 is a block diagram showing the hardware of the management device 10. As shown in the figure, the management device 10 has a control unit 11 and a communication unit 13. The control unit 11 includes a calculation unit 11A and a storage unit 11B.

[0048] The calculation unit 11A has a CPU. The storage unit 11B has a RAM, a ROM, a hard disk drive (HHD), a solid state drive (SSD), etc. The control unit 11 executes a program stored in the storage unit 11B by the calculation unit 11A, and executes processing related to management of the vehicles V1 and V2. The storage unit 11B may also store driving information received from the vehicles V1 and V2. The processing performed by the control unit 11 will be described in detail later.

[0049] The communication unit 13 is a communication module for communicating between the vehicles V1 / V2 and the management device 10, and between the distribution device 201 and the management device 10. The communication unit 13 may be a wireless LAN adapter or a wired LAN adapter.

[0050] 3, the management device 10 may have a display unit 14 and an input unit 15. The display unit 14 is a display that displays driving information (output of the sensor unit F) of the vehicles V1 and V2 for the manager of the vehicles V1 and V2. The input unit 15 may be, for example, a keyboard, a mouse pointer, or a touch sensor provided on the display unit 14. The input unit 15 accepts instruction input by the manager.

[0051] The management device 10 is realized by, for example, a server computer, but may be realized by a plurality of computers connected to each other. For example, the management device 10 may include a server computer and a client computer (for example, a personal computer, a smartphone, or a tablet computer) connected to the server computer via a network such as a WAN or a LAN. In this case, the server computer may receive driving information of each vehicle V1-V2 and transmit it to the client computer. Then, the driving information may be displayed on a display unit 14 connected to the client computer. Also, instructions from the administrator inputted through an input unit 15 connected to the client computer may be transmitted to the server computer.

[0052] [Processing performed in autonomous vehicles] 4 is a block diagram showing functions of the control unit 51 of each vehicle V1-V2. As shown in the figure, the control unit 51 has, as its functions, an automatic driving control unit 51a, a position information calculation unit 51b, a correction information acquisition unit 51c, and a driving information communication unit 51d. These functions are realized by the control unit 51 executing a program stored in the storage unit 51B.

[0053] [Automatic driving control unit] The automatic driving control unit 51a controls the driving unit 52, the steering unit 53, and the braking unit 54 based on the signal input from the sensor unit F and the high-precision position calculated by the position information calculation unit 51b. The vehicles V1 and V2 receive a planned route, for example, from the management device 10. The automatic driving control unit 51a controls the driving unit 52, the steering unit 53, and the braking unit 54 so that the vehicles V1 and V2 move along the planned route.

[0054] Each of the vehicles V1 and V2 is set with a period during which correction information for calculating a high-precision position is provided and a period during which correction information is not provided. During the period during which correction information is not provided, the automatic driving control unit 51a does not function, and the vehicles V1 and V2 may be manually driven. That is, the control unit 51 may receive an accelerator operation, a steering operation, and a brake operation by the driver, and control the drive unit 52, the steering unit 53, and the braking unit 54 based on the operation. In contrast to this, during the period during which high-precision position information is not provided by the position information calculation unit 51b, the automatic driving control unit 51a may execute automatic driving based on information other than the high-precision position information (for example, the output of the sensor unit F).

[0055] Furthermore, during the period when the correction information is not provided, the control unit 51 may stop the vehicles V1 and V2. For example, if the vehicles V1 and V2 are security vehicles, the control unit 51 may stop the vehicles V1 and V2 during this period and perform security at a fixed position.

[0056] [Position information calculation unit] The position information calculation unit 51b calculates high-precision position information based on the GNSS signal from the GNSS receiving unit 56 and the correction information acquired by the correction information acquisition unit 51c. The position information calculation unit 51b executes, for example, an RTK correction calculation based on the GNSS signal and the correction information, and calculates high-precision position information as a result. The position information calculation unit 51b may calculate high-precision position information based on the output of the sensor unit F (for example, the output of an IMU or a vehicle speed sensor) in addition to the GNSS signal and the correction information.

[0057] As described above, the high-precision position is used in the control by the automatic driving control unit 51a. For example, the deviation between the high-precision current positions of the vehicles V1 and V2 and the planned route is calculated, and the driving unit 52 and the like are controlled based on the deviation. The error between the high-precision position and the actual position is within a few centimeters.

[0058] In this way, since the high-precision position information is calculated not by management device 10 but by vehicles V1 and V2, control unit 51 can detect the positions of vehicles V1 and V2 without delay in controlling vehicles V1 and V2.

[0059] [Correction information acquisition section] The correction information acquisition unit 51c receives correction information from the broadcasting device 201 via the management device 10. The position information calculation unit 51b calculates position information (provisional position information) by using, for example, a GNSS signal. Then, the correction information acquisition unit 51c transmits the provisional position information to the management device 10 and receives correction information corresponding to the provisional position as a response from the management device 10. The correction information acquisition unit 51c receives the correction information at a predetermined cycle.

[0060] The provisional position information does not necessarily have to be position information obtained by single positioning. As described above, the provisional position information may be, for example, position information obtained by differential GPS (relative positioning). Depending on the reception cycle of the correction information, the correction information received in the previous cycle may be used to calculate the provisional position information.

[0061] [Driving Information and Communications Department] The driving information communication unit 51d transmits the driving status of the vehicles V1 and V2 to the management device 10 at a predetermined cycle (e.g., every few seconds). The management device 10 displays the received driving information on the display unit 14. The driving information communication unit 51d also receives commands related to the operation of the vehicles V1 and V2 from the management device 10. The driving information communication unit 51d receives, for example, a stop command. The stop command is transmitted from the management device 10, for example, when the vehicles V1 and V2 leave a predefined allowable driving area. When the automatic driving control unit 51a receives a command, it controls the drive unit 52, the steering unit 53, and the braking unit 54 in accordance with the command.

[0062] [Processing performed by the control device] 5 is a block diagram showing functions of the control unit 11 of the management device 10. As shown in the figure, the control unit 11 may have, as its functions, an ID management unit 11a, a correction information acquisition unit 11b, and a monitoring unit 11c.

[0063] [ID Management Department] The management device 10 connects to the distribution device 201 and receives the correction information from the distribution device 201. To connect to the distribution device 201, a connection identification (ID) is required. That is, when starting a connection to the distribution device 201, the management device 10 transmits a connection ID to the distribution device 201. The distribution device 201 executes an authentication process for the connection ID. Then, if the authentication is successful, a process for transmitting the correction information to the vehicles V1 and V2 is started between the management device 10 and the distribution device 201. On the other hand, if the authentication is not successful, the transmission of the correction information from the distribution device 201 is rejected.

