Vehicle operation system

Abstract

To provide a vehicle operation system that performs operation of a target vehicle through communication, and to prevent the occurrence of a situation in which efficient traffic is inhibited in the transition of authority to operate the target vehicle (operation authority).SOLUTION: A vehicle operation system includes one or more processors. The one or more processors are configured to execute the following first processing to third processing. The first processing is to establish communication with a first vehicle while the first vehicle travels in an authority transition zone before a vehicle stop position where a user gets off from a target vehicle. The second processing is to start vehicle identification processing for identifying the first vehicle as the target vehicle while the first vehicle travels in a vehicle identification zone before the vehicle stop position. The third processing is to complete transition of authority from the user after completion of the vehicle identification processing.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a technique for operating a target vehicle through communication. [Background technology]

[0002] In recent years, various functions for operating a target vehicle through communication have been considered as services for vehicles. For example, one such function is Auto Valet Parking (AVP) in a parking lot. Patent Document 1 discloses a conventional general AVP system. Patent Document 1 discloses that after a user (passenger) stops the vehicle at a drop-off position (drop-off area), a terminal device is operated at the drop-off position, and then communication is established, authentication is performed, and so on.

[0003] Other documents that demonstrate the technical level of this technical field include the following Patent Documents 2 and 3. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-160086 A [Patent Document 2] JP 2020-187624 A [Patent Document 3] JP 2023-050922 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a function such as AVP, in order to start operating a target vehicle, it is necessary to complete a procedure for transferring the authority to operate the target vehicle (operation authority) from the user of the target vehicle to the system. Conventionally, as disclosed in Patent Document 1, the procedure for transferring the operation authority is performed after the vehicle stops at the disembarking position. On the other hand, the transfer of the operation authority requires at least the establishment of communication with the target vehicle and the completion of the identification of the target vehicle (identification can also be called authentication), and these procedures take a certain amount of time. For this reason, in the conventional technology, a vehicle that stops at the disembarking position continues to stop there for a while until the transfer of the operation authority is completed. It is undesirable for a vehicle to occupy a certain space for a long time, which hinders efficient traffic.

[0006] One objective of the present disclosure, in consideration of the above-mentioned problems, is to prevent the occurrence of situations in which efficient traffic is impeded when operating authority is transferred in relation to technology for operating a target vehicle via communication. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to a vehicle operation system that transfers authority to operate a target vehicle from a user of the target vehicle and operates the target vehicle through communication. The vehicle operation system includes one or more processors. The one or more processors are configured to establish communication with the first vehicle while the first vehicle is traveling in an authority transfer zone before a vehicle stopping position where a user gets off the target vehicle, start a vehicle identification process to identify the first vehicle as a target vehicle while the first vehicle is traveling in a vehicle identification zone before the vehicle stopping position, and complete the transfer of authority from the user after the vehicle identification process is completed. Effect of the Invention

[0008] According to the present disclosure, communication with the first vehicle is established at a point in time before the first vehicle arrives at the vehicle stop position. As a result, when the first vehicle arrives at the vehicle stop position, the communication with the first vehicle can be established. Furthermore, according to the present disclosure, a vehicle identification process is started at a point in time before the first vehicle arrives at the vehicle stop position. As a result, when the first vehicle arrives at the vehicle stop position, the identification of the target vehicle can be completed, or a part of the vehicle identification process can be executed. In this way, the time that the target vehicle stops at the vehicle stop position with respect to the transfer of the operating authority can be shortened. In turn, the occurrence of a situation in which efficient traffic is hindered can be suppressed. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a conceptual diagram for explaining an AVP system. [Diagram 2] 11 is a conceptual diagram for explaining an overview of an operation authority transfer process according to the present embodiment. FIG. [Diagram 3] FIG. 1 is a conceptual diagram for explaining an overview of a vehicle identification process using an action-based identification method. [Figure 4] FIG. 11 is a conceptual diagram for explaining an overview of additional processing according to the present embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of a processing flow in the vehicle operation system according to the present embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of a hardware configuration of the vehicle operation system according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1 Vehicle operation system The vehicle operation system according to this embodiment is a system that provides a function of operating a target vehicle through communication. One vehicle operation system is an AVP system that provides automatic valet parking (AVP) in a parking lot. AVP is a function that automatically enters and leaves a target vehicle in a parking lot without user operation.

