Vehicle control device, information processing device, vehicle control system, vehicle control method, and information processing method

Abstract

To provide a vehicle control device, an information processing device, a vehicle control system, a vehicle control method, and an information processing method, capable of controlling travelling of a vehicle so as to enable the vehicle to continue to travel even when an object exists on a route of the vehicle.SOLUTION: A vehicle control device includes: a route information acquisition section for acquiring information related to a first route of a vehicle from an information processing device; a traveling control section for controlling the vehicle so as to allow the vehicle to travel along the first route; an object detection section for detecting an object whose distance from the vehicle traveling along the first route is less than a predetermined distance threshold; and an output section for outputting a fact that the object is detected to the information processing device. When the object detection section detects the object, the route information acquisition section acquires information related to a second route different from the first route of the vehicle from the information processing device. When the object detection section detects the object, the traveling control section controls the vehicle so as to travel along the second route acquired by the route information acquisition section.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device, an information processing device, a vehicle control system, a vehicle control method, and an information processing method. [Background technology]

[0002] Conventionally, a parking control system that moves a vehicle by remote control has been disclosed (see Patent Document 1). This parking control system is configured to remotely control a vehicle by a control device so that the vehicle moves along a specified route based on instructions from a user's smartphone, and to switch the positions of multiple vehicles in a parking lot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-028093 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in controlling a vehicle without human operation, such as by remote control, there is a problem that the vehicle may not be able to continue traveling if another object is located on the vehicle's route.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a vehicle control device, an information processing device, a vehicle control system, a vehicle control method, and an information processing method that can control the driving of a vehicle so that the vehicle continues to drive even if an object is present on the vehicle's path. [Means for solving the problem]

[0006] The vehicle control device of the present disclosure includes a route information acquisition unit that acquires information regarding a first route of the vehicle from an information processing device, a driving control unit that controls the vehicle to drive along the first route based on the information acquired by the route information acquisition unit, an object detection unit that detects an object whose distance from the vehicle traveling along the first route is less than a predetermined distance threshold, and an output unit that outputs a notification that an object has been detected to the information processing device, wherein when an object is detected by the object detection unit, the route information acquisition unit acquires information regarding a second route different from the first route of the vehicle from the information processing device, and when an object is detected by the object detection unit, the driving control unit controls the vehicle to drive along the second route acquired by the route information acquisition unit. Effect of the Invention

[0007] According to the present disclosure, when an object is detected whose distance from the vehicle is less than a preset distance threshold, the vehicle is controlled to travel along another route, so that the vehicle's travel can be controlled so that the vehicle continues traveling even if an object is located on the vehicle's route. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a plan view showing a truck yard according to the first embodiment. [Diagram 2] FIG. 2 is a side view showing the trailer head according to the first embodiment. [Diagram 3] 3A is a rear view showing the trailer according to the first embodiment, FIG. 3B is a front view showing the trailer according to the first embodiment, and FIG. 3C is a side view showing the trailer according to the first embodiment. [Figure 4] FIG. 2 is a front view showing the space for one vehicle in the arrival yard dock according to the first embodiment. [Diagram 5] FIG. 5A is a front view showing the switcher according to the first embodiment, and FIG. 5B is a side view showing the switcher according to the first embodiment. [Figure 6] 1 is a block diagram showing a configuration of a vehicle control system according to a first embodiment. [Figure 7]FIG. 2 is a plan view showing a travel route taken by the switcher according to the first embodiment to tow an empty trailer from an arrival yard dock to a waiting area. [Figure 8] FIG. 2 is a plan view showing a travel path taken by the switcher according to the first embodiment to tow an empty trailer from an arrival yard dock to a departure yard dock. [Figure 9] FIG. 2 is a plan view showing a travel route taken by the switcher according to the first embodiment to tow an empty trailer from a waiting location to a departure yard dock. [Figure 10] 1 is a block diagram showing an example of a hardware configuration of a vehicle control system according to a first embodiment. [Figure 11] 1 is a block diagram showing an example of a hardware configuration of a vehicle control system according to a first embodiment. [Figure 12] 3 is a flowchart showing a process performed by the vehicle control device according to the first embodiment. [Figure 13] 4 is a flowchart showing a process performed by the vehicle administration device according to the first embodiment. [Figure 14] FIG. 2 is a plan view showing a travel path when the switcher according to the first embodiment is connected to an empty trailer at an arrival yard dock. [Figure 15] FIG. 2 is a plan view showing a travel path when the switcher according to the first embodiment is connected to an empty trailer at an arrival yard dock. [Figure 16] FIG. 2 is a plan view showing a travel path when the switcher according to the first embodiment is connected to an empty trailer at an arrival yard dock. [Figure 17] 4 is a plan view showing a new driving route output by a vehicle control device when an object is present on the driving route of the switcher in the first embodiment. FIG. [Figure 18] 4 is a plan view showing a new driving route output by a vehicle control device when an object is present on the driving route of the switcher in the first embodiment. FIG. [Figure 19] FIG. 4 is a plan view showing a travel route when the switcher according to the first embodiment cannot be connected to a trailer. [Figure 20]4 is a plan view showing a new driving route output by the vehicle management device when another vehicle is present on the driving route of the switcher according to the first embodiment. FIG. [Figure 21] 4 is a plan view showing a new driving route output by the vehicle management device when another vehicle is present on the driving route of the switcher according to the first embodiment. FIG. [Figure 22] 4 is a plan view showing a driving route that the vehicle control device outputs to the switcher when another object is present on the driving route of the switcher according to the first embodiment. FIG. [Diagram 23] 4 is a plan view showing a driving route that the vehicle control device outputs to the switcher when another object is present on the driving route of the switcher according to the first embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1 The vehicle control system according to the first embodiment is a system for controlling the running of a vehicle. In the first embodiment, the vehicle control system will be described using, as an example, a switcher that can tow a trailer connected (coupled) thereto and runs on a running surface in a truck yard, as a vehicle controlled by the vehicle control system.

[0010] First, basic operations of a vehicle in a vehicle control system according to embodiment 1 will be described with reference to Figures 1 to 5. Figure 1 is a plan view showing a truck yard A0 according to embodiment 1, Figure 2 is a side view showing a trailer head TH1 according to embodiment 1, Figure 3A is a rear view showing a trailer TR1 according to embodiment 1, Figure 3B is a front view showing the trailer TR1 according to embodiment 1, and Figure 3C is a side view showing the trailer TR1 according to embodiment 1.

[0011] As shown in FIG. 1, the truck yard A0 according to the first embodiment is a facility where cargo is loaded and unloaded by a trailer head TH1 connected to a trailer TR1. For example, the truck yard A0 includes an arrival yard dock A1, a departure yard dock A2, and a waiting area A3, which are arranged adjacent to a warehouse SO1. The arrival yard dock A1 is a location where the trailer head TH1 towing the trailer TR1 loaded with cargo arrives to carry the cargo into the warehouse SO1, and is a location where the trailer TR1 is unloaded. For example, the arrival yard dock A1 has a plurality of spaces to which the trailer TR1 loaded with cargo can be connected, and is configured so that unloading can be performed in parallel in each space.

[0012] The departure yard dock A2 is a place where the trailer head TH1 towing the trailer TR1 loaded with luggage departs to take the luggage out of the warehouse SO1, and where the luggage is loaded onto the trailer TR1. For example, the departure yard dock A2 has a plurality of spaces to which the trailer TR1 loaded with luggage can be connected, and is configured so that luggage can be loaded in parallel in each space. The waiting place A3 is a place for waiting the empty trailer TR1 that is not in use. The movement of the empty trailer TR1 between the waiting place A3 and the arrival yard dock A1, and between the waiting place A3 and the departure yard dock A2 is mainly performed by the switcher SW1 with limited functions for traveling within the truck yard A0.

[0013] 2, the trailer head TH1 has a connection part TH1a for connecting to the trailer TR1. When the connection part TH1a is connected to the trailer TR1, the trailer head TH1 is capable of towing the trailer TR1.

[0014] As shown in FIGS. 3A to 3C, the trailer TR1 has a connected part TR11 for connection to a trailer head TH1.

[0015] FIG. 4 is a front view showing the space for one vehicle in the arrival yard dock A1 according to the first embodiment. As shown in FIG. 4, the space in the arrival yard dock A1 has a hook A11, a power supply cable A12, a buffer material A13, a shutter A14, a hood A15, and a awning A16. The hook A11 connects to the trailer TR1 in the arrival yard dock A1 to fix the trailer TR1. The power supply cable A12 supplies the hook A11 with power for operating the hook A11. The buffer material A13 suppresses the impact when the trailer TR1 contacts the arrival yard dock A1. The shutter A14 closes when the arrival yard dock A1 is not used to separate the inside and outside of the warehouse SO1. The hood A15 suppresses the intrusion of dust into the inside of the warehouse SO1 through the gap around the shutter A14. The eaves A16 prevent the cargo from getting wet with rainwater when the cargo is delivered between the trailer TR1 and the warehouse SO1. Note that the configuration of the departure yard dock A2 is similar to that of the arrival yard dock A1, and therefore a description thereof will be omitted.