[0064] The connection ID is issued in advance by, for example, the operator (business operator) of the distribution device 201. The management device 10 manages the operation of multiple vehicles V11, V12, etc. and multiple vehicles V21, V22, etc. If the management device 10 obtains connection IDs for all of the vehicles V11, V12, etc. and vehicles V21, V22, etc. that it manages, the management device 10 will need as many connection IDs as there are vehicles. This leads to increased costs for the management device 10 and the operators of the vehicles. For example, if the operator of the distribution device 201 charges the operators of the vehicles V1, V2, etc. according to the number of connection IDs, the costs will be excessive if connection IDs are secured for all of the vehicles V1, V2.

[0065] Therefore, in the operation system 100 proposed in the present disclosure, one connection ID is shared by multiple vehicles V1 and V2. For example, in a first period (e.g., daytime), the ID management unit 11a assigns a first connection ID (N01) to a first vehicle V11, and in a second period (e.g., nighttime), the ID management unit 11a cancels the assignment of the first connection ID (N01) to the first vehicle V11 and assigns the same first connection ID (N01) to a second vehicle V21. This allows the connection IDs to be used effectively, reducing the number of connection IDs and suppressing increases in costs.

[0066] The ID management unit 11a performs similar processing for the other vehicles V12, V13, ..., V21, V23, .... For example, the ID management unit 11a assigns the second connection ID (N02) to the third vehicle V12 in the first period, cancels the assignment of the second connection ID (N02) to the third vehicle V12 in the second period, and assigns the same second connection ID (N02) to the fourth vehicle V22.

[0067] As described above, the vehicles V11, V12, etc. and the vehicles V21, V22, etc. have different uses. Therefore, the period (time period) in which the vehicles V11, V12, etc. are used is different from the period (time period) in which the vehicles V21, V22, etc. are used. For this reason, as described above, each connection ID can be shared by multiple vehicles.

[0068] As described above, the connection ID is information used for authentication processing in the distribution device 201, and is issued, for example, by an operator of the distribution device 201. When the management device 10 and the distribution device 201 communicate with each other via the Internet, identification information (e.g., IP address) of the management device 10 itself and identification information (e.g., IP address) of the distribution device 201 may be added as a header, and information including the connection ID and position information (or correction information) may be transmitted and received between them.

[0069] The vehicle ID is identification information for identifying each vehicle V1 / V2, and is assigned by, for example, an administrator of the vehicles V1 / V2, and stored in the memory unit 51B of the vehicles V1 / V2. When the management device 10 and the vehicles V1 / V2 communicate with each other via the Internet, the identification information (e.g., IP address) of the management device 10 itself and the identification information (e.g., IP addresses) assigned to the vehicles V1 / V2 may be added as a header, and information including the vehicle ID and position information (or correction information) may be transmitted and received between the two.

[0070] [ID management information] Each vehicle V1, V2 is assigned a vehicle ID for identifying the vehicle. The memory unit 11B may store ID management information that associates a connection ID with a vehicle ID. FIG. 6 is a diagram showing an example of the ID management information. In this diagram, a table (ID management table) is shown as the ID management information. In the example of this diagram, a plurality of connection IDs (N01, N02,...) are associated with the vehicle IDs (v0011, v0012,...) of the vehicles V11, V12,.... On the other hand, no connection ID is assigned to the vehicles V21, V22,....

[0071] The ID management unit 11a updates this ID management table, for example, when a connection ID is assigned to each vehicle V1-V2. Referring to the above example, the ID management unit 11a updates the ID management table when a first period arrives, and updates the ID management table again when a second period arrives. Note that the ID management information does not necessarily have to be a table as exemplified in FIG. 6, as long as it is information that associates the connection ID with the vehicle ID. For example, the ID management information may be a plurality of tables in which the vehicle ID and the connection ID are indirectly linked.

[0072] The storage unit 11B of the management device 10 may store information (vehicle information) about the vehicles V1 and V2 managed by the management device 10. In the vehicle information, vehicle profiles, such as the vehicle type, performance (e.g., battery capacity), and vehicle status (e.g., broken), may be recorded in association with the vehicle ID. The storage unit 11B records connection IDs that can be used for connection to the distribution device 201. The number of connection IDs that can be used for connection is less than the number of vehicles managed by the management device 10, in other words, the number of vehicles V1 and V2 registered in the vehicle information. In other words, the number of connection IDs can be reduced because the connection IDs are shared by multiple vehicles V1 and V2.

[0073] [Operation schedule information] The ID management unit 11a assigns a connection ID to each of the vehicles V1 and V2 when a predetermined condition is satisfied. Here, "when a predetermined condition is satisfied" refers to, for example, when a predefined period (e.g., a time period in a day) begins, when each of the vehicles V1 and V2 requests the start of transmission of correction information, when each of the vehicles V1 and V2 starts autonomous driving, etc.

[0074] The ID management unit 11a may assign connection IDs to the vehicles V1-V2 by referring to driving schedule information indicating a period during which the correction information is used in controlling the multiple vehicles V1-V2. The driving schedule information specifies a period during which each of the vehicles V1-V2 uses the correction information. The driving schedule information can be stored in advance in the storage unit 11B by, for example, an operator of the operation system 100 via the input unit 15.

[0075] FIG. 7 is a diagram showing an example of driving schedule information. In this diagram, a table (driving schedule table) is shown as the driving schedule information. In the example of this diagram, for vehicle V1 (vehicle ID: v0011 to v0014), the use of correction information is permitted at night (20:00 to 24:00 in the example of the diagram), and for vehicle V2 (vehicle ID: v0021 to v0024), the use of correction information is permitted during the day (8:00 to 17:00 in the example of the diagram). In this way, it is desirable that the use period of the correction information specified for vehicle V1 and the use period of the correction information specified for vehicle V2 do not overlap.

[0076] The ID management unit 11a may periodically refer to the driving schedule table, or may refer to the driving schedule table in response to a request from each vehicle V1-V2. If the current time falls within the period in which the correction information is used, the ID management unit 11a may assign a connection ID to the vehicle V1-V2 and update the ID management table illustrated in FIG. 6. On the other hand, if the current time does not fall within the period in which the correction information is used, the ID management unit 11a may refuse to assign a connection ID to the vehicle V1-V2, or may cancel the assignment of the connection ID that has already been assigned. The ID management unit 11a may also update the ID management table illustrated in FIG. 6 at this time. By such processing, the connection ID is shared between the vehicle V1 and the vehicle V2. On the other hand, since the periods in which the correction information is used overlap for the multiple vehicles V1, the connection ID is not shared between them. Similarly, since the periods in which the correction information is used overlap for the multiple vehicles V2, the connection ID is not shared between them.