[0011] FIG. 1 is a conceptual diagram for explaining the AVP system. The management system 100 manages the AVP in a parking lot 2. The parking lot 2 is provided with a sensor 150 that detects the position and state of each vehicle 1 in the parking lot 2. The management system 100 manages information on the parking lot 2 and each vehicle 1 based on detection information acquired using the sensor 150. The parking lot 2 is provided with a vehicle stop position 2b where a target vehicle is requested to stop. The user 20 stops the vehicle 1 (target vehicle) to be parked at the vehicle stop position 2b. The user 20 gets off the vehicle 1 (target vehicle) at the vehicle stop position 2b. After confirming that the user 20 has got off, the management system 100 starts the AVP for the target vehicle stopped at the vehicle stop position 2b. Specifically, the management system 100 transmits command information such as a parking position and a driving route to the target vehicle by communication based on management data related to the parking lot 2 and each vehicle 1. The AVP is implemented by controlling the target vehicle according to the command information received by the control system of the target vehicle.

[0012] In this way, the AVP system is configured by cooperation between the management system 100 and the control system of the target vehicle. After the management system 100 confirms that the user 20 has dismounted at the vehicle stop position 2b, it starts AVP for the target vehicle stopped at the vehicle stop position 2b. This configuration is similar to that of vehicle operation systems that provide other functions. The vehicle stop position 2b can also be said to be the position where the user 20 dismounts from the target vehicle to receive functions provided by the vehicle operation system.

[0013] In the vehicle operation system, in order for the management system 100 to start operating the target vehicle, it is necessary to transfer the authority to operate the target vehicle (operation authority) from the user 20 to the management system 100. On the other hand, the transfer of the operation authority requires at least the establishment of communication with the target vehicle and the completion of identification (authentication) of the target vehicle. Identification of the target vehicle is necessary to confirm that the vehicle 1 to be provided with the function is the vehicle 1 (target vehicle) of the regular user 20. By identifying the target vehicle, the reliability and safety of the function are ensured. However, these procedures take a certain amount of time. For this reason, in the conventional technology (for example, the technology disclosed in Patent Document 1), it is assumed that the vehicle 1 (target vehicle) continues to stop at the vehicle stop position 2b for a while from the start to the end of the procedure related to the transfer of the operation authority. However, it is not preferable for the vehicle 1 to occupy a certain space for a long time, which hinders efficient traffic. For example, in the AVP, the efficient entry of the vehicle 1 is hindered, and there is a risk of causing congestion of the vehicles 1 waiting to enter.

[0014] In response to the above problem, the vehicle operation system according to the present embodiment makes it possible to suppress the occurrence of a situation in which efficient traffic is impeded when operation authority is transferred.

[0015] 2 Operation authority transfer process FIG. 2 is a conceptual diagram for explaining an overview of the process (hereinafter referred to as the "operation authority transfer process") executed to transfer operation authority from the user 20 to the management system 100 in the vehicle operation system according to this embodiment.

[0016] In the vehicle operation system according to this embodiment, an authority transfer zone 3a and a vehicle identification zone 3b having a certain range are provided in front of the vehicle stop position 2b. FIG. 2 shows an example of the authority transfer zone 3a and the vehicle identification zone 3b. In FIG. 2, the vehicle identification zone 3b is included in the authority transfer zone 3a. However, the positional relationship and range of the authority transfer zone 3a and the vehicle identification zone 3b may be appropriately determined according to the environment to which this embodiment is applied. Furthermore, the authority transfer zone 3a and the vehicle identification zone 3b may be given as a virtual range in information processing.

[0017] In the vehicle operation system according to the present embodiment, when the vehicle 1 (first vehicle) travels through the authority transfer zone 3a, a procedure for transferring the operation authority is started. In particular, the management system 100 establishes communication (e.g., wireless LAN) with the vehicle 1 while the vehicle 1 is traveling through the authority transfer zone 3a.