[0016] FIG. 5A is a front view showing the switcher SW1 according to the first embodiment, and FIG. 5B is a side view showing the switcher SW1 according to the first embodiment. As shown in FIG. 5, the switcher SW1 has a connection part SW1a for connecting to the trailer TR1, and a trailer detection part SW1b for detecting whether the trailer TR1 is connected to the connection part SW1a. For example, the trailer detection part SW1b is configured by a camera that captures an image of the rear of the switcher SW1. The switcher SW1 is in a state in which it can tow the trailer TR1 by connecting the connection part SW1a to the trailer TR1. In addition, the switcher SW1 includes a vehicle control device 100 (see FIG. 6) for controlling the autonomous driving of the switcher SW1 without a driver being on board. The details of the vehicle control device 100 will be described later.

[0017] Fig. 6 is a block diagram showing the configuration of the vehicle control system 1 according to the first embodiment. The vehicle control system 1 includes a vehicle control device 100, a vehicle management device 200, a monitoring device 300, an arrival yard dock management device 400, and a departure yard dock management device 500. The vehicle control system 1 may be configured to control a plurality of switchers, and the vehicle control system 1 configured in this manner includes a plurality of vehicle control devices. However, in Fig. 6, only one vehicle control device 100 is shown, and the other vehicle control devices are not shown.

[0018] The monitoring device 300 is connected to the vehicle management device 200 by wire or wireless communication and includes an object detection unit 310 that detects objects present on the traveling surface in the truck yard A0. For example, a plurality of object detection units 310 are arranged in the truck yard, and detects objects present on the traveling surface that may come into contact with a vehicle traveling in the truck yard A0, such as pedestrians and vehicles in the truck yard A0, by image recognition using LiDAR (Light Detection And Ranging) or a camera. The monitoring device 300 transmits the object detection result to the vehicle management device 200. The vehicle control system 1 may include a plurality of monitoring devices 300.

[0019] The arrival yard dock management device 400 includes an unloading detection unit 410 that detects the completion of unloading at the arrival yard dock A1. For example, the unloading detection unit 410 is configured with a push button that outputs a signal when pressed, and the completion of unloading is detected when a worker at the arrival yard dock A1 presses the push button when unloading is completed. When the unloading detection unit 410 detects the completion of unloading, an unloading completion notice, which is information indicating the completion of unloading, is output to the vehicle management device 200. The arrival yard dock management device 400 may be configured to output information indicating which space unloading has been completed in to the vehicle management device 200 together with the unloading completion notice.

[0020] The departure yard dock management device 500 includes a loading preparation detection unit 510 that detects the completion of preparation for loading luggage at the departure yard dock A2. The configuration of the loading preparation detection unit 510 is similar to that of the unloading detection unit 410, and therefore a description thereof will be omitted. When the loading preparation detection unit 510 detects the completion of loading preparation, a loading preparation completion notice, which is information indicating the completion of loading preparation, is output to the vehicle management device 200. The departure yard dock management device 500 may be configured to output information indicating which space the loading preparation has been completed in, together with the loading preparation completion notice, to the vehicle management device 200.

[0021] The vehicle management device 200 as an information processing device is communicatively connected to the vehicle control device 100 by wire or wirelessly, and manages the control of the switcher SW1 by the vehicle control device 100 based on information from the vehicle control device 100, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500. In other words, the vehicle management device 200 is communicatively connected to the vehicle control device 100 by wire or wirelessly, and controls the autonomous traveling of the switcher SW1 via the vehicle control device 100 based on information from the vehicle control device 100, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500.

[0022] The vehicle management device 200 includes a communication unit 210, an operation planning unit 220, and a plan modification unit 230.

[0023] The communication unit 210 has an input unit 211 and an output unit 212. The input unit 211 accepts various information input from the vehicle control device 100, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500. The output unit 212 outputs the information acquired by the vehicle management device 200 and the results of various processes to the vehicle control device 100, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500.

[0024] The operation plan unit 220 includes a vehicle position information acquisition unit 221, a destination information acquisition unit 222, and a route selection unit 223, and sets an operation plan for the switcher SW1.

[0025] The vehicle position information acquisition unit 221 acquires information relating to the position of the switcher SW1. For example, the vehicle position information acquisition unit 221 acquires information indicating the position of the switcher SW1 by acquiring information transmitted from the switcher SW1. Note that the vehicle position information acquisition unit may be configured to acquire information relating to the position of a vehicle whose running is managed by the vehicle management device, and may be configured to acquire information indicating the position of the vehicle based on information transmitted from the monitoring device 300, for example.

[0026] The destination information acquisition unit 222 acquires information about the destination of the switcher SW1 when the switcher SW1 travels autonomously in the truck yard A0. For example, the destination information acquisition unit 222 acquires information indicating the destination of the switcher SW1 based on information acquired from the arrival yard dock management device 400 and the departure yard dock management device 500. Specifically, the destination information acquisition unit 222 acquires information indicating the destination of the switcher SW1 based on information acquired from the arrival yard dock management device 400 indicating in which space unloading has been completed and information acquired from the departure yard dock management device 500 indicating in which space loading preparation has been completed. Details of the information acquired by the destination information acquisition unit 222 will be described later.

[0027] The route selection unit 223 sets a travel route for the switcher SW1 to travel in the truck yard A0 based on the information acquired by the vehicle position information acquisition unit 221 and the information acquired by the destination information acquisition unit 222. For example, the route selection unit 223 sets, as the travel route of the switcher SW1, a route that starts from the position of the switcher SW1 based on the information indicating the position of the switcher SW1 acquired by the vehicle position information acquisition unit 221, among a plurality of routes set in advance, and ends or passes through any space based on the information indicating the space acquired by the destination information acquisition unit 222. The route selection unit 223 may be configured to not only set the travel route of the switcher SW1, but also to set the speed at which the switcher SW1 travels along the travel route. The route selection unit 223 outputs the set content to the switcher SW1 via the output unit 212. Details of the route selection unit 223 will be described later.

[0028] The plan change unit 230 includes an object detection unit 231 , an object information request unit 232 , an object discrimination unit 233 , a time estimation unit 234 , and a route switching unit 235 .

[0029] The object detection unit 231 as an object information acquisition unit detects an object on the travel route that may come into contact with the switcher SW1 when the switcher SW1 travels along the route set by the route selection unit 223. For example, the object detection unit 231 detects an object on the travel route based on information acquired from the switcher SW1. Also, for example, the object detection unit 231 detects an object on the travel route based on information acquired from the monitoring device 300. Also, for example, the object detection unit 231 detects an object on the travel route at a future time by calculating the moving speed of the object on the travel route based on the information acquired from the monitoring device 300 and predicting the future position of the object based on the moving speed of the object. Also, for example, the object detection unit 231 detects an object on the travel route that may come into contact with the switcher SW1 by acquiring information indicating the presence or absence of an object whose distance from the switcher SW1 is less than a preset distance threshold when the switcher SW1 travels along the route set by the route selection unit 223. Furthermore, for example, the object detection unit 231 may be configured to detect the switcher, trailer head, and trailer within the truck yard A0 based on the positions of the switcher, trailer head, and trailer within the truck yard A0 at a specified time according to the operation plan by acquiring information regarding the operation plan (driving plan) of each switcher controlled by the vehicle management device 200, as well as the operation plan of the trailer head and trailer within the truck yard A0.

[0030] The object information requesting unit 232 outputs a signal for requesting information about an object on the traveling surface from the outside via the output unit 212. For example, based on acquiring information indicating the presence of an object on the traveling surface around the switcher SW1 from the switcher SW1, the object information requesting unit 232 outputs a signal for requesting the monitoring device 300 to transmit more detailed information about the object to the vehicle management device 200.

[0031] The object discrimination unit 233 discriminates what kind of object the detected object is based on the information acquired by the object detection unit 231. For example, the object discrimination unit 233 discriminates whether the detected object is a stationary object or a moving object based on the information acquired by the object detection unit 231. Also, for example, the object discrimination unit 233 discriminates the type of the detected object based on the information acquired by the object detection unit 231. Specifically, the object discrimination unit 233 discriminates whether the detected object is one of a plurality of types including a vehicle or a person based on the information acquired by the object detection unit 231. More specifically, the object discrimination unit 233 discriminates whether the detected object is another vehicle such as a switcher, a trailer head, or a trailer, a person, or another object based on the information acquired by the object detection unit 231. Furthermore, when the detected object is a vehicle, the object discriminator 233 discriminates the priority between the switcher SW1 as the subject vehicle and other vehicles based on the travel route set by the route selector 223. For example, when the detected object is a vehicle whose travel is managed by the vehicle management device 200, the object discriminator 233 discriminates the priority between the switcher SW1 and other vehicles based on the travel route of the switcher SW1 set by the route selector 223 and the travel route of the other vehicles set by the route selector 223. In the first embodiment, the object discriminator 233 constitutes a priority discrimination unit.

