Autonomous vehicle and driving control system for the same

Abstract

To provide an autonomous vehicle that can assure safe driving without being loaded with an advanced-type sensing device, so as to enhance delivery efficiency in a delivery system having the autonomous vehicle as a delivery vehicle, and a driving control system for the same.SOLUTION: An autonomous vehicle (a delivery vehicle) 2 is provided with an on-vehicle sensing device 22 that senses traffic information around the vehicle, and a driving control device 23 that controls driving speed of the vehicle on the basis of the sensed traffic information. When the traveling position of the vehicle changes, the driving control device 23 replaces the traffic information sensed by the on-vehicle sensing device 22 with traffic information sensed by a road-side sensing device 31 arranged on a road on which the vehicle is traveling to control the driving speed on the basis of the replaced traffic information.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an autonomous vehicle capable of automatically controlling its traveling speed, and a traveling control system for controlling the traveling speed (vehicle speed). [Background technology]

[0002] In the field of logistics, there is a need to improve the efficiency of the section from the final delivery base to the customer's home, which is the delivery destination, and a delivery system that uses autonomous vehicles to deliver packages is being considered. In order to perform delivery quickly and smoothly, it is preferable to increase the vehicle speed of the autonomous vehicle as much as possible. In Patent Document 1, in order to make the autonomous vehicle reach a specified position at a target time, a speed pattern corresponding to the driving environment is set, and the vehicle speed of the autonomous vehicle is controlled based on this speed pattern.

[0003] For an autonomous vehicle, it is preferable to obtain traffic information for the road on which the vehicle is traveling in order to ensure safe driving while avoiding contact with other vehicles, pedestrians, etc. The technology of Patent Document 1 targets autonomous vehicles that travel on a preset trajectory, and does not take into consideration safe driving based on traffic information including other vehicles, pedestrians, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-154733 A Summary of the Invention [Problem to be solved by the invention]

[0005] In order to ensure the safe driving of self-driving cars on public roads, it is conceivable to equip self-driving cars with sensors that detect traffic information and control the speed based on the detected traffic information. For example, the road conditions ahead of the self-driving car could be detected by cameras, LiDAR, and other sensors, and the speed of the self-driving car could be restricted when the road is congested.

[0006] In a delivery system that uses autonomous vehicles as delivery vehicles, it is required to improve delivery efficiency while ensuring the safe driving of the autonomous delivery vehicles. To improve efficiency, it is desirable to increase the vehicle speed of the autonomous delivery vehicles, but to ensure safe driving, the faster the vehicle speed, the more traffic information ahead needs to be detected. In order to obtain such traffic information, it is necessary to install a highly functional detection device with a long detection range. However, since highly functional detection devices are large and expensive, it is difficult to install them in small autonomous delivery vehicles. In addition, when building a delivery system that includes a large number of autonomous delivery vehicles, it is difficult to realize it from a cost perspective.

[0007] The object of the present invention is to provide an autonomous vehicle and its driving control system that can ensure safe driving of the autonomous vehicle without being equipped with a high-performance detection device, and can increase delivery efficiency when a delivery system is established in which autonomous vehicles are used as delivery vehicles. [Means for solving the problem]

[0008] The self-driving vehicle of the present invention is equipped with an on-board detection device that detects traffic information around the vehicle, and a driving control device that controls the vehicle's driving speed based on the detected traffic information.When the driving position changes, the driving control device is configured to switch between traffic information detected by the on-board detection device and traffic information detected by a roadside detection device installed on the driving path, and control the vehicle's driving speed based on the switched traffic information.

[0009] In the present invention, the driving control device of the autonomous vehicle controls driving by switching to traffic information from an on-board detection device on driving roads in congested areas, and controls driving by switching to traffic information from a roadside detection device on driving roads in quiet areas. The autonomous vehicle is preferably equipped with a communication device that receives traffic information detected by the roadside detection device and transmitted via a communication network. The autonomous vehicle is preferably configured as a delivery vehicle that automatically delivers packages.

[0010] The cruise control system of the present invention includes an autonomous vehicle and a roadside detection device that detects traffic information on a specific one of the routes on which the autonomous vehicle is driven. The autonomous vehicle includes an on-board detection device that detects traffic information around the vehicle and a cruise control device that controls the vehicle's travel speed based on the detected traffic information, and when the vehicle is traveling on the specific route, the cruise control device controls the vehicle's travel speed based on the traffic information from the roadside detection device. When the autonomous vehicle is traveling on routes other than the specific route, the cruise control device controls the vehicle's travel based on the traffic information detected by the on-board detection device.

[0011] In the cruise control system of the present invention, for example, the specific road is a road in a quiet area, and the roads other than the specific road are roads in a congested area, and the vehicle speed of the automated driving vehicle on the road in the quiet area is faster than the vehicle speed on the road in the congested area.