[0018] On the other hand, when the vehicle 1 (first vehicle) travels through the vehicle identification zone 3b, vehicle identification is started. While the vehicle 1 is traveling through the vehicle identification zone 3b, the management system 100 starts a process (vehicle identification process) for identifying the vehicle 1 as a target vehicle. The vehicle identification process is usually performed using the sensor 150. For this reason, the vehicle identification zone 3b is typically set so as to be included in the detection range of the sensor 150.

[0019] Then, after the vehicle identification process is completed, the management system 100 completes the transfer of the operation authority from the user 20. In particular, the management system 100 may be configured to complete the vehicle identification process before the vehicle 1 reaches the vehicle stop position 2b. Furthermore, the management system 100 may be configured to complete the transfer of the operation authority from the user 20 before the vehicle 1 reaches the vehicle stop position 2b.

[0020] As described above, according to this embodiment, the procedure for the transfer of the operation authority is started before the vehicle 1 reaches the vehicle stop position 2b. In particular, communication between the management system 100 and the vehicle 1 is established. As a result, when the vehicle 1 reaches the vehicle stop position 2b, the communication with the vehicle 1 can be established. Furthermore, according to this embodiment, the vehicle identification process is started before the vehicle 1 reaches the vehicle stop position 2b. As a result, when the vehicle 1 reaches the vehicle stop position 2b, the identification of the target vehicle can be completed, or a part of the vehicle identification process can be executed. In this way, according to this embodiment, the time that the target vehicle stops at the vehicle stop position 2b regarding the transfer of the operation authority can be shortened. In turn, the occurrence of a situation in which efficient traffic is hindered can be suppressed.

[0021] In this embodiment, the method of the vehicle identification process is not particularly limited. For example, the vehicle identification process may be a method of recognizing the license plate of the vehicle 1 using a sensor 150 (e.g., a camera) and identifying the vehicle by collating information on the recognized license plate. When this method is adopted, since the establishment of communication is not required to execute the vehicle identification process, the vehicle identification zone 3b may be provided before the authority transfer zone 3a. In this case, the procedure for transferring the operating authority in the authority transfer zone 3a involves confirming that the vehicle identification has been completed.

[0022] On the other hand, this embodiment is particularly effective when a method that requires a certain amount of time to identify a vehicle is adopted. For example, this embodiment can be considered to adopt a method of instructing the vehicle 1 to execute an action and identifying a target vehicle based on whether or not the action recognized by the sensor 150 matches an expected action (hereinafter, referred to as an "action-based identification method").

[0023] Here, an action can be defined by a combination of a device (means) that executes the action and an operation pattern of the device. Devices that execute an action include lighting devices (headlights, brake lights, fog lights, etc.), interior lighting devices, horns, turn signals, windshield wipers, doors, door windows, engines, electric motors, etc. For example, one action is to flash headlights in a specified pattern. Another action is to sound a horn in a specified pattern. An action may include a request for repetition of an operation pattern.

[0024] 3 is a conceptual diagram for explaining an overview of vehicle identification processing using the action-based identification method in this embodiment. Here, the vehicle identification processing using the action-based identification method utilizes communication between the management system 100 and the vehicle 1, as described below. In other words, it is necessary that communication between the management system 100 and the vehicle 1 is established. For this reason, when the action-based identification method is adopted, the vehicle identification zone 3b is set to be included in the authority transfer zone 3a. Then, after communication is established, the management system 100 starts the vehicle identification processing while the vehicle 1 (first vehicle) is traveling in the vehicle identification zone 3b.

[0025] When the management system 100 starts the vehicle identification process, it first instructs the vehicle 1 to execute a predetermined action via communication. If the vehicle 1 is a genuine target vehicle, the vehicle 1 is expected to execute the predetermined action in accordance with the instruction.