[0077] [Correction information acquisition section] As shown in Fig. 5, the management device 10 has a correction information acquisition unit 11b as one of its functions. The correction information acquisition unit 11b executes a process related to receiving correction information. Specifically, the correction information acquisition unit 11b transmits the tentative position information received from the vehicles V1 and V2 to the broadcasting device 201 at a predetermined cycle. The correction information acquisition unit 11b receives correction information corresponding to the tentative position information (correction information obtained from the reference station 202 close to the tentative position) as a response from the broadcasting device 201 at a predetermined cycle.

[0078] The correction information acquisition unit 11b also transmits the received correction information to the vehicles V1 and V2. The calculation of the high-precision positions based on the correction information (correction calculation) is performed by the control unit 51 of the vehicles V1 and V2. Alternatively, the calculation of the high-precision position information may be performed in the management device 10. In this case, the management device 10 transmits the high-precision position information calculated based on the received correction information to the vehicles V1 and V2. In this case, the management device 10 also receives information required for the correction calculation, specifically, the carrier phase obtained from the GNSS signal received by the vehicles V1 and V2, from the vehicles V1 and V2.

[0079] The correction information acquisition unit 11b uses the connection ID in communication with the distribution device 201. For example, the correction information acquisition unit 11b transmits a message (connection request) requesting connection establishment to the distribution device 201 together with the connection ID prior to transmission of the provisional location information. Then, an authentication process based on the connection ID is executed in the distribution device 201. For example, the distribution device 201 determines whether the connection ID matches a legitimate one issued by the operator of the distribution device 201. The distribution device 201 may determine whether to approve the establishment of the connection based on whether the payment for the connection ID has been properly made. Then, when the authentication is established, a connection is established between the management device 10 and the distribution device 201. After that, the periodic transmission and reception of the provisional location information and the correction information between the management device 10 (correction information acquisition unit 11b) and the distribution device 201 described above is realized. When a connection is established between the management device 10 and the distribution device 201, the distribution device 201 may issue a session ID for communication using the authenticated connection ID and transmit the session ID to the management device 10. After the connection is established, the session ID may be used for communication between the management device 10 and the distribution device 201.

[0080] In addition, in communication between the management device 10 and the broadcasting device 201, the correction information acquisition unit 11b may refer to ID management information. For example, when the correction information acquisition unit 11b receives tentative location information from the vehicle V11 having the vehicle ID (v0011), the correction information acquisition unit 11b may refer to an ID management table ( FIG. 6 ), which is an example of ID management information, and transmit the tentative location information to the broadcasting device 201 with the connection ID (N01) corresponding to the vehicle ID (v0011). At this time, the correction information acquisition unit 11b may transmit the tentative location information to the broadcasting device 201 by using a session ID previously issued by the broadcasting device 201. After that, the broadcasting device 201 may transmit the correction information to the management device 10.

[0081] The correction information acquisition unit 11b may also refer to the ID management information when transmitting the received correction information to the vehicles V1 and V2. For example, when the correction information acquisition unit 11b receives correction information for the connection ID (N01), the correction information acquisition unit 11b refers to an ID management table (FIG. 6), which is an example of the ID management information, and transmits the correction information to the vehicle having the vehicle ID corresponding to the connection ID (N01).

[0082] After the communication is established among the vehicles V1 and V2, the management device 10, and the distribution device 201, it is not necessary to refer to the ID management table (FIG. 6) that directly associates the vehicle ID with the connection ID. For example, when the connection is established, the management device 10 may associate the session ID used in the communication between the vehicles V1 and V2 and the management device 10 with the session ID used in the communication between the management device 10 and the distribution device 201.

[0083] The above-mentioned function of the correction information acquisition unit 11b is realized by the following function of the distribution device 201. That is, the distribution device 201 receives correction information from multiple reference stations 202 and stores it in a storage device provided in the distribution device 201. When the distribution device 201 receives a request to send correction information (a request to establish a connection) from the management device 10, the distribution device 201 executes an authentication process based on the connection ID received together with the request. If the authentication is successful, the distribution device 201 receives tentative location information from the management device 10 and transmits correction information obtained from a reference station 202 close to the tentative location to the management device 10.

[0084] [Monitoring Department] The management device 10 may include a monitoring unit 11c as shown in Fig. 5. The monitoring unit 11c receives driving information (e.g., vehicle speed, remaining battery charge, etc.) from each of the vehicles V1 and V2. The monitoring unit 11c then displays the driving information on the display unit 14. The monitoring unit 11c also transmits commands input from the input unit 15 by the administrator to the vehicles V1 and V2. The commands input from the input unit 15 are, for example, a stop command or a start driving command.

[0085] The monitoring unit 11c may also determine whether the driving conditions of the vehicles V1 and V2 meet a predetermined condition based on the driving information of each vehicle V1 and V2 received from the vehicles. For example, the monitoring unit 11c may determine whether the current location of each vehicle V1 and V2 is within a driving allowable area, or whether the battery temperature is within a predefined range. If the driving conditions of the vehicles V1 and V2 do not meet the predetermined condition, the monitoring unit 11c may transmit a command (e.g., a stop command) according to the state of the vehicles V1 and V2 to the vehicles V1 and V2.

[0086] In the operation system 100, the management device 10 is responsible for monitoring the driving conditions of the vehicles V1 and V2 and relaying communications between the vehicles V1 and V2 and the distribution device 201. This makes it possible to share a communication module for receiving correction information and a communication module for monitoring the driving conditions of the vehicles V1 and V2, thereby reducing the number of communication modules installed in the vehicles V1 and V2.

[0087] Manual driving of the vehicles V1 and V2 may be permitted during a period in which the use of correction information is not specified in the driving schedule table illustrated in Fig. 6. During this period, the monitoring unit 11c may receive position information obtained by single point positioning or differential GPS and driving information from the vehicles V1 and V2.

[0088] FIG. 8 is a diagram showing an example of a driving allowable area for a vehicle. In the driving allowable area, a route on which an electromagnetic induction line is installed (a route indicated by a solid line in FIG. 8) is defined. One or more stopping positions may be defined on the route defined by the electromagnetic induction line. In addition, in this driving allowable area, a route deviating from the electromagnetic induction line (a route indicated by a dashed line in FIG. 8, hereinafter referred to as an "automated driving route") is also defined. Stopping positions may also be defined on this automated driving route.

[0089] The vehicle V1 arranged in such a driving allowable area may have a sensor that detects the position of the electromagnetic induction line in addition to the hardware shown in FIG. 2. The control unit 51 controls the driving unit 52 and the like so that the vehicle travels along the electromagnetic induction line. When the vehicle V1 travels along an automatic driving route (route indicated by a broken line) at night, for example, the control unit 51 acquires high-precision position information using correction information, and performs automatic driving based on the high-precision position information and the output of the sensor unit F. During this period, the monitoring unit 11c may receive driving information (such as vehicle speed and remaining battery power) and provisional position information of the vehicle V1 from the vehicle V1, and monitor the vehicle V1. In addition, during other periods (for example, during the day), the vehicle V1 may travel along the same route by manual driving. In this case, the monitoring unit 11c may receive driving information of the vehicle V1 and position information obtained by independent positioning or differential GPS from the vehicle V1, and monitor the vehicle V1 based on the information.