[0032] The time estimation unit 234 estimates the time until the object detected by the object detection unit 231 is no longer in danger of coming into contact with the switcher SW1 when the switcher SW1 travels along the route set by the route selection unit 223, based on the information acquired by the object detection unit 231 and the information acquired by the object discrimination unit 233. For example, when the object is another trailer, the time estimation unit 234 estimates the time until the other trailer is no longer in danger of coming into contact with the switcher SW1, based on the operation plan of the other trailer. Also, for example, based on a change in the position of the object over time, the time estimation unit 234 estimates the time until the object is no longer in danger of coming into contact with the switcher SW1. The time estimation unit 234 also estimates the travel time when the switcher SW1 travels along the travel route. The time estimation unit 234 also estimates the time during which the travel of other vehicles is restricted when the switcher SW1 travels along the travel route. For example, the time estimation unit 234 estimates the time during which a state in which the distance between the switcher SW1 and the travel route of the other vehicle is less than a preset distance threshold value when the switcher SW1 travels continues. For example, the time estimation unit 234 also estimates the time during which a state in which the switcher SW1 intersects with the travel route of the other vehicle continues when the switcher SW1 travels.

[0033] The route switching unit 235 changes the operation plan of the switcher SW1, such as changing the travel route of the switcher SW1 set by the operation plan unit 220 and the speed at which the switcher SW1 travels along the travel route, based on various information acquired by the vehicle management device 200. For example, when an object that may come into contact with the switcher SW1 is detected on the travel route when the switcher SW1 travels along the route set by the route selection unit 223, the route switching unit 235 sets another travel route to avoid contact with the object. Also, for example, the route switching unit 235 acquires information on whether the switcher SW1 is connected to the trailer TR1 from the vehicle control device 100, and based on the acquired information, when an object that may come into contact with the switcher SW1 and the connected trailer TR1 is detected on the travel route when the switcher SW1 travels along the route set by the route selection unit 223, the route switching unit 235 sets another travel route to avoid contact with the object. For example, the route selection unit 223 sets, from among a plurality of pre-set routes, a route that starts from the position of the switcher SW1 based on information indicating the position of the switcher SW1 acquired by the vehicle position information acquisition unit 221, and ends or passes through any of the spaces based on information indicating the spaces acquired by the destination information acquisition unit 222, as the travel route of the switcher SW1.

[0034] In the first embodiment, the route switching unit 235 constitutes a connection information acquisition unit that acquires information indicating whether or not the towed vehicle is connected to the vehicle. In the first embodiment, the route selection unit 223 and the route switching unit 235 constitute a route information output unit. For example, when the time estimated by the time estimation unit 234 is within a preset time threshold, the route switching unit 235 sets the speed of the switcher SW1 to avoid contact with an object on the travel route by decelerating the switcher SW1 or temporarily halting travel. The route switching unit 235 outputs the set content to the switcher SW1 via the output unit 212. Details of the route switching unit 235 will be described later.

[0035] The vehicle control device 100 controls the traveling of the switcher SW1 based on information from the vehicle management device 200. The vehicle control device 100 includes a communication unit 110, a vehicle position detection unit 120, an object detection unit 130, a connection detection unit 140, a route information acquisition unit 150, a traveling control unit 160, a fifth wheel control unit 170, a timing unit 180, and a storage unit 190.

[0036] The communication unit 110 has an input unit 111 and an output unit 112. The input unit 111 accepts various information input from the vehicle management device 200, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500. The output unit 112 outputs the information acquired by the vehicle control device 100 and the results of various processes to the vehicle management device 200, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500.

[0037] The vehicle position detection unit 120 acquires information related to the position of the switcher SW1. For example, the vehicle position detection unit 120 is configured with a positioning system such as a GPS (Global Positioning System), and detects the position of the switcher SW1 as the vehicle. The vehicle position detection unit 120 outputs information indicating the detection result to the vehicle management device 200 via the output unit 112.

[0038] The object detection unit 130 detects an object on the running surface in the truck yard A0. In other words, the object detection unit 130 detects an object protruding upward from the running surface in the truck yard A0. For example, the object detection unit 130 detects an object around the switcher SW1 by image recognition using a millimeter wave radar (RADAR), an infrared radar, an ultrasonic sensor, a LiDAR, a camera, or the like. The object detection unit 130 outputs information indicating the detection result to the vehicle management device 200 via the output unit 112.

[0039] When connecting the switcher SW1 and the trailer TR1, the connection detection unit 140 as a connected part information acquisition unit detects the height of the connection part SW1a, the position and height of the connected part TR11 of the trailer TR1, and whether the switcher SW1 and the trailer TR1 are connected. For example, based on information from the trailer detection unit SW1b (not shown in FIG. 6) configured by a camera, the connection detection unit 140 detects the height of the connection part SW1a, the position of the trailer TR1, the height of the connected part TR11 of the trailer TR1, and whether the switcher SW1 and the trailer TR1 are connected by image recognition.

[0040] The route information acquisition unit 150 acquires information on the travel route of the switcher SW1 from the vehicle management device 200. For example, the route information acquisition unit 150 acquires information indicating the travel route of the switcher SW1, which is the vehicle, when it travels autonomously within the truck yard A0, from the route selection unit 223 and the route switching unit 235 of the vehicle management device 200. Also, for example, the route information acquisition unit 150 acquires information indicating the speed of the switcher SW1, which is the vehicle, when it travels autonomously within the truck yard A0, from the route selection unit 223 and the route switching unit 235 of the vehicle management device 200.

[0041] The travel control unit 160 controls the travel of the switcher SW1 based on the information acquired by the route information acquisition unit 150. For example, the travel control unit 160 controls the travel of the switcher SW1 so that the switcher SW1 travels along a travel route based on the information acquired by the route information acquisition unit 150. Also, for example, the travel control unit 160 controls the travel of the switcher SW1 so that the switcher SW1 travels at a speed based on the information acquired by the route information acquisition unit 150.

[0042] The fifth wheel control unit 170 as a connection height adjustment unit controls the height of the connection part SW1a as the fifth wheel based on the information acquired by the route information acquisition unit 150 and the information acquired by the connection detection unit 140, and performs connection and disconnection (connection and disconnection) between the switcher SW1 and the trailer TR1. For example, when the information acquired by the route information acquisition unit 150 is a route corresponding to a work requiring connection with the trailer TR1 and the connection detection unit 140 detects that the trailer TR1 is not connected, the fifth wheel control unit 170 controls (adjusts) the height of the connection part SW1a based on the information indicating the position and height of the connected part TR11 of the trailer TR1 detected by the connection detection unit 140, and performs connection between the switcher SW1 and the trailer TR1. Also, for example, when the information acquired by the route information acquisition unit 150 indicates a route corresponding to work that does not require connection to the trailer TR1 and the connection detection unit 140 detects that the trailer TR1 is connected, the fifth wheel control unit 170 controls the connection unit SW1a to disconnect the switcher SW1 from the trailer TR1. When the height of the connected part TR11 is outside the adjustable range of the fifth wheel control unit 170, the fifth wheel control unit 170 outputs information indicating that the height of the connected part TR11 is outside the adjustable range to the vehicle management device 200 via the output unit 212.

[0043] The timekeeping unit 180 acquires information related to time. For example, the timekeeping unit 180 measures time using a hardware timer or a software timer to acquire information indicating the current time and the elapsed time from a predetermined time.

[0044] The storage unit 190 stores information used in various processes performed by the vehicle control device 100 and information acquired from the vehicle management device 200. Each unit of the vehicle control device 100 refers to the information stored in the storage unit 190 at any timing and performs various processes.

[0045] Next, the basic operation of the switcher SW1 in the truck yard A0 will be described with reference to Fig. 7 to Fig. 9. Fig. 7 is a plan view showing a route by which the switcher SW1 according to the first embodiment tows an empty trailer TR1 from the arrival yard dock A1 to the waiting place A3. For example, as shown in Fig. 7, when the trailer head TH1 (see Fig. 1) towing the trailer TR1 loaded with cargo arrives at the arrival yard dock A1 and connects the trailer TR1 to the arrival yard dock A1, the trailer head TH1 detaches the trailer TR1 and exits the truck yard A0. After that, when the unloading from the trailer TR1 is completed, the switcher SW1 is connected to the empty trailer TR1 by the autonomous driving of the switcher SW1 along the travel route K1, and the empty trailer TR1 is towed to the waiting place A3 by the autonomous driving of the switcher SW1 along the travel route K2. In the following description, the operation of the switcher SW1 connecting to an empty trailer TR1 at the arrival yard dock A1 from a state in which the trailer TR1 is not connected and towing the trailer TR1 to another location is called hitching, as shown in Fig. 7. The destination of the trailer TR1 in hitching is not limited to the waiting location A3, but may be the departure yard dock A2.

[0046] Fig. 8 is a plan view showing a route by which the switcher SW1 according to the first embodiment tows an empty trailer TR1 from the arrival yard dock A1 to the departure yard dock A2. For example, as shown in Fig. 8, when the trailer head TH1 towing the trailer TR1 loaded with luggage arrives at the arrival yard dock A1 and connects the trailer TR1 to the arrival yard dock A1, the trailer head TH1 detaches the trailer TR1 and exits the truck yard A0. After that, when unloading from the trailer TR1 is completed, the switcher SW1 is connected to the empty trailer TR1 by the autonomous driving of the switcher SW1 along the travel route K3, and the empty trailer TR1 is towed to the departure yard dock A2 to load new luggage by the autonomous driving of the switcher SW1 along the travel route K4.