[0026] Next, the management system 100 recognizes the action performed by the vehicle 1 using the sensor 150. Then, the management system 100 identifies the vehicle 1 performing the predetermined action as a target vehicle. For example, if the predetermined action is flashing headlights, the management system 100 recognizes the flashing pattern from the detection information of the sensor 150. Then, when the recognized pattern matches the operation pattern of the predetermined action, the management system 100 determines that the predetermined action has been performed and identifies the vehicle 1 as a target vehicle.

[0027] In this manner, in this embodiment, vehicle identification processing can be performed using an action-based identification method. Note that the action-based identification method requires the use of sensor 150 to detect the action of vehicle 1. For this reason, sensor 150 is configured to be able to detect at least the action to be performed by vehicle 1. For example, when a visually detectable visible action (such as an action related to the lighting of a lighting device) is to be performed, sensor 150 is configured with a camera. Also, for example, when an audible action (such as an action related to the sounding of a horn) that can be acoustically detected is to be performed, sensor 150 is configured with a microphone.

[0028] The action-based identification method has the advantage that it allows freedom in designing the actions used for vehicle identification and is highly flexible. On the other hand, the action-based identification method requires the vehicle 1 to execute an action having a certain duration, so vehicle identification takes a certain amount of time. Therefore, when performing vehicle identification processing using the action-based identification method, the effect of this embodiment becomes more prominent.

[0029] 3. Additional Processing The vehicle operation system according to this embodiment can also be configured to further execute the processes described below.

[0030] 3.1 Changing vehicle identification zones according to communication quality In this embodiment, a case where an identification method based on actions is adopted will be considered. In this case, the management system 100 needs to communicate with the vehicle 1 in the vehicle identification process. Therefore, as described above, after establishing communication, the management system 100 starts the vehicle identification process while the vehicle 1 is traveling in the vehicle identification zone 3b.

[0031] However, the position and range of the vehicle identification zone 3b are appropriately set, and the efficiency of the vehicle identification process is affected by the quality of communication (for example, latency is used as an index). In particular, when the communication quality is degraded, the start of the vehicle identification process may be delayed compared to the normally expected situation. This is a factor that reduces the success rate of the vehicle identification process.

[0032] Therefore, the vehicle operation system according to the present embodiment can be configured to further execute a process of moving the end position of the vehicle identification zone 3b closer to the vehicle stop position 2b when the communication quality is degraded. Fig. 4(A) is a conceptual diagram showing an overview of the process.

[0033] For example, the management system 100 acquires information on communication quality, and moves the position of the vehicle identification zone 3b closer to the vehicle stop position 2b as the communication quality deteriorates (see FIG. 4(A)). The management system 100 may move the vehicle identification zone 3b stepwise by comparing the communication quality with a threshold value, or may move the vehicle identification zone 3b continuously according to the communication quality. Alternatively, the management system 100 may expand the range of the vehicle identification zone 3b so that the end position approaches the vehicle stop position 2b as the communication quality deteriorates. The management system 100 can move or expand the default vehicle identification zone 3b, for example, by combining the default sensor 150a with another sensor 150b and using them in the vehicle identification process.

[0034] By executing the process in this manner, the vehicle identification zone 3b can be changed in consideration of the delay in starting the vehicle identification process due to the deterioration of communication quality, thereby improving the success rate of the vehicle identification process.

[0035] 3.2 Vehicle speed limit notification The vehicle identification process is generally performed using the sensor 150. Therefore, if the speed of the vehicle 1 is too high while the vehicle identification process is being performed, there is a risk that the accuracy of the vehicle identification process will decrease.

[0036] Therefore, the vehicle operation system according to this embodiment can be configured to further execute a process of notifying the user 20 to limit the speed of the vehicle 1 to a predetermined speed or less, depending on the positional relationship between the vehicle 1 and the vehicle identification zone 3b. Fig. 4(B) is a conceptual diagram showing an overview of this process.

[0037] One aspect of this process is to notify the user 20 that the speed of the vehicle 1 will be limited to a predetermined speed (first speed) or less before the vehicle 1 reaches the vehicle identification zone 3b. For example, the management system 100 notifies the user 20 that the speed of the vehicle 1 will be limited to a first speed or less when the vehicle 1 passes a point a predetermined distance before the vehicle identification zone 3b. After establishing communication with the vehicle 1, the management system 100 may notify the user 20 via the HMI of the vehicle 1, or may communicate with a user terminal (e.g., a smartphone) and notify the user 20 via the user terminal.