[0090] [Processing sequence] 9, a flow of processing executed in the operation system 100 will be described. Here, of two vehicles V11 and V21 used for different purposes, processing during a period in which a connection ID is assigned to vehicle V11 and a connection ID is not assigned to vehicle V21 will be taken as an example.

[0091] Vehicles V11 and V21 each transmit an operation start request to management device 10 (S101, S102). The operation start request may be transmitted, for example, when the control units 51 of vehicles V11 and V21 are powered on or when a predetermined command is input to the control units 51. Vehicles V11 and V21 transmit their own vehicle IDs to management device 10 together with the operation start requests.

[0092] In the operation system 100, when the management device 10 receives an operation start request, a process for assigning a connection ID is executed (S103). The process for assigning a connection ID will be described later in detail. In the example described here, the connection ID (N01) is assigned to the vehicle V11, and no connection ID is assigned to the vehicle V21.

[0093] When the connection ID is assigned to the vehicle V11, transmission and reception of provisional position information and correction information is started between the vehicle V11 and the management device 10. Specifically, the vehicle V11 (position information calculation unit 51b) receives a GNSS signal (S104) and calculates position information (provisional position information) based on the GNSS signal (S105). The vehicle V11 (correction information acquisition unit 51c) transmits the calculated provisional position information to the management device 10 (S106).

[0094] The management device 10 (correction information acquisition unit 11b) transmits the tentative location information of the vehicle V11 to the broadcasting device 201 (S107). At this time, the management device 10 may transmit the tentative location information to the broadcasting device 201 for the connection ID (N01) associated with the vehicle ID (v0011, see FIG. 6) of the vehicle V11 in the connection ID assignment process (S103).

[0095] Based on the tentative position, the distribution device 201 selects a reference station closest to the tentative position from among the multiple reference stations 202 (S108). The distribution device 201 transmits correction information obtained from the observation data of the selected reference station 202 for the connection ID (N01) to the management device 10 (correction information acquisition unit 11b) (S109).

[0096] The management device 10 (correction information acquisition unit 11b) transmits the received correction information to the vehicle V11 (S110). At this time, the management device 10 may refer to the ID management table (FIG. 6). For example, when the management device 10 receives correction information for a connection ID (N01), the management device 10 may transmit the correction information to the vehicle corresponding to the connection ID (N01) in the ID management table. Alternatively, when communication is established, the session ID used in the communication between the vehicles V1 and V2 and the management device 10 and the session ID used in the communication between the management device 10 and the distribution device 201 may be linked in the management device 10. In this case, the management device 10 does not need to refer to the ID management table when transferring the correction information to the vehicle V11.

[0097] The vehicle V11 (position information calculation unit 51b) calculates high-precision position information using the received correction information (S111). The vehicle V11 (automatic driving control unit 51a) controls the drive unit 52, the steering unit 53, and the braking unit 54 based on the high-precision position information so that the vehicle V11 travels along the planned route.

[0098] The vehicle V11, the management device 10, and the broadcasting device 201 repeatedly execute the processes from S104 to S111. Therefore, the vehicle V11 calculates and transmits the provisional position information and receives the correction information at a predetermined cycle.

[0099] In addition, the vehicle V11 (driving information communication unit 51d) may transmit driving information of the vehicle V11 (for example, the output of the sensor unit F, a driving mode, etc.) to the management device 10 in parallel with the processing of S104 to S111. For example, the vehicle V11 may transmit the driving information together with the provisional position information to the management device 10 in S106. The management device 10 (monitoring unit 11c) may monitor the vehicle V11 based on this driving information. Then, for example, when the driving state of the vehicle V11 does not match a predefined condition, the management device 10 may transmit a command corresponding to that state (for example, a stop command) to the vehicle V11. The transmission cycle of the provisional position information and the transmission cycle of the driving information may be the same or different.

[0100] Furthermore, a vehicle V21 to which a connection ID is not assigned may transmit driving information and location information obtained by independent positioning or differential GPS to the management device 10. The management device 10 (monitoring unit 11c) may monitor the driving of the vehicle V21 based on the driving information and the location information.

[0101] The management device 10 ends the allocation of the connection ID when a predetermined condition is satisfied (S112). The management device 10, for example, periodically refers to the above-mentioned driving schedule table (FIG. 7) and determines whether or not the period for allocating the connection ID to the vehicle V11 has ended. If the period has ended, the management device 10 ends the allocation of the connection ID. The process of ending the allocation of the connection ID will be described in detail later.

[0102] [Connection ID allocation process] Fig. 10A is a flow diagram showing an example of a process executed by the management device 10 in the connection ID allocation process of S103 shown in Fig. 9. Here, a case where the vehicle V11 transmits an operation start request will be described as an example. The same process may be executed when an operation start request is transmitted from another vehicle.

[0103] The ID management unit 11a refers to the operation schedule table and determines whether or not the current time is a period during which the correction information is used in the control of the vehicle V11 that has transmitted the operation start request (S201). If the current time is a period during which the correction information is used, the ID management unit 11a determines whether or not there is a connection ID remaining that can be assigned to this vehicle V11 (S202). The ID management unit 11a refers to, for example, the ID management table and determines whether or not there is a connection ID remaining that has not been assigned to another vehicle.

[0104] If there is a connection ID that can be assigned to the vehicle V11 ("Yes" in S202), the ID management unit 11a connects to the distribution device 201 using the connection ID. That is, the ID management unit 11a transmits a connection request to the distribution device 201 using the connection ID (S203). Then, the ID management unit 11a judges whether the authentication in the distribution device 201 has been successful, in other words, whether a notification of successful authentication has been received (S204). If the authentication is successful ("Yes" in S204), the ID management unit 11a assigns the connection ID selected in S202 to the vehicle V11 (S205), and updates the ID management table so that the vehicle ID of the vehicle V11 and the connection ID are associated with each other (S206). After that, the ID management unit 11a notifies the vehicle V11 of the start of providing correction information (S207).

[0105] On the other hand, if there is no connection ID remaining that can be assigned to the vehicle V11 in the determination of S202 ("No" in S202), or if the authentication is not successful in S204 ("No" in S204), the ID management unit 11a may transmit a non-provision of correction information to the vehicle V11 (S208). Also, if the current time does not fall within the period in which the correction information is used in S201 ("No" in S201), the ID management unit 11a may transmit a non-provision of correction information to the vehicle V11 (S208). When notifying the non-provision of correction information, the management device 10 may transmit a stop command or a command to prohibit automatic driving to the vehicle V11. The above is an example of the process executed by the management device 10 in the connection ID assignment process.