[0047] FIG. 9 is a plan view showing a route by which the switcher according to the first embodiment tows an empty trailer TR1 from the waiting place A3 to the departure yard dock A2. For example, as shown in FIG. 9, when the preparation for loading luggage is completed in the warehouse SO1, the switcher SW1 is connected to the empty trailer TR1 at the waiting place A3 by the autonomous operation of the switcher SW1, and the empty trailer TR1 is towed to the departure yard dock A2 to load new luggage by the autonomous operation of the switcher SW1 along the travel route K6. When the switcher SW1 tows the empty trailer TR1 to the departure yard dock A2, it unhitches the trailer TR1. In the following description, as shown in FIG. 9, the operation of towing the trailer TR1 connected to the switcher SW1 to the departure yard dock A2 and then unhitching the empty trailer TR1 is called unhitching.

[0048] Next, the hardware configuration of the vehicle control device 100 will be described with reference to Figs. 10 and 11. Fig. 10 is a block diagram showing an example of the hardware configuration of the vehicle control device 100 according to the first embodiment, and Fig. 11 is a block diagram showing an example of the hardware configuration of the vehicle control device 100 according to the first embodiment, which is different from that shown in Fig. 10. For example, as shown in Fig. 10, the vehicle control device 100 has a processor 100a, a memory 100b, and an I / O port 100c, and is configured so that the processor 100a reads and executes a program stored in the memory 100b. The memory 100b is configured by, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, an EEPROM, or a combination of these. The memory 100b may be a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like. The memory 100b may be an HDD or an SSD.

[0049] 11, the vehicle control device 100 has a processing circuit 100d and an I / O port 100c, which are dedicated hardware. The processing circuit 100d is configured, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a system LSI (Large-Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the vehicle control device 100 is realized by the processor 100a or the processing circuit 100d, which is dedicated hardware, executing a program that is software, firmware, or a combination of software and firmware. The vehicle control device 100 may have hardware other than the above, such as a hardware timer used as a timer. The hardware configuration of the vehicle management device 200 is similar to that of the vehicle control device 100, so a description thereof will be omitted.

[0050] Next, with reference to FIG. 12, the details of the process performed by the vehicle control device 100 according to the first embodiment will be described. FIG. 12 is a flowchart showing the process performed by the vehicle management device according to the first embodiment. As shown in FIG. 12, when the vehicle control device 100 starts the process, it judges whether or not a work start instruction has been input from the vehicle management device 200 (step ST1). In this process, the vehicle control device 100 judges whether or not a work start instruction, which is information indicating an instruction to start autonomous driving, has been input to the switcher SW1 equipped with the vehicle control device 100. In the process of step ST1, if the work start instruction has not been input from the vehicle management device 200 (NO in step ST1), the vehicle control device 100 repeats the process of step ST1 until a work start instruction is input.

[0051] When a work start instruction has been input from the vehicle management device 200 (YES in step ST1), the vehicle control device 100 outputs the position information of the switcher SW1 of the vehicle itself to the vehicle management device 200 (step ST2).

[0052] After performing the processing of step ST2, the vehicle control device 100 judges whether or not route information has been input from the vehicle management device 200 (step ST3). In this processing, the vehicle control device 100 judges whether or not route information, which is information indicating the driving route along which the switcher SW1 as the vehicle itself will travel, has been input. The route information acquired from the vehicle management device 200 may include information regarding the speed at which the switcher SW1 travels. In the processing of step ST3, if route information has not been input from the vehicle management device 200 (NO in step ST3), the vehicle control device 100 repeats the processing of step ST3 until a work start instruction is input.

[0053] In the processing of step ST3, if route information has been input from the vehicle management device 200 (NO in step ST3), the vehicle control device 100 determines whether the type of work is hitching or not based on the acquired route information (step ST4).

[0054] In the process of step ST4, if the type of work is hitching (YES in step ST4), the vehicle control device 100 determines whether or not the connection of the trailer TR1, which is the towed vehicle, is detected (step ST5).

[0055] In the process of step ST5, when the connection of the trailer TR1, which is the towed vehicle, is detected (YES in step ST5), the vehicle control device 100 releases the connection of the trailer TR1 (step ST6).

[0056] In the process of step ST4, if the type of work is not hitching, that is, if the type of work is unhitching (YES in step ST4), the vehicle control device 100 determines whether or not the connection of the trailer TR1 is detected (step ST7).

[0057] In the process of step ST7, when the connection of the trailer TR1 has not been detected (NO in step ST7), the vehicle control device 100 moves the switcher SW1 to the position of the trailer TR1 and connects the trailer TR1 (step ST8).

[0058] In the processing of step ST5, if the connection of the trailer TR1 has not been detected (NO in step ST5), in the processing of step ST7, if the connection of the trailer TR1 has been detected (YES in step ST7), or if the processing of step ST6 or the processing of step ST8 has been performed, the vehicle control device 100 starts driving the switcher SW1 along the acquired driving route (step ST9).

[0059] In the process of step ST9, when the switcher SW1 starts traveling, the vehicle control device 100 judges whether or not an object whose distance from the traveling route on which the switcher SW1 is traveling is less than a preset distance threshold has been detected (step ST10). In other words, the vehicle control device 100 judges whether or not an object whose distance from the switcher SW1 traveling along the traveling route is less than a preset distance threshold has been detected. For example, when the size of the vehicle body of the switcher SW1 is known, it is possible to detect an object whose distance from the switcher SW1 traveling along the traveling route is less than the threshold by judging whether or not the distance between an object on the traveling surface of the truck yard A0 and the center of the traveling route on which the switcher SW1 is traveling is less than a preset distance threshold. Also, for example, when the detection range of the sensor by the object detection unit 130 provided in the switcher SW1 is set as the distance threshold, it is possible to detect an object whose distance from the switcher SW1 traveling along the traveling route is less than the threshold by detecting an object on the traveling surface by the object detection unit 130.

[0060] In the processing of step ST10, if an object is detected whose distance from the switcher SW1 traveling along the travel route is less than a preset distance threshold (YES in step ST10), the vehicle control device 100 stops the travel of the switcher SW1 (step ST11).

[0061] After performing the processing of step ST11, the vehicle control device 100 outputs the object detection result in the processing of step ST10 to the vehicle management device 200 (step ST12). For example, the vehicle control device 100 outputs information indicating that an object has been detected in the processing of step ST10 to the vehicle management device 200. Note that in this processing, the vehicle control device 100 may be configured to output to the vehicle management device 200 not only the information indicating that an object has been detected, but also information regarding the size, shape, moving speed, etc. of the detected object.

[0062] After performing the process of step ST12, the vehicle control device 100 judges whether or not information on a new driving route has been input from the vehicle management device 200 (step ST13). In this process, based on the detection of an object traveling along the driving route whose distance from the switcher SW1 is less than a preset distance threshold, the vehicle control device 100 judges whether or not information on a new driving route has been output from the vehicle management device 200 so as to travel along the new driving route to avoid the object.

[0063] In the process of step ST13, when information on a new driving route is input from the vehicle management device 200 (YES in step ST13), the vehicle control device 100 judges whether or not the distance between the new driving route and the detected object is equal to or greater than a preset distance threshold based on the acquired information on the new driving route and the detection result by the object detection unit 130 (step ST14). In this process, the vehicle control device 100 judges whether or not contact with the object can be avoided when the switcher SW1 travels along the new driving route.

[0064] In the process of step ST13, if information regarding a new driving route is not input from the vehicle management device 200 (NO in step ST13), and in the process of step ST14, if the distance between the new driving route and the detected object is not equal to or greater than a preset distance threshold (NO in step ST14), the vehicle control device 100 judges whether or not there is a standby instruction from the vehicle management device 200 (step ST15). In this process, the vehicle control device 100 judges whether or not it has acquired an instruction from the vehicle management device 200 to temporarily halt driving and wait in order to avoid contact with the detected object, and a standby instruction indicating the waiting time.

[0065] In the process of step ST15, if a standby instruction is received from the vehicle management device 200 (YES in step ST15), the vehicle control device 100 judges whether or not the standby time has elapsed (step ST16). In the process of step ST16, if the instructed standby time has not elapsed (NO in step ST16), the vehicle control device 100 continues to halt traveling until the standby time has elapsed. In this way, when the time estimated by the time estimation unit 234 is less than a preset time threshold, the vehicle management device 200 may be configured to avoid contact between the switcher SW1 and the object by outputting an instruction to the switcher SW1 to halt traveling before the object, instead of outputting information about a new traveling route to the switcher SW1.

[0066] In the process of step ST16, when the instructed waiting time has elapsed (YES in step ST16), the vehicle control device 100 resumes traveling along the traveling route of the switcher SW1 (step ST17). In this process, if the vehicle control device 100 has acquired information on a new traveling route in the process of step ST13, the switcher SW1 starts traveling along the new traveling route, and if the vehicle control device 100 has not acquired a new traveling route in the process of step ST13, the switcher SW1 starts traveling along the traveling route according to the information acquired in step ST3.

[0067] After performing the process of step ST17, the vehicle control device 100 judges whether or not the destination has been reached (step ST18). In other words, the vehicle control device 100 judges whether or not the end of the travel route has been reached based on the information on the travel route acquired from the vehicle management device 200, the information acquired by the vehicle position detection unit 120, and the information acquired by the connection detection unit 140. In the process of step ST18, if the destination has not been reached (NO in step ST18), the vehicle control device 100 returns the process to step ST10.