[0038] Another aspect of the process is to notify the user 20 that the speed of the vehicle 1 will be limited to a second speed or less that is lower than the first speed after the vehicle 1 reaches the vehicle identification zone 3b. For example, the management system 100 notifies the user 20 that the speed of the vehicle 1 will be limited to a second speed or less when the vehicle 1 enters the vehicle identification zone 3b.

[0039] By performing the process in this manner, it is expected that the speed of the vehicle 1 will be equal to or lower than a predetermined speed while the vehicle identification process is being performed, thereby making it possible to appropriately ensure the accuracy of the vehicle identification process.

[0040] 4. Processing Flow FIG. 5 is a diagram showing an example of a processing flow in the vehicle operation system according to the present embodiment.

[0041] First, the vehicle 1 travels through the authority transfer zone 3a (step S10). Then, the management system 100 establishes communication with the vehicle 1 while the vehicle 1 is traveling through the authority transfer zone 3a (step S11).

[0042] Next, the vehicle 1 travels through the vehicle identification zone 3b (step S12). Then, the management system 100 starts the vehicle identification process while the vehicle 1 is traveling through the vehicle identification zone 3b (step S13).

[0043] Next, after completing the vehicle identification process (step S14), the management system 100 completes the transfer of the operating authority from the user 20 (step S15).

[0044] Next, the vehicle 1 (target vehicle) arrives at the vehicle stop position 2b (step S16). After that, the management system 100 confirms that the user 20 has disembarked (step S17). For example, the management system 100 confirms that the user 20 has disembarked when the user 20 performs a predetermined completion action. Examples of the predetermined completion action include the user 20 moving away from the target vehicle by a predetermined distance or more, the user 20 locking the target vehicle, etc.

[0045] After confirming that the user 20 has disembarked, the management system 100 starts operating the target vehicle that is parked at the vehicle stop position 2b.

[0046] 5. Hardware Configuration 6 is a diagram showing an example of a hardware configuration of a vehicle operation system 10 according to this embodiment. The vehicle operation system 10 is configured between a vehicle 1 and a management system 100 that communicates with the vehicle 1. The vehicle operation system 10 includes a sensor 150 that is communicatively connected to the management system 100.

[0047] The management system 100 includes a processor 110, a storage device 120, and a communication interface 130.

[0048] The processor 110 executes various processes. The processor 110 is configured with, for example, a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), etc.

[0049] The storage device 120 is connected to the processor 110 and stores various information necessary for the processing executed by the processor 110. The storage device 120 is configured with a recording medium such as, for example, a random access memory (RAM), a read only memory (ROM), a solid state drive (SSD), or a hard disk drive (HDD).

[0050] The storage device 120 stores a computer program 121 and management data 122 .

[0051] The computer program 121 describes the processing to be executed by the processor 110. The processor 110, which executes the processing related to the computer program 121, and the storage device 120 cooperate with each other to realize information processing by the management system 100. In particular, information processing related to the transfer of operation authority according to this embodiment may be realized.

[0052] The management data 122 records various types of management information. For example, the management data 122 records management information (position, range, etc.) related to the authority transfer zone 3a and the vehicle identification zone 3b, management information (communication quality, first speed, second speed, etc.) related to the transfer of operation authority, management information (placement, specifications, etc.) related to the sensor 150, management information related to a predetermined action (device that executes the action, operation pattern, etc.), and the like.

[0053] The communication interface 130 is an interface for communicating with devices external to the management system 100 to transmit and receive information. For example, the communication interface 130 is configured with a device for connecting to surrounding devices via wireless LAN, a device for connecting to a mobile communication network, a device for connecting to the Internet, and the like. The management system 100 transmits and receives information to and from the vehicle 1 via the communication interface 130. The management system 100 may also be configured to transmit and receive information to and from a user terminal (not shown) via the communication interface 130.