[0106] The management device 10 may repeatedly execute the process of S201 in Fig. 10A at a predetermined cycle without depending on the operation start request from the vehicle V11. Then, the management device 10 may refer to the operation schedule table in S201, and execute the process of S202 and subsequent steps when the current time falls within the period in which the correction information is used.

[0107] [Connection ID allocation termination process] Fig. 10B is a flow diagram showing an example of the process executed by the management device 10 in the process of ending the assignment of the connection ID in S112 shown in Fig. 9. Here, a case will be described in which the correction information is used in the vehicle V11.

[0108] The ID management unit 11a judges whether the current time corresponds to a period during which the correction information is used in the control of the vehicle V11 (S301). In this judgment, the ID management unit 11a may refer to, for example, a driving schedule table. The process of S301 may be repeatedly executed at a predetermined cycle during the period during which the control using the correction information is executed.

[0109] If it is no longer the period for using the correction information ("No" in S301), the ID management unit 11a ends the assignment of the connection ID to the vehicle V11 (S302) and updates the ID management table (S303). That is, the ID management unit 11a cancels the association between the vehicle ID of the vehicle V11 and the connection ID in the ID management table. Then, the ID management unit 11a notifies the distribution device 201 of the end of the connection using this connection ID (S304). The ID management unit 11a may also notify the vehicle V11 of the end of the provision of the correction information (S305).

[0110] 10A and 10B are executed for multiple vehicles V1 and V2, a connection ID is assigned to the first vehicle V11 during a first period (e.g., daytime), and during a second period (e.g., nighttime), the connection ID assignment to the first vehicle V11 is cancelled and the same connection ID is assigned to the second vehicle V21. The same applies to the other vehicles V12, V13, V22, and V23. This allows the number of connection IDs to be reduced, leading to cost savings.

[0111] [Other examples of tables] In the driving schedule table shown in FIG. 7, the time period in a day is shown as the period in which the correction information is used. However, the "time period" may be a day in a week. FIG. 11A is a driving schedule table according to such an example. In this figure, the vehicle with the vehicle ID (v0011, v0012) may be a vehicle used for commuting to work or school on weekdays. In contrast, the vehicle with the vehicle ID (v0021, v0022) may be a vehicle used on holidays at a tourist spot or facility, for example.

[0112] Also, the time period may be a month in a year. Fig. 11B is a driving schedule table according to such an example, and in this figure, the vehicle with the vehicle ID (v0011, v0012) is, for example, an agricultural vehicle that uses the correction information during the period from April 1 to October 31. On the other hand, the vehicle with the vehicle ID (v0021, v0022) is, for example, a snow removal vehicle used in the winter.

[0113] In the operation schedule management tables illustrated in FIG. 7, FIG. 11A, FIG. 11B, etc., a connection ID is shared between a vehicle with a vehicle ID (v0011, v0012) and a vehicle with a vehicle ID (v0021, v0022). On the other hand, a connection ID is not shared between vehicles with vehicle IDs (v0011, v0012). Similarly, a connection ID is not shared between vehicles with vehicle IDs (v0021, v0022).

[0114] [Connection ID allocation process based on operating status] In the operation system 100, the management device 10 refers to the operation schedule table when assigning a connection ID. However, the management device 10 may assign a connection ID or terminate the assignment of a connection ID based on the operating state (including the current location) of the vehicles V1 and V2. A system that performs such processing will be described below. The following will focus on the differences from the operation system 100 described so far. Items that are not described may be the same as the example of the operation system 100.

[0115] FIG. 12 is a diagram showing an outline of a driving allowable area to which such processing is applied. In this diagram, solid lines indicate roads on which vehicles V11, V12, and V13 can travel. In the following description, in which the vehicles V11, V12, and V13 are not distinguished from one another, the vehicle is designated by the symbol V1. The purpose of the multiple vehicles V1 may be the same, for example, they may be used to pick up and drop off users.

[0116] A user can transmit a transportation request to the management device 10, for example, through a mobile terminal. The transportation request includes the user's desired boarding position and desired disembarking position. When the management device 10 receives the transportation request, it selects a vehicle V1 that is closest to the desired boarding position from among waiting (stopped) vehicles V1. Then, the management device 10 generates a planned route from the current position of the selected vehicle V1 to the desired boarding position, and a planned route from the desired boarding position to the desired disembarking position. The planned route includes, for example, continuous position information (coordinates through which the vehicle V1 should pass). The management device 10 transmits the planned route to the selected vehicle V1. The control unit 51 (see FIG. 2) of the vehicle V1 controls the drive unit 52 and the like based on the deviation between the current position and the planned route so that the vehicle V1 travels along the received planned route.

[0117] When the vehicle V1 is waiting (stopped), highly accurate position information is not required. As described above, the vehicle V1 transmits its own driving information (including position information by independent positioning) to the management device 10. Therefore, the management device 10 manages the stopped vehicle V1 based on the driving information. On the other hand, when the vehicle V1 is traveling automatically along a planned route, highly accurate position information is required. Therefore, the management device 10 assigns a connection ID to the vehicle V1 that starts traveling automatically. When the vehicle V1 stops (standby) again, the management device 10 ends the assignment of the connection ID to this vehicle V1.

[0118] It is assumed that any of the multiple vehicles V1 managed by the management device 10 is stopped. Therefore, the number of connection IDs issued for connecting to the distribution device 201 may be smaller than the number of vehicles V1 managed by the management device 10. Then, a connection ID may be assigned only to the vehicle V1 that is in autonomous driving, and no connection ID may be assigned to the stopped vehicle V1. As a result, one connection ID can be shared by multiple vehicles V1.

[0119] Fig. 13 is a flow diagram showing an example of a process executed by the management device 10 in such a system. The process in Fig. 13 starts, for example, when the management device 10 receives a request to start operation from the vehicle V1. The process in Fig. 13 may be executed for each of the multiple vehicles V1.

[0120] The ID management unit 11a acquires driving information of the vehicle V1 (S401). The driving information includes information such as whether the vehicle V1 is in a standby state or in a state of preparing for automatic driving (for example, a state of about to start moving toward a desired boarding position). Which state the vehicle V1 falls into may be determined based on information received by the management device 10 from the vehicle V1 or information received from the user's mobile terminal. The ID management unit 11a determines whether a state requiring correction information has been reached based on the driving information acquired in S401 (S402).

[0121] If the correction information is not required ("No" in S402), for example, if the vehicle V1 is in a stopped state, the processing of the management device 10 returns to S401. On the other hand, for example, if the vehicle V1 is in a state of preparing for automatic driving ("Yes" in S402), correction information is required for performing high-precision positioning. In this case, the ID management unit 11a determines whether or not there is a connection ID remaining that can be assigned to the vehicle V1 (S403). For example, the ID management unit 11a refers to the ID management table (FIG. 6) and determines whether or not there is a connection ID remaining that has not been assigned to another vehicle V1. If there is no connection ID remaining that can be assigned to the vehicle V1 ("No" in S403), the ID management unit 11a may notify the vehicle V1 that correction information will not be provided (S412).