[0068] In the process of step ST18, when the switcher SW1 has arrived at the destination (YES in step ST18), the vehicle control device 100 outputs an arrival notification to the vehicle management device 200 (step ST19). In this process, the vehicle control device 100 outputs an arrival notification indicating that the switcher SW1 has arrived at the destination to the vehicle management device 200 from the output unit 112.

[0069] After performing the process of step ST19, the vehicle control device 100 stops the traveling of the switcher SW1 (step ST20).

[0070] Next, with reference to Figs. 13 to 23, the details of the process performed by the vehicle management device 200 according to the first embodiment will be described. Fig. 13 is a flowchart showing the process performed by the vehicle management device 200 according to the first embodiment. As shown in Fig. 13, when the vehicle management device 200 starts the process, it judges whether or not a notification to start work using the switcher SW1 has been input from the arrival yard dock management device 400 and the departure yard dock management device 500 (step ST31). For example, the vehicle management device 200 judges whether or not either a notification of unloading completion from the arrival yard dock management device 400 or a notification of loading preparation completion from the departure yard dock management device 500 has been input. In the process of step ST31, if a notification to start work has not been input (NO in step ST31), the vehicle management device 200 waits for the process until a notification is input.

[0071] In the process of step ST31, if a notification to start work is input (YES in step ST31), the vehicle management device 200 determines the type of work based on the input notification (step ST32). For example, if a notification of unloading completion is input from the arrival yard dock management device 400, the vehicle management device 200 determines that the type of work is hitching, and if a notification of loading preparation completion is input from the departure yard dock management device 500, the vehicle management device 200 determines that the type of work is unhitching.

[0072] After performing the process of step ST32, the vehicle management device 200 outputs a work start instruction, which is information indicating the start of work using the switcher SW1, to the vehicle control device 100 (step ST33). In this process, the vehicle management device 200 may be configured to output a work start instruction to the vehicle control devices 100 of the multiple switchers SW1 in the truck yard A0, or may be configured to output a work start instruction only to a specific switcher SW1 when there is only one switcher SW1 in the truck yard A0, or when there are multiple switchers SW1 but the positions of each switcher SW1 can be known to some extent in advance.

[0073] After performing the process of step ST33, the vehicle management device 200 determines whether or not the position information of the towing vehicle has been input from the vehicle control device 100 (step ST34). In this process, the vehicle management device 200 acquires position information indicating the position of the switcher SW1 that output the work start command.

[0074] After the process of step ST34, the vehicle management device 200 sets a travel route for the switcher SW1, which is a towing vehicle (step ST35). For example, in this process, the vehicle management device 200 selects a travel route for the switcher SW1 to travel from among a plurality of preset routes based on the position of the arrival yard dock A1 or departure yard dock A2 corresponding to the notification acquired in the process of step ST31, the position of the switcher SW1, and the determination result of the process of step ST32.

[0075] After performing the process of step ST35, the vehicle management device 200 outputs route information regarding the travel route to the vehicle control device 100 of the switcher SW1 that starts travel (step ST36).

[0076] FIG. 14 is a plan view showing a route when the switcher SW1 according to the first embodiment is connected to an empty trailer TR1 at an arrival yard dock. For example, as shown in FIG. 14, when the work is hitching, the vehicle management device 200 outputs information indicating a travel route in which the switcher SW1 advances along the travel route K11, reaches the position of the switcher SW1', and then reverses along the travel route K12 while changing the traveling direction, and travels to the position of the switcher SW1'', to the vehicle control device 100. In other words, when the work is hitching, the vehicle management device 200 outputs route information indicating a travel route in which the switcher SW1 advances along a first direction, then reverses while changing the traveling direction to a second direction intersecting the first direction, to the vehicle control device 100. Note that SE1 in FIGS. 14 to 23 is a sensor for the object detection unit 310 of the monitoring device 300 to detect an object in the truck yard A0.

[0077] FIG. 15 is a plan view showing a travel route when the switcher according to the first embodiment tows the trailer to the arrival yard dock. For example, as shown in FIG. 15, when the work is towing the connected trailer TR1 to the dock, such as unhitching, the vehicle management device 200 outputs to the vehicle control device 100 information indicating a travel route in which the switcher SW1 advances along the travel route K21, reaches the position of the switcher SW1', then changes the traveling direction while reversing and moving back along the travel route K22, travels to the position of the switcher SW1'', and then uncouples the trailer TR1 and travels to the position of the switcher SW1' along the travel route K23. In other words, when the work is hitching, the vehicle management device 200 outputs to the vehicle control device 100 route information indicating a travel route in which the switcher SW1 advances along the first direction, then changes the traveling direction while reversing to a second direction intersecting the first direction.

[0078] After performing the process of step ST36, the vehicle management device 200 judges whether or not an object detection result has been input from the vehicle control device 100 (step ST37). In this process, the vehicle management device 200 judges whether or not information indicating whether or not the object detection unit 130 of the vehicle control device 100 has detected an object on the traveling surface has been acquired.

[0079] In the process of step ST37, if information indicating that the vehicle control device 100 has detected an object on the traveling surface is input (YES in step ST37), the vehicle management device 200 outputs a detection information request to the monitoring device 300 (step ST38). In this process, based on the fact that the vehicle control device 100 has detected an object on the traveling surface, the vehicle management device 200 instructs the monitoring device 300 to output further detailed information about the object to the vehicle management device 200.

[0080] After performing the process of step ST38, the vehicle control device 200 judges whether or not an object detection result has been input from the monitoring device 300 (step ST39).

[0081] In the process of step ST39, if the object detection result is input from the monitoring device 300 (YES in step ST39), the vehicle management device 200 estimates the evacuation time until the object is evacuated from the travel route of the switcher SW1 (step ST40). In other words, the vehicle management device 200 estimates the evacuation time, which is the time until the distance between the switcher SW1 traveling along the set travel route and the object becomes equal to or greater than a preset distance threshold.

[0082] After performing the process of step ST40, the vehicle control device 200 sets a new travel route to avoid contact between the object and the switcher SW1 (step ST41).

[0083] After performing the process of step ST41, the vehicle management device 200 outputs route information regarding the new travel route set to the vehicle control device (step ST42).

[0084] 16 and 17 are plan views showing a new driving route (second route) that the vehicle management device 200 outputs to the vehicle control device 100 when an object exists on the driving route (first route) of the switcher SW1 corresponding to the information output by the vehicle management device 200 to the vehicle control device 100 in the processing of step ST36. In other words, Figs. 16 and 17 are plan views showing a new driving route that the vehicle management device 200 outputs to the vehicle control device 100 when an object exists whose distance from the switcher SW1 traveling along the driving route corresponding to the information output by the vehicle management device 200 to the vehicle control device 100 is less than a preset distance threshold in the processing of step ST36.

[0085] For example, as shown in Fig. 16, when detecting the presence of an object B1 on the travel path K11 of the switcher SW1 when hitching, the vehicle management device 200 outputs route information to the vehicle control device 100 indicating a new travel path in which the switcher SW1 advances along the travel path K11 to the position of the switcher SW1', then turns along the travel path K13 to change the traveling direction to the opposite direction, and then reverses along the travel path K14 to change the traveling direction. In other words, the vehicle management device 200 outputs route information to the vehicle control device 100 indicating a travel path in which the switcher SW1 advances along the first direction, then turns to change the traveling direction to the opposite direction from the first direction, and then reverses to change the traveling direction to a second direction intersecting the first direction.

[0086] 17, when the vehicle management device 200 detects the presence of an object B1 on the travel path where the switcher SW1 changes direction while reversing when hitching, the vehicle management device 200 outputs route information to the vehicle control device 100 indicating a new travel path in which the switcher SW1 advances along the travel path K11 to the position of the switcher SW1', which is the initial reverse start position, then changes the travel direction to the opposite direction while turning along the travel path K15, and then changes the travel direction while reversing along the travel path K14. In other words, the vehicle management device 200 outputs route information to the vehicle control device 100 indicating a travel path in which the switcher SW1 advances along the first direction, then changes the travel direction to the opposite direction from the first direction while turning, and then changes the travel direction to a second direction intersecting the first direction while reversing.

[0087] FIG. 18 is a plan view showing a travel route when the switcher SW1 according to the first embodiment cannot be connected to the trailer TR1. As shown in FIG. 18, for example, when the vehicle control device 100 causes the switcher SW1 to travel to the position of the switcher SW1'' along the travel route K11 and the travel route K12 according to the information acquired from the vehicle control device 200, the vehicle control device 100 detects the height of the connected part TR11 of the trailer TR1 and outputs the detection result to the vehicle control device 200. When the vehicle control device 200 acquires information from the vehicle control device 100 indicating that the height of the connected part TR11 of the trailer TR1 is outside the adjustable range of the height of the connection part SW1a of the switcher SW1, the vehicle control device 200 outputs route information to the vehicle control device 100 indicating a travel route K16 for causing the switcher SW1 to stop reversing and for causing the switcher SW1 to travel to a position that does not affect the operation of other vehicles, etc.