[0012] In the driving control system of the present invention, the roadside detection device is disposed on electrical facilities such as street lights, traffic lights, and utility poles disposed along the road. The roadside detection device is preferably a high-performance detection device that detects a wider area and has higher detection accuracy than the vehicle-mounted detection device. For example, the vehicle-mounted detection device is a camera or LiDAR, and the roadside detection device is a LiDAR with higher functionality. Effect of the Invention

[0013] According to the present invention, an autonomous vehicle can travel at high speeds while ensuring safe driving based on traffic information detected by a roadside detection device composed of a high-performance detection device, even if the autonomous vehicle is not equipped with a high-cost high-performance sensor. This allows an autonomous vehicle to be equipped with a small, low-cost vehicle detection device, and improves delivery efficiency when a low-cost delivery system is constructed using autonomous vehicles as delivery vehicles. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram of a cruise control system according to an embodiment; [Diagram 2] Conceptual diagram of a delivery vehicle. (a) is an exterior view, and (b) is an ID marker. [Diagram 3] Block diagram of a delivery vehicle. [Figure 4] A conceptual illustration of a shipping hub. [Diagram 5] Block diagram of a distribution hub. [Figure 6] FIG. 2 is a block diagram of a roadside detection device. [Figure 7] FIG. [Figure 8] FIG. 4 is a schematic diagram illustrating a mode of driving control. [Figure 9] FIG. 4 is a schematic diagram illustrating a communication form in driving control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a conceptual diagram showing the overall configuration of an embodiment in which the driving control system of the present invention is applied to a parcel delivery system. A congested area A1 such as an urban area congested with vehicles and pedestrians and a congested area A2 can be accessed via a quiet area A3 such as a suburban road, and a delivery relay station is installed as a delivery hub 1 for parking delivery vehicles 2 in part of the congested area A1. Here, it is difficult to clearly distinguish between congested areas and quiet areas, but it is possible to distinguish, for example, an area in which the legally permitted speed limit for vehicles is low as a congested area and an area in which the relatively high speed limit is high as a quiet area.

[0016] The delivery vehicle 2 is composed of a small self-driving vehicle, and is usually parked at the delivery hub 1. The delivery vehicle 2 is capable of self-driving while detecting traffic information on the roads leading up to the delivery destination (customer's house) 6. Baggage transported by delivery truck 40 from a baggage collection point 4, which serves as a logistics base, is transferred to the delivery vehicle 2 by worker M at the delivery hub 1. The delivery vehicle 2 drives automatically to deliver the transferred baggage to the delivery destination. Alternatively, conversely, the delivery vehicle 2 transports baggage from the delivery destination to the delivery hub 1, and the delivery truck 40 transports it to the baggage collection point 4.

[0017] The baggage collection point 4 also functions as a monitoring center, and is equipped with a monitoring device (hereinafter referred to as a center monitoring device) 41 and a communication device (hereinafter referred to as a center communication device) 42 connected to a communication network. The center monitoring device 41 is capable of sending and receiving information to and from communication partners via this communication network.

[0018] The delivery area of ​​the delivery hub 1 includes the congested area A1 and the congested area A2. Therefore, the delivery vehicle 2 may deliver not only within the congested area A1, but also through the quiet area A3 to the congested area A2. When the delivery vehicle 2 travels between the congested area A1 and the congested area A2, it travels at a low speed of about 6 km / h, which is the legally permitted maximum speed limit. On the other hand, when traveling through the quiet area A3, it travels at a high speed of about 19 km / h, which is the legally permitted maximum speed limit, while ensuring safe driving, in order to improve delivery efficiency.

[0019] The delivery hub 1 is configured to include one street light 100 arranged in the congested area A1, and the location where this street light is arranged provides a parking space 101 for parking the delivery vehicle 2. The delivery hub 1 is capable of detecting and monitoring the parked delivery vehicle 2.

[0020] Furthermore, in the quiet area A3, a plurality of electrical facilities (infrastructure facilities) 3 are arranged along the roads, and here, street lights 300 are arranged as the electrical facilities 3. At least one of the street lights 300 is equipped with a detection device (hereinafter referred to as a roadside detection device) 31, which will be described later. This roadside detection device 31 is capable of detecting not only the delivery truck 2 traveling in the quiet area A3, but also other vehicles traveling on the road and detecting traffic information of the destination of the delivery truck 2.

[0021] The delivery hub 1, the delivery vehicle 2, and the roadside detection device 3 are connected by a communication network, and are capable of transmitting and receiving information to and from each other. In addition, the delivery hub 1, the delivery vehicle 2, and the roadside detection device 3 are also capable of transmitting and receiving information to and from a baggage collection point 4 via the communication network.

[0022] Fig. 2 is a diagram showing the schematic configuration of a delivery vehicle 2. As shown in Fig. 2(a), the delivery vehicle 2 is configured as a four-wheeled vehicle capable of automatic driving. The delivery vehicle is provided with an openable cover 201 on a part of the vehicle body 200, and by opening and closing this cover 201, it is possible to load or unload luggage 5 inside the vehicle.

[0023] An ID marker 203 is provided on at least one of the roof panel, side (left and right) panels, and end (front and rear) panels of the vehicle body 200 of the delivery vehicle 2. Here, it is provided on the roof panel. As shown in Fig. 2(b), this ID marker 203 is configured such that a plurality of rectangular cells with different light reflectances are combined in a grid (matrix) to form a pattern based on a required code. In addition, an ID code 