[0122] On the other hand, if a connection ID that can be assigned to the vehicle V1 remains, the ID management unit 11a assigns this connection ID to the vehicle V1 (S404) and updates the ID management table (S405). Then, the ID management unit 11a notifies the vehicle V1 of the start of providing correction information (S406). As in the process shown in FIG. 10A, the ID management unit 11a may connect to the distribution device 201 using this connection ID and be authenticated by the distribution device 201 prior to the processes of S404, S405, and S406. Then, only if the authentication is successful, the ID management unit 11a may assign the connection ID to the vehicle V1 (S404) and update the ID management table (S405).

[0123] When the connection ID is assigned to the vehicle V1, the vehicle V1, the management device 10, and the broadcasting device 201 perform the processes shown in S104 to S111 in Fig. 9. That is, the vehicle V1 transmits tentative position information to the management device 10 at a predetermined period. The management device 10 transmits this tentative position information to the broadcasting device 201, and receives correction information according to the tentative position as a response from the broadcasting device 201. The management device 10 transmits this correction information to the vehicle V1. The vehicle V1 performs correction calculation (high-precision positioning) based on the correction information. Then, the vehicle V1 starts autonomous driving using this high-precision position information.

[0124] While the vehicle V1 is traveling automatically, the management device 10 receives driving information from the vehicle V1 and monitors the vehicle V1 (S407). Then, the ID management unit 11a determines whether the correction information is no longer necessary (S408). For example, the ID management unit 11a determines whether the vehicle V1 has reached a stop position (for example, a user's desired drop-off position or a predefined waiting position).

[0125] If the correction information is no longer needed ("Yes" in S408), the ID management unit 11a ends the assignment of the connection ID (S409) and updates the ID management table (S410). That is, the ID management unit 11a cancels the association between the vehicle ID of the vehicle V1 and the connection ID in the ID management table. At this time, the ID management unit 11a may notify the vehicle V1 of the end of the provision of the correction information, similar to the process shown in FIG. 10B. The management device 10 repeats the processes of S407 and S408 until the correction information is no longer needed.

[0126] Thereafter, the management device 10 determines whether or not the end condition for the operation management of the vehicle V1 has been met (S411). The management device 10 determines, for example, whether or not the period for accepting pick-up and drop-off requests from users has ended. If the end condition for the operation management has been met ("Yes" in S411), the management device 10 ends the processing. On the other hand, if the end condition for the operation management has not yet been met ("No" in S411), the management device 10 returns to S401 and resumes the subsequent processing.

[0127] 13, the management device 10 assigns a connection ID (N01) to the first vehicle V11 during a first period (a period during which the vehicle V11 is autonomously traveling and the vehicle V12 is stopped). Also, during a second period (a period during which the vehicle V11 is stopped and the vehicle V12 is autonomously traveling), the assignment of the connection ID (N01) to the first vehicle V11 is cancelled, and the connection ID (N01) is assigned to the second vehicle V12. The same applies to the other vehicle V13. This allows the connection IDs to be used efficiently and the number of connection IDs to be reduced.

[0128] The process illustrated in Fig. 13 may be used in a driving allowable area in which routes that require high-precision location information and routes that do not require high-precision location information are defined, as illustrated in Fig. 8. In this case, the management device 10 may assign connection IDs based on the current positions of the vehicles V1 and V2, or may terminate the assignment of connection IDs.

[0129] For example, the management device 10 (ID management unit 11a) acquires the current position of the vehicle V1 in S401, and determines whether or not the vehicle has reached a state where correction information is required based on the current position of the vehicle (S402). That is, the management device 10 determines whether or not the vehicle V1 has entered an automatic driving route (a route indicated by a dashed line in FIG. 8) that is off the electromagnetic induction line in S402. If the vehicle V1 is not on the automatic driving route ("No" in S402), in other words, if the vehicle V1 is on a route on which an electromagnetic induction line is laid, the processing of the management device 10 returns to S401. On the other hand, if the vehicle V1 is on the automatic driving route ("Yes" in S402), the management device 10 (ID management unit 11a) assigns a connection ID to the vehicle V1. At this time, the management device 10 may determine whether or not a connection ID that can be assigned to the vehicle V1 remains prior to the assignment of the connection ID (S403). The subsequent processing may be the same as the processing described with reference to FIG. 13.

[0130] [Correction calculations performed in the management device] As yet another example, the correction calculation based on the correction information, that is, the calculation of high-precision position information, may be executed in the management device 10.

[0131] For example, when the vehicles V1 and V2 are traveling by manual operation, the need for high-precision position information in the vehicles V1 and V2 is low. On the other hand, the management device 10 may determine whether the manually operated vehicles V1 and V2 are within the driving permitted area. The determination is preferably performed based on high-precision position information. In such a case, the management device 10 may calculate the high-precision position based on the correction information. In this case, the management device 10 may receive information required for the correction calculation from the vehicles V1 and V2 in addition to the above-mentioned driving information. The information required for the correction calculation is, for example, the carrier phase obtained from the GNSS signal received by the vehicles V1 and V2.

[0132] Also, in the operation system of the vehicle V1 traveling in the driving allowance area illustrated in FIG. 12, the management device 10 may calculate high-precision position information. For example, when a user transmits a pick-up request to the management device 10 through a mobile terminal, the management device 10 may calculate the time required for the vehicle V1 to travel from the current position to the desired boarding position. In this case, the current position of the vehicle V1 may be a high-precision position calculated based on the correction information. In this case, the management device 10 may receive information required for the correction calculation (e.g., carrier phase) from the vehicle V1 in addition to the driving information described above.

[0133] [Other system configurations] As yet another example, the correction information may be transmitted from the distribution device 201 to the vehicles V1 and V2 without passing through the management device 10. FIG. 14 is a block diagram showing such an operation system 300. The following mainly describes the differences from the operation system 100 described thus far. Items not described may be the same as the example of the operation system 100.

[0134] In the operation system 300, the management device 10 is connected to the vehicles V1 and V2 via a network N1. In addition, the distribution device 201 is also connected to the vehicles V1 and V2 via the network N1. The network N1 may include a WAN including the Internet or a dedicated line, and a LAN, as in the example of FIG. 1. These include a wired communication network and / or a wireless communication network. When the operation system 300 has the configuration shown in FIG. 14, the control unit 11 of the management device 10 and the control unit 51 of the vehicles V1 and V2 may have the following functions.