[0088] 19 is a plan view showing another example of a new travel route (second route) output by the vehicle management device 200 to the vehicle control device 100 in the process of step ST45 when an object exists on the travel route (first route) of the switcher SW1 corresponding to the information output by the vehicle management device 200 to the vehicle control device 100. For example, as shown in FIG. 19, when the switcher SW1 towing the trailer TR1 travels toward the arrival yard dock A1, if it detects the presence of another vehicle such as another switcher towing a trailer TR2 or another trailer head TH2 on the straight route, the vehicle management device 200 outputs route information to the vehicle control device 100 indicating a travel route K25 for traveling the switcher SW1 to a position where the distance between the switcher SW1 and the trailer TR1 and the other moving vehicle is equal to or greater than a preset distance threshold, and a travel route K26 for traveling the switcher SW1 toward the arrival yard dock A1 while avoiding contact with the other vehicle. The first route as described above may be set to have a shorter travel distance than the second route.

[0089] After performing the process of step ST42, the vehicle control device 100 determines whether or not the evacuation time is less than a preset time threshold value (step ST43).

[0090] In the process of step ST43, if the evacuation time is less than the time threshold value (YES in step ST43), the evacuation time is output to the vehicle control device 100 as a waiting time during which the switcher SW1 waits for traveling (step ST44).

[0091] After processing step ST44, the vehicle management device 200 determines what type of object the detected object is based on the information acquired by the object detection unit 231, and determines whether the object is another towing vehicle, for example, another switcher traveling within the truck yard A0 (step ST45).

[0092] In the process of step ST45, if the detected object is another switcher (YES in step ST45), the vehicle management device 200 outputs an evacuation instruction to the vehicle control device of the other switcher (step ST46).

[0093] FIG. 20 is a plan view showing a new travel route output by the vehicle management device 200 when another vehicle is present on the travel route of the switcher SW1 according to the first embodiment. For example, as shown in FIG. 20, when another vehicle traveling along the travel route K31 is present on the travel route of the switcher SW1, which is the host vehicle to which the trailer TR1 is connected, the vehicle management device 200 outputs an evacuation instruction to the switcher SW1 to instruct the switcher SW1 to evacuate from the travel route K31. In other words, when the object discriminator 233 discriminates that the object on the route of the switcher SW1 as the host vehicle is the trailer head TH3 as the other vehicle, the route switching unit 235 of the vehicle management device 200 outputs information on a new travel route for evacuating the switcher SW1 from the route of the trailer head TH3 to the vehicle control device 100 of the switcher SW1. For example, at this time, the vehicle management device 200 causes the vehicle control device 100 of switcher SW1 to travel along travel route K27 to move to the position of switcher SW1', and then outputs route information indicating travel route K28 to the vehicle control device 100 for traveling toward the arrival yard dock A1 while turning around. By controlling switcher SW1 in this way, the vehicle management device 200 prevents the travel of other vehicles from being restricted by the travel of switcher SW1.

[0094] The vehicle management device 200 may be configured to perform a process of suppressing restrictions on the travel of other vehicles based on the travel time when the switcher SW1 travels along the travel route. For example, the vehicle management device 200 may be configured to estimate the travel time when the switcher SW1 travels along the travel route by the time estimation unit 234, and when the time is equal to or greater than a preset time threshold, to detect whether or not an object exists on the travel route by the object detection unit 231, and when the presence of an object is detected, to determine whether or not the object on the travel route is another vehicle by the object detection unit 231 and the object discrimination unit 233, and when it is determined that the object is another vehicle, to output information on a new travel route for moving the switcher SW1 away from the route of the other vehicle to the vehicle control device 100 of the switcher SW1.

[0095] The vehicle management device 200 may also be configured to perform processing to suppress restrictions on the travel of other vehicles based on the travel route when the switcher SW1 travels along the travel route. For example, when the switcher SW1 connected to the trailer TR1 reverses while changing the direction of travel, it may be necessary to turn the steering wheel once or multiple times. In general, in such a case, the travel time becomes longer than when no turning is performed, and therefore the travel of other vehicles is more likely to be restricted. For example, when the driving route of switcher SW1 selected by the route selection unit 223 is a route that requires a turn, in other words, when a turn occurs while switcher SW1 is driving along the driving route selected by the route selection unit 223, the vehicle management device 200 may be configured to detect whether or not an object is present on the driving route using the object detection unit 231, and if the presence of an object is detected, to determine whether or not the object on the driving route is another vehicle using the object discrimination unit 233, and if it is determined that the object is another vehicle, to output information regarding a new driving route that will move switcher SW1 away from the route of the other vehicle to the vehicle control device 100 of switcher SW1.

[0096] In addition, the vehicle management device 200 may be configured to perform a process of suppressing the restriction of the travel of the other vehicle based on the priority of the switcher SW1, which is the own vehicle, with respect to the other vehicle, when the object on the travel route of the switcher SW1 is another vehicle. For example, the vehicle management device 200 may be configured to detect whether or not an object exists on the travel route by the object detection unit 231, and when the presence of the object is detected, to determine whether or not the object on the travel route is another vehicle by the object discrimination unit 233, and when it is determined that the object is another vehicle, to determine the priority of the switcher SW1 with respect to the other vehicle by the object discrimination unit 233, and when it is determined that the priority of the switcher SW1 is lower than that of the other vehicle, to output information on a new route for evacuating the switcher SW1 from the route of the other vehicle to the vehicle control device 100 of the switcher SW1. The vehicle management device 200 may be configured to, after retracting the switcher SW1 from the route of the other vehicles by any of the above processes, output information on a new route (third route) from the position of the switcher SW1 after retraction to the destination before retraction to the switcher SW1, and to make the switcher SW1 start traveling after the other vehicles have retracted from the new route. The start of traveling of the switcher SW1 may be configured so that the vehicle control device 100 retracts the other vehicles from the new route using the object detection unit 130 and the vehicle control device 100 determines it, or the vehicle management device 200 retracts the other vehicles from the new route using the object detection unit 231, and transmits information indicating an instruction to start traveling from the vehicle management device 200 to the vehicle control device 100.

[0097] FIG. 21 is a plan view showing a new travel route different from that shown in FIG. 20 output by the vehicle management device 200 when another vehicle is present on the travel route of the switcher SW1 according to the first embodiment. For example, as shown in FIG. 21, when the switcher SW1, which is a vehicle connected to the trailer TR1, is on the travel route of the trailer head TH3, which is another vehicle towing the trailer TR3, the vehicle management device 200 outputs an evacuation instruction to the switcher SW1 to instruct the switcher SW1 to evacuate from the travel route of the trailer head TH3. For example, at this time, the vehicle management device 200 outputs route information to the vehicle control device 100 of the switcher SW1, indicating a travel route on which the switcher SW1 is to travel along the travel route K29 to the position of the switcher SW1', and then travel along the travel route K30 to the original position, and then to travel toward the arrival yard dock A1 while turning around.

[0098] FIG. 22 is a plan view showing a travel route output by the vehicle management device to the switcher when another object is present on the travel route of the switcher according to the first embodiment. For example, as shown in FIG. 22, when the switcher SW1, which is another vehicle connected to the trailer TR1, reverses while turning along the travel route K32 and travels toward the arrival yard dock A1, if an object B1 is present on the travel route, the vehicle management device 200 outputs an evacuation instruction to the switcher SW1 to instruct it to evacuate. At this time, the vehicle management device 200 outputs route information to the vehicle control device 100 of the switcher SW1, indicating a travel route for evacuating the switcher SW1 and the trailer TR1 by making the switcher SW1 travel along the travel route K33 and moving to the position of the switcher SW1'.

[0099] Fig. 23 is a plan view showing a travel route that the vehicle management device outputs to the switcher when another vehicle is present on the travel route of the switcher according to embodiment 1. For example, as shown in Fig. 23, when the switcher SW1 separated from the trailer TR travels along the travel route K31 toward the waiting place A3, if the switcher SW2 and the trailer TR2, which are other vehicles, are present on the travel route K31, the vehicle management device 200 outputs route information to the vehicle control device 100, which indicates a travel route for the switcher SW2, which is the other vehicle, to travel along the travel route K36 so as to escape from the travel route K31.

[0100] In the process of step ST37, when information indicating that the vehicle control device 100 has detected an object on the traveling surface has not been input (NO in step ST37), In the processing of step ST43, if the evacuation time is not less than the time threshold value (NO in step ST43), in the processing of step ST45, if the detected object is not another switcher (NO in step ST45), and when the processing of step ST46 is performed, the vehicle management device 200 determines whether or not an arrival notification indicating arrival at the destination has been input from the vehicle control device 100 (step ST47).

[0101] In the process of step ST47, if the arrival notice has not been input (NO in step ST47), the vehicle management device 200 returns the process to step ST36. In addition, in the process of step ST47, if the arrival notice has been input (YES in step ST47), the vehicle management device 200 ends the process.

[0102] As described above, the vehicle control device 100 of embodiment 1 includes a route information acquisition unit that acquires information regarding a first route of the vehicle from an information processing device, a driving control unit that controls the vehicle so that the vehicle travels along the first route based on the information acquired by the route information acquisition unit, an object detection unit that detects an object whose distance from the vehicle traveling along the first route is less than a preset distance threshold, and an output unit that outputs the detection of the object to the information processing device, wherein when the object detection unit detects the object, the route information acquisition unit acquires information regarding a second route different from the first route of the vehicle from the information processing device, and when the object detection unit detects the object, the driving control unit controls the vehicle so that the vehicle travels along the second route acquired by the route information acquisition unit.