[0054] The vehicle 1 includes a control processing device 210, an on-vehicle sensor 220, a communication interface 230, and an on-vehicle device 240.

[0055] The control processing device 210 is communicatively connected to the on-board sensor 220, the communication interface 230, and the on-board device 240. The control processing device 210 is a computer that performs information processing related to the control of the vehicle 1 based on various information. The control processing device 210 may include a processor and a storage device. The information processing by the control processing device 210 may be realized by cooperation between the processor and the storage device.

[0056] For example, the control processing device 210 is configured with one or more ECUs (Electronic Control Units). Also, for example, the control processing device 210 is configured with a kit (for example, an AVP kit) for functions provided by the management system 100. The control processing device 210 generates and outputs a control signal for controlling the vehicle 1 by information processing. In particular, when the vehicle 1 receives an instruction from the management system 100 to start executing a predetermined action, the control processing device 210 generates and outputs a control signal for executing the predetermined action. The control signal is transmitted to the in-vehicle device 240.

[0057] The on-board sensor 220 detects information on the surrounding environment and driving conditions of the vehicle 1. Examples of the on-board sensor 220 include a camera, a radar, a LiDAR, a wheel speed sensor, an IMU (Inertial Measurement Unit), a GNSS (Global Navigation Satellite System) sensor, and the like.

[0058] The communication interface 230 is an interface for communicating with devices external to the vehicle 1 to transmit and receive information. The vehicle 1 transmits and receives information to and from the management system 100 via the communication interface 230.

[0059] The in-vehicle device 240 includes lighting devices, interior lighting devices, horns, direction indicators, wipers, doors, door windows, drive devices, braking devices, steering devices, HMI, etc. Each device of the in-vehicle device 240 includes an actuator 241 that can be controlled by the control processing device 210. The in-vehicle device 240 acquires a control signal from the control processing device 210. The actuator 241 operates according to the acquired control signal, whereby the in-vehicle device 240 is controlled by the control processing device 210. Also, control of the vehicle 1 is realized by controlling the in-vehicle device 240. [Explanation of symbols]

[0060] 1 Vehicle, 2b Vehicle stop position, 3a Authority transfer zone, 3b Vehicle identification zone, 10 vehicle operation systems, 20 users, 100 management systems, 110 processor, 120 storage device, 121 computer program 150 Sensors

Claims

1. A vehicle operation system that transfers an authority to operate a target vehicle from a user of the target vehicle and operates the target vehicle through communication, one or more processors; The one or more processors: Establishing the communication with the first vehicle while the first vehicle is traveling through an authority transfer zone in front of a vehicle stopping position where the user gets off the target vehicle; while the first vehicle is traveling in a vehicle identification zone in front of the vehicle stop position, starting a vehicle identification process for identifying the first vehicle as the target vehicle; After the vehicle identification process is completed, the transfer of authority from the user is completed. It is configured as follows: Vehicle operating system.

2. 2. The vehicle operation system of claim 1, The vehicle identification zone is included in the authority transfer zone; The vehicle identification process includes: After the communication is established, instructing the first vehicle via the communication to perform a predetermined action to identify the target vehicle; Recognizing an action performed by the first vehicle using a sensor; identifying the first vehicle that performs the predetermined action as the target vehicle; Includes Vehicle operating system.

3. 3. The vehicle operation system according to claim 2, The one or more processors further include: The end position of the vehicle identification zone is moved closer to the vehicle stop position as the quality of the communication decreases. It is configured as follows: Vehicle operating system.

4. A vehicle operation system according to any one of claims 1 to 3, The one or more processors further include: notifying the user to limit the speed of the first vehicle to no more than a first speed before the first vehicle reaches the vehicle identification zone. It is configured as follows: Vehicle operating system.

5. 5. The vehicle operation system according to claim 4, The one or more processors further include: notifying the user that a speed of the first vehicle is to be limited to a second speed lower than the first speed after the first vehicle reaches the vehicle identification zone; It is configured as follows: Vehicle operating system.

Images