[0135] In the operation system 300, the management device 10 also has an ID management unit 11a (see FIG. 5). The ID management unit 11a assigns connection IDs (N01, N02, N03, etc.) to multiple vehicles V1 during a first period (e.g., daytime), and assigns connection IDs (N01, N02, N03, etc.) to multiple vehicles V2 during a second period (e.g., nighttime). The ID management unit 11a updates an ID management table (FIG. 6) when it assigns a connection ID to each of the vehicles V1 and V2.

[0136] The ID management unit 11a, for example, refers to a driving schedule table (for example, the table in FIG. 7) indicating a period during which the correction information is used in the control of the multiple vehicles V1-V2, and assigns a connection ID to the vehicles V1-V2. Alternatively, the ID management unit 11a may assign a connection ID to the vehicles V1-V2 based on the driving state, as described with reference to FIGS. 12 and 13. The ID management unit 11a notifies the vehicles V1-V2 of the assigned connection ID.

[0137] In the vehicle operation system 300, the vehicles V1 and V2 also have a correction information acquisition unit 51c. When the correction information acquisition unit 51c receives a connection ID from the management device 10, it connects to the broadcasting device 201 by using the connection ID and receives correction information from the broadcasting device 201. The correction information acquisition unit 51c transmits tentative position information to the broadcasting device 201, and receives correction information corresponding to the tentative position from the broadcasting device 201 in response.

[0138] The ID management unit 11a may also determine whether to end the assignment of connection IDs in the vehicle operation system 300. When ending the assignment of connection IDs, the ID management unit 11a may notify the vehicles V1 and V2 of the end of the assignment. Then, the correction information acquisition unit 51c of the vehicles V1 and V2 may notify the broadcasting device 201 of the termination of the connection.

[0139] In the operation system 300, the management device 10 may also include the monitoring unit 11c. On the other hand, the management device 10 does not need to include the correction information acquisition unit 11b. The vehicles V1 and V2 may each include an automatic driving control unit 51a, a position information calculation unit 51b, and a driving information communication unit 51d.

[0140] [summary] (1) The travel system 100 proposed in this disclosure includes an ID manager 11a that assigns multiple connection IDs to multiple vehicles V1 and V2 to connect to a broadcasting device 201 that broadcasts correction information. The travel system 100 also includes a correction information acquirer 11b that transmits tentative position information of the vehicles V1 and V2 to the broadcasting device 201 and receives correction information corresponding to the tentative positions indicated by the tentative position information from the broadcasting device 201. The ID manager 11a assigns a first connection ID (N01) to the first vehicle V1 in the first period, and assigns a first connection ID (N01) to the second vehicle V2 in the second period. The correction information acquirer 11b connects to the broadcasting device 201 using the first connection ID (N01) in the first period, and receives correction information for the first vehicle V1 from the broadcasting device 201. In the second period, the correction information acquirer 11b connects to the distribution device 201 by using the first connection ID (N01) and receives correction information for the second vehicle V2 from the distribution device 201. According to the operation system 100, the number of connection IDs can be reduced, and therefore the costs imposed on the operators of the vehicles V1 and V2 can be reduced.

[0141] 14 includes an ID management unit 11a that assigns connection IDs to vehicles V1 and V2. In the vehicle operation system 300, the correction information acquisition unit 51c of the vehicle V1 connects to the broadcasting device 201 by using the first connection ID (N01) during a first period. In the vehicle operation system 300, the correction information acquisition unit 51c of the vehicle V2 connects to the broadcasting device 201 by using the first connection ID (N01) during a second period. Therefore, the number of connection IDs in the vehicle operation system 300 can be reduced.

[0142] (2) In (1), the use of the first vehicle V1 and the use of the second vehicle V2 are different. According to this, the period during which the use of the first vehicle V1 is realized can be defined as the "first period," and the period during which the use of the second vehicle V2 is realized can be defined as the "second period."

[0143] (3) In (1) or (2), the driving area permitted for the first vehicle V1 is different from the driving area permitted for the second vehicle V2. If the driving areas are different, the time periods during which the vehicles V1 and V2 are used are often different, and as a result, it becomes easier to separate the first period from the second period.

[0144] (4) In (1) to (3), the ID management unit 11a has an ID management table (FIG. 6) that associates vehicle IDs for identifying multiple vehicles V1 and V2 with multiple connection IDs, and in the first period, it associates the vehicle ID given to the first vehicle V1 with the first connection ID (N01), and in the second period, it associates the vehicle ID given to the second vehicle V2 with the first connection ID (N01). This makes it possible to easily manage the connection IDs.

[0145] (5) In (1) to (4), when a predetermined condition is satisfied, the ID management unit 11a selects a connection ID to be assigned to the vehicle ID of each of the vehicles V1 and V2 from among a plurality of connection IDs.

[0146] (6) In (1) to (5), the ID management unit 11a refers to a driving schedule table (e.g., the table in FIG. 7, FIG. 11A, and FIG. 11B) indicating a period during which the correction information is used in the control of the multiple vehicles V1 and V2, and selectively assigns a first connection ID (N01) to the first vehicle V1 and the second vehicle V2. This allows the assignment of connection IDs to be performed in a planned manner, and a shortage of connection IDs can be avoided.

[0147] (7) In (1) to (5), the ID management unit 11a selectively assigns the first connection ID (N01) to the first vehicle V1 and the second vehicle V2 based on the driving information of the first vehicle V1 and the second vehicle V2 as described in Fig. 12 and Fig. 13. This increases the degree of freedom in assigning connection IDs.

[0148] (8) In (1) to (7), the correction information acquisition unit 11b of the management device 10 transmits the correction information received from the distribution device 201 to the first vehicle V1 in the first period, and transmits the correction information received from the distribution device 201 to the second vehicle V2 in the second period. This simplifies the processing in the vehicles V1 and V2 compared to a system in which the vehicles V1 and V2 directly connect to the distribution device 201 using a connection ID.

[0149] In (9) and (8), the management device 10 includes a monitoring unit 11c that receives information representing the driving state of each of the vehicles V1 to V2 from each of the vehicles V1 to V2. This allows the vehicles V1 to V2 to share a communication module for monitoring and a communication module for receiving correction information, thereby reducing costs.

[0150] In (10)(9), the monitoring unit 11c manages the second vehicle V2 based on the provisional position information of the second vehicle V2 during the first period, and manages the first vehicle V1 based on the provisional position information of the first vehicle V1 during the second period. This makes it possible to monitor the positions of the vehicles V1 and V2 even during periods when no connection ID is assigned.

[0151] (11) In (1) to (10), the first period is at least a portion of the period during which the second vehicle V2 is stopped or manually driven, as described in Figures 12 and 13, and the second period is at least a portion of the period during which the first vehicle V1 is stopped or manually driven.

[0152] (12) In (1) through (11), the number of connection IDs permitted to connect to the distribution device 201 is smaller than the number of vehicles V1 and V2 managed by the operation systems 100 and 300. This reduces the costs imposed on the operators of the vehicles V1 and V2.