[0103] By being configured in this manner, when the vehicle control device 100 detects an object whose distance from the vehicle is less than a preset distance threshold, it controls the vehicle to travel along another route, so that even if an object is located on the vehicle's route, the vehicle's travel can be controlled so that the vehicle continues to travel.

[0104] In addition, the vehicle management device 200 of embodiment 1 includes an object information acquisition unit that acquires information indicating the presence or absence of an object whose distance from the vehicle traveling on a predetermined first route is less than a predetermined distance threshold, and a route information output unit that outputs information regarding the predetermined first route to the vehicle, and when the object information acquisition unit acquires information indicating the presence of the object, the route information output unit outputs information regarding a second route of the vehicle, which is different from the predetermined first route, to the vehicle.

[0105] By being configured in this manner, when the vehicle management device 200 detects an object whose distance from the vehicle is less than a preset distance threshold, it controls the vehicle to travel along another route, so that the vehicle's travel can be controlled so that the vehicle continues traveling even if an object is located on the vehicle's route.

[0106] In the first embodiment, a switcher has been described as an example of a vehicle controlled by the vehicle control system, but the vehicle controlled by the vehicle control system is not limited to this, and may be a trailer head equipped with a vehicle control device and capable of running on public roads, or may be another vehicle. Furthermore, in embodiment 1, when the vehicle control device 100 detects an object B1 using the object detection unit 130, the route information acquisition unit 150 acquires information regarding a second route different from the first route of the vehicle from the vehicle management device 200, and the driving control unit 160 is configured to control the vehicle along the second route acquired by the route information acquisition unit 150, but is not limited to this. When the object detection unit 130 detects an object B1, the vehicle control device 100 acquires information regarding at least a second route that is different from the vehicle's first route from the vehicle management device 200 using the route information acquisition unit 150, and the driving control unit 160 is configured to control the vehicle along a route other than the first route acquired by the route information acquisition unit 150.For example, when the object detection unit 130 detects an object B1, the vehicle control device 100 acquires information regarding at least two or more routes that are different from the vehicle's first route from the vehicle management device 200 using the route information acquisition unit 150, and the driving control unit 160 may be configured to control the vehicle along one of the two or more routes that are different from the first route acquired by the route information acquisition unit 150.

[0107] In addition, in the first embodiment, the vehicle management device 200 may have some or all of the functions of the vehicle control device 100, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500, and the vehicle control device 100 may have some or all of the functions of the vehicle management device 200, the monitoring device 300, the arrival yard dock management device 400, and the departure yard dock management device 500. When a vehicle control device having the functions of the vehicle management device 200 is provided in each of the multiple switchers, the vehicle control system may be configured to control the traveling of each switcher by communicating information between the switchers.

[0108] In addition, in the present disclosure, any of the components of the embodiments may be modified or any of the components may be omitted.

[0109] Various aspects of the present disclosure are summarized below as appendices.

[0110] (Appendix 1) a route information acquisition unit that acquires information about a first route of the vehicle from an information processing device; a travel control unit that controls the vehicle so that the vehicle travels along the first route based on the information acquired by the route information acquisition unit; an object detection unit that detects an object whose distance from the vehicle traveling along the first route is less than a preset distance threshold; an output unit that outputs to the information processing device that the object has been detected; when the object is detected by the object detection unit, the route information acquisition unit acquires information about a second route, which is different from the first route of the vehicle, from the information processing device; and The travel control unit controls the vehicle to travel along the second route acquired by the route information acquisition unit when the object is detected by the object detection unit. A vehicle control device comprising: (Appendix 2) When the object is detected by the object detection unit, the route information acquisition unit acquires, from the information processing device, information about the second route, which is a longer travel distance of the vehicle than the first route of the vehicle. 2. A vehicle control device according to claim 1. (Appendix 3) the vehicle is a towing vehicle towing a connected towed vehicle; a connection detection unit that detects whether the towed vehicle is connected to the vehicle; the output unit outputs a detection result by the connection detection unit to the information processing device; The route information acquisition unit acquires information about the first route and information about the second route output from the information processing device based on a detection result by the connection detection unit. 3. A vehicle control device according to claim 1 or 2. (Appendix 4) Equipped with a timing unit for measuring time, When the driving control unit acquires information on a waiting time for the vehicle to stop driving from the information processing device while the object detection unit detects the object, the driving control unit causes the vehicle to stop driving until the waiting time has elapsed. 4. A vehicle control device according to claim 1, wherein: (Appendix 5) an object information acquisition unit that acquires information indicating the presence or absence of an object whose distance from a vehicle traveling on a preset first route is less than a preset distance threshold; a route information output unit that outputs information about a preset first route to the vehicle; When the object information acquisition unit acquires information indicating the presence of the object, the route information output unit outputs, to the vehicle, information regarding a second route of the vehicle that is different from the first route that is preset. 23. An information processing apparatus comprising: (Appendix 6) a vehicle position information acquisition unit that acquires information regarding the position of the vehicle; a destination information acquisition unit that acquires information regarding a destination of the vehicle; The route information output unit outputs information to the vehicle based on the information acquired by the destination information acquisition unit and the information acquired by the vehicle position information acquisition unit. 6. The information processing device according to claim 5. (Appendix 7) a time estimation unit that, when the object information acquisition unit acquires information indicating the presence of the object, estimates a time until a distance between the vehicle traveling on the first route and the object becomes equal to or greater than the distance threshold, The route information output unit outputs information about the second route to the vehicle when the time estimated by the time estimation unit is equal to or greater than a preset time threshold, and outputs an instruction to the vehicle to stop traveling before the object, instead of outputting information about the second route to the vehicle, when the time estimated by the time estimation unit is less than a preset time threshold. 7. The information processing device according to claim 5 or 6. (Appendix 8) an object discrimination unit that discriminates a type of the object when the object information acquisition unit acquires information indicating the presence of the object, When the object discriminating unit discriminates that the object is another vehicle, the route information output unit outputs, to the vehicle, information about the second route for evacuating the vehicle from a route of the other vehicle. 6. The information processing device according to claim 5. (Appendix 9) a time estimation unit that estimates a time during which travel of other vehicles is restricted when the vehicle travels along the first route, When the object is determined to be another vehicle by the object determination unit and when the time estimated by the time estimation unit is equal to or greater than a preset time threshold, the route information output unit outputs, to the vehicle, information about the second route for moving the vehicle away from a route of the other vehicle. 9. The information processing device according to claim 8. (Appendix 10) When the object is determined to be another vehicle by the object determination unit and when a turning motion of the vehicle occurs while the vehicle is traveling along the first route, the route information output unit outputs, to the vehicle, information regarding the second route for moving the vehicle away from the route of the other vehicle. 9. The information processing device according to claim 8. (Appendix 11) a priority order determination unit that, when the object determination unit determines that the object is another vehicle, determines a priority order of the vehicle relative to the other vehicle; When the priority determination unit determines that the priority of the vehicle is lower than that of the other vehicles, the route information output unit outputs, to the vehicle, information about the second route for evacuating the vehicle from a route of the other vehicles. 9. The information processing device according to claim 8. (Appendix 12) the first route is a route in which the vehicle moves forward in a first direction and then reverses while changing its traveling direction to a second direction intersecting the first direction, The second route is a route in which the vehicle moves forward in the first direction, then turns to change its traveling direction to a direction opposite to the first direction, and then moves backward to change its traveling direction to the second direction. 8. The information processing device according to claim 5, (Appendix 13) the first route is a route along which the vehicle travels in a first direction; The second route is a route in which the vehicle moves in a second direction intersecting with the first direction, then moves in a direction opposite to the second direction, and then moves in the first direction. 9. The information processing device according to any one of claims 5 to 8. (Appendix 14) the vehicle is a towing vehicle capable of towing a connected towed vehicle; a connection information acquisition unit that acquires information indicating whether the towed vehicle is connected to the vehicle; The route information output unit outputs information about the first route and information about the second route based on the information acquired by the connection information acquisition unit. 10. The information processing device according to any one of claims 5 to 9. (Appendix 15) The first route and the second route are routes that pass through at least an unloading location or a loading location of the towed vehicle. 11. The information processing device according to any one of claims 5 to 10. (Appendix 16) The first route and the second route have one end serving as an unused waiting area for the towed vehicle. 12. The information processing device according to any one of claims 5 to 11. (Appendix 17) The vehicle is a trailer head or switcher capable of towing a trailer connected thereto and traveling within a yard dock. 13. The information processing device according to any one of claims 1 to 12. (Appendix 18) A vehicle control device according to any one of claims 1 to 4, An information processing device according to any one of appendix 5 to 12, A vehicle control system comprising: (Appendix 19) A vehicle control method performed by an apparatus including a route information acquisition unit, a driving control unit, an object detection unit, and an output unit, The route information acquisition unit acquires information about a first route of the vehicle from an information processing device; The travel control unit controls the vehicle so that the vehicle travels along the first route based on the information acquired by the route information acquisition unit; a step of detecting an object whose distance from the vehicle traveling along the first route is less than a preset distance threshold by the object detection unit; and outputting, by the output unit, to the information processing device, that the object has been detected; when the object is detected by the object detection unit, the route information acquisition unit acquires information about a second route, which is different from the first route of the vehicle, from the information processing device; and The travel control unit controls the vehicle to travel along the second route acquired by the route information acquisition unit when the object is detected by the object detection unit. A vehicle control method comprising: (Appendix 20) An information processing method performed by an apparatus including an object information acquisition unit and a path information output unit, a step of the object information acquisition unit acquiring information indicating the presence or absence of an object whose distance from a vehicle traveling on a preset first route is less than a preset distance threshold; The route information output unit outputs information about a first route that is set in advance to the vehicle, When the object information acquisition unit acquires information indicating the presence of the object, the route information output unit outputs, to the vehicle, information regarding a second route of the vehicle that is different from the first route that is preset. 23. An information processing method comprising: [Explanation of symbols]

[0111] 1 vehicle control system, 31 driving route, 100 vehicle control device, 110 communication unit, 111 input unit, 112 output unit, 120 vehicle position detection unit, 130 object detection unit, 140 connection detection unit (connected part information acquisition unit), 150 route information acquisition unit, 160 driving control unit, 170 fifth wheel control unit (connection height adjustment unit), 180 timing unit, 190 memory unit, 200 vehicle management device (information processing device), 210 communication unit, 211 input unit, 212 output unit, 220 operation plan unit, 221 vehicle position information acquisition unit, 222 destination information acquisition unit, 223 route selection unit, 230 plan change unit, 231 object detection unit (object information acquisition unit), 232 object information request unit, 233 object discrimination unit (priority discrimination unit), 234 time estimation unit, 235 Route switching unit, 300 monitoring device, 310 object detection unit, 400 arrival yard dock management device, 410 unloading detection unit, 500 departure yard dock management device, 510 loading preparation detection unit, A0 truck yard, A1 arrival yard dock, A11 hook, A12 power supply cable, A13 buffer material, A14 shutter, A15 hood, A16 eaves, A2 departure yard dock, A3 waiting place, B1 object, SO1 warehouse, SW1 switcher, SW1'' switcher, SW1a connection unit (5th wheel), SW1b trailer detection unit, SW1´ switcher, SW2 switcher, TH1 trailer head, TH1a connection unit, TH2 trailer head, TH3 trailer head, TR trailer, TR1 trailer, TR11 connected unit, TR2 trailer, TR3 trailer.

Claims

1. a route information acquisition unit that acquires information about a first route of the vehicle from an information processing device; a travel control unit that controls the vehicle so that the vehicle travels along the first route based on the information acquired by the route information acquisition unit; an object detection unit that detects an object whose distance from the vehicle traveling along the first route is less than a preset distance threshold; an output unit that outputs to the information processing device that the object has been detected; when the object is detected by the object detection unit, the route information acquisition unit acquires information about a second route, which is different from the first route of the vehicle, from the information processing device; and The travel control unit controls the vehicle to travel along the second route acquired by the route information acquisition unit when the object is detected by the object detection unit. A vehicle control device comprising:

2. When the object is detected by the object detection unit, the route information acquisition unit acquires, from the information processing device, information about the second route, which is a longer travel distance of the vehicle than the first route of the vehicle.

2. The vehicle control device according to claim 1.

3. the vehicle is a towing vehicle towing a connected towed vehicle; a connection detection unit that detects whether the towed vehicle is connected to the vehicle; the output unit outputs a detection result by the connection detection unit to the information processing device; The route information acquisition unit acquires information about the first route and information about the second route output from the information processing device based on a detection result by the connection detection unit.

2. The vehicle control device according to claim 1.

4. Equipped with a timing unit for measuring time, When the driving control unit acquires information on a waiting time for the vehicle to stop driving from the information processing device while the object detection unit detects the object, the driving control unit causes the vehicle to stop driving until the waiting time has elapsed.

2. The vehicle control device according to claim 1.

5. an object information acquisition unit that acquires information indicating the presence or absence of an object whose distance from a vehicle traveling on a predetermined first route is less than a predetermined distance threshold; a route information output unit that outputs information about a preset first route to the vehicle; When the object information acquisition unit acquires information indicating the presence of the object, the route information output unit outputs, to the vehicle, information regarding a second route of the vehicle that is different from the first route that is set in advance.

23. An information processing apparatus comprising:

6. a vehicle position information acquisition unit that acquires information regarding the position of the vehicle; a destination information acquisition unit that acquires information regarding a destination of the vehicle; The route information output unit outputs information to the vehicle based on the information acquired by the destination information acquisition unit and the information acquired by the vehicle position information acquisition unit.

6. The information processing apparatus according to claim 5,

7. a time estimation unit that, when the object information acquisition unit acquires information indicating the presence of the object, estimates a time until a distance between the vehicle traveling on the first route and the object becomes equal to or greater than the distance threshold, When the time estimated by the time estimation unit is equal to or greater than a preset time threshold, the route information output unit outputs information about the second route to the vehicle, and when the time estimated by the time estimation unit is less than the preset time threshold, instead of outputting information about the second route to the vehicle, outputs an instruction to the vehicle to stop traveling before the object.

6. The information processing apparatus according to claim 5,

8. an object discrimination unit that discriminates a type of the object when the object information acquisition unit acquires information indicating the presence of the object, When the object discriminating unit discriminates that the object is another vehicle, the route information output unit outputs, to the vehicle, information about the second route for evacuating the vehicle from a route of the other vehicle.

6. The information processing apparatus according to claim 5,

9. a time estimation unit that estimates a time during which travel of other vehicles is restricted when the vehicle travels along the first route, When the object is determined to be another vehicle by the object determination unit and when the time estimated by the time estimation unit is equal to or greater than a preset time threshold, the route information output unit outputs, to the vehicle, information about the second route for moving the vehicle away from a route of the other vehicle.

9. The information processing apparatus according to claim 8,

10. When the object is determined to be another vehicle by the object determination unit and when a turning motion of the vehicle occurs while the vehicle is traveling along the first route, the route information output unit outputs, to the vehicle, information regarding the second route for moving the vehicle away from the route of the other vehicle.

9. The information processing apparatus according to claim 8,

11. a priority order determination unit that, when the object determination unit determines that the object is another vehicle, determines a priority order of the vehicle relative to the other vehicle; When the priority determination unit determines that the priority of the vehicle is lower than that of the other vehicle, the route information output unit outputs, to the vehicle, information about the second route for evacuating the vehicle from a route of the other vehicle.

9. The information processing apparatus according to claim 8,

12. the first route is a route in which the vehicle moves forward in a first direction and then moves backward while changing its traveling direction to a second direction intersecting the first direction, The second route is a route in which the vehicle moves forward in the first direction, turns around to change its traveling direction to a direction opposite to the first direction, and then moves backward to change its traveling direction to the second direction.

6. The information processing apparatus according to claim 5,

13. the first route is a route along which the vehicle travels in a first direction; The second route is a route in which the vehicle moves in a second direction intersecting with the first direction, then moves in a direction opposite to the second direction, and then moves in the first direction.

6. The information processing apparatus according to claim 5,

14. the vehicle is a towing vehicle capable of towing a connected towed vehicle; a connection information acquisition unit that acquires information indicating whether the towed vehicle is connected to the vehicle; The route information output unit outputs information about the first route and information about the second route based on the information acquired by the connection information acquisition unit.

6. The information processing apparatus according to claim 5,

15. The first route and the second route are routes that pass through at least an unloading location or a loading location of the towed vehicle.

15. The information processing apparatus according to claim 14,

16. The first route and the second route have one end serving as an unused waiting area for the towed vehicle.

15. The information processing apparatus according to claim 14,

17. The vehicle is a trailer head or switcher capable of towing a trailer connected thereto and traveling within a yard dock.

17. The information processing apparatus according to claim 1,

18. A vehicle control device according to any one of claims 1 to 4, An information processing device according to any one of claims 5 to 16, A vehicle control system comprising:

19. A vehicle control method performed by an apparatus including a route information acquisition unit, a driving control unit, an object detection unit, and an output unit, The route information acquisition unit acquires information about a first route of the vehicle from an information processing device; The travel control unit controls the vehicle so that the vehicle travels along the first route based on the information acquired by the route information acquisition unit; a step of detecting an object whose distance from the vehicle traveling along the first route is less than a preset distance threshold by the object detection unit; and outputting, by the output unit, to the information processing device, that the object has been detected; when the object is detected by the object detection unit, the route information acquisition unit acquires information about a second route, which is different from the first route of the vehicle, from the information processing device; and The travel control unit controls the vehicle to travel along the second route acquired by the route information acquisition unit when the object is detected by the object detection unit. A vehicle control method comprising:

20. An information processing method performed by an apparatus including an object information acquisition unit and a path information output unit, a step of the object information acquisition unit acquiring information indicating the presence or absence of an object whose distance from a vehicle traveling on a preset first route is less than a preset distance threshold; The route information output unit outputs information about a first route that is set in advance to the vehicle, When the object information acquisition unit acquires information indicating the presence of the object, the route information output unit outputs, to the vehicle, information regarding a second route of the vehicle that is different from the first route that is set in advance.

23. An information processing method comprising:

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