[0153] (13) In (1) to (12), the ID management unit 11a assigns the second connection ID (N02) to the third vehicle V12 in the first period, and assigns the second connection ID (N02) to the fourth vehicle V22 in the second period. As a result, multiple vehicles (the first vehicle V11 and the third vehicle V12) operate in the first period, and multiple vehicles (the second vehicle V21 and the fourth vehicle V22) operate in the second period. This improves user convenience.

[0154] (14) In (1) to (13), the first period and the second period do not overlap. This can facilitate the process of allocating connection IDs.

[0155] The operation system proposed in this disclosure is not limited to the above-described examples, and various modifications may be made. For example, in this disclosure, autonomous vehicles V1 and V2 are shown as examples of moving objects. However, the system proposed in this disclosure may be applied to unmanned aerial vehicles, robots, etc. [Explanation of symbols]

[0156] 10: management device, 11: control unit, 11A: calculation unit, 11B: memory unit, 11a: ID management unit, 11b: correction information acquisition unit, 11c: monitoring unit, 13: communication unit, 14: display unit, 15: input unit, 20: reference station, 51: control unit, 51A: calculation unit, 51B: memory unit, 51a: automatic driving control unit, 51b: position information calculation unit, 51c: correction information acquisition unit, 51d: driving information communication unit, 52: drive unit, 53: steering unit, 54: braking unit, 55: communication unit, 56: GNSS receiving unit, 100: operation system, 201: distribution device, 202: reference station, 300: operation system.

Claims

1. A navigation system that receives correction information for calculating high-accuracy location information of a mobile object from a broadcasting device based on provisional location information of the mobile object, and navigates the mobile object using the high-accuracy location information, an ID management unit that assigns connection IDs to a plurality of mobile units to be used for connecting to the distribution device; a correction information acquisition unit that transmits the provisional position information of the moving object to the broadcasting device and receives the correction information corresponding to the provisional position indicated by the provisional position information from the broadcasting device; and the ID management unit assigns a first connection ID to a first moving body that is one of the plurality of moving bodies during a first period, and assigns the first connection ID to a second moving body that is another one of the plurality of moving bodies during a second period; The correction information acquisition unit connects to the broadcasting device using the first connection ID during the first period and receives the correction information for the first mobile object from the broadcasting device, and connects to the broadcasting device using the first connection ID during the second period and receives the correction information for the second mobile object from the broadcasting device. Mobile operation system.

2. The first mobile unit and the second mobile unit have different uses. A mobile object operation system according to claim 1.

3. A driving area permitted for the first moving body is different from a driving area permitted for the second moving body. A mobile object operation system according to claim 1.

4. The ID management unit has ID management information that associates a mobile object ID for identifying a plurality of mobile objects with a plurality of the connection IDs, and in the first period, associates a first mobile object ID assigned to the first mobile object with the first connection ID, and in the second period, associates a second mobile object ID assigned to the second mobile object with the first connection ID. The navigation system according to claim 1 .

5. The ID management unit selects, when a predetermined condition is satisfied, a connection ID to be assigned to a mobile unit ID for identifying each mobile unit from among the plurality of connection IDs. A mobile object operation system according to claim 1.

6. The ID management unit selectively assigns the first connection ID to the first moving body and the second moving body based on operation schedule information indicating a period during which the correction information is used in controlling the plurality of moving bodies. A mobile object operation system according to claim 1.

7. The ID management unit selectively assigns the first connection ID to the first moving body and the second moving body based on driving information of the first moving body and the second moving body. A mobile object operation system according to claim 1.

8. a management device having the ID management unit and the correction information acquisition unit, The correction information acquisition unit transmits the correction information received from the broadcasting device to the first mobile unit during the first period, and transmits the correction information received from the broadcasting device to the second mobile unit during the second period. The navigation system according to claim 1 .

9. a management device having the ID management unit and the correction information acquisition unit, The management device further includes a monitoring unit that receives information representing an operating state of each of the plurality of mobile objects from each of the plurality of mobile objects. A mobile object operation system according to claim 1.

10. The monitoring unit manages the second moving object based on the provisional position information of the second moving object during the first period, and manages the first moving object based on the provisional position information of the first moving object during the second period.

10. A mobile object operation system according to claim 9.

11. the first period is at least a part of a period during which the second moving object is stopped or manually driven, The second period is at least a part of a period during which the first moving body is stopped or manually driven. A mobile object operation system according to claim 1.

12. The number of the connection IDs permitted to connect to the distribution device is less than the number of the plurality of moving objects managed by the operation system. A mobile object operation system according to claim 1.

13. the plurality of moving bodies further includes a third moving body and a fourth moving body; The ID management unit assigns a second connection ID to a third mobile station during the first period, and assigns the second connection ID to a fourth mobile station during the second period. A mobile object operation system according to claim 1.

14. The first period and the second period are non-overlapping periods. A mobile object operation system according to claim 1.

15. A method for operating a mobile object by receiving, from a broadcasting device, correction information for calculating high-accuracy position information of the mobile object from provisional position information of the mobile object, and using the high-accuracy position information, comprising: an ID management step of assigning connection IDs to a plurality of mobile units to be used for connecting to the distribution device; a correction information acquisition step of transmitting the provisional position information of the moving object to the broadcasting device and receiving, from the broadcasting device, the correction information corresponding to the provisional position indicated by the provisional position information; Including, In the ID management step during a first period, a first connection ID is assigned to a first moving body that is one of the plurality of moving bodies, and in the ID management step during a second period, the first connection ID is assigned to a second moving body that is another one of the plurality of moving bodies; In the correction information acquisition step in the first period, the first mobile object connects to the distribution device using the first connection ID and receives the correction information for the first mobile object from the distribution device, and in the correction information acquisition step in the second period, the first mobile object connects to the distribution device using the first connection ID and receives the correction information for the second mobile object from the distribution device. How the vehicle operates.

16. An operation program that causes a computer to function as a system that receives, from a distribution device, correction information for calculating high-accuracy position information of a moving object from provisional position information of the moving object, and operates the moving object using the high-accuracy position information, an ID management unit that assigns connection IDs to multiple mobile units to be used for connecting to the distribution device; and a correction information acquisition unit that transmits the provisional position information of the moving object to the broadcasting device and receives the correction information corresponding to the provisional position indicated by the provisional position information from the broadcasting device; causing the computer to function as the ID management unit assigns a first connection ID to a first moving body that is one of the plurality of moving bodies during a first period, and assigns the first connection ID to a second moving body that is another one of the plurality of moving bodies during a second period; The correction information acquisition unit connects to the broadcasting device using the first connection ID during the first period and receives the correction information for the first mobile object from the broadcasting device, and connects to the broadcasting device using the first connection ID during the second period and receives the correction information for the second mobile object from the broadcasting device. Mobile operation program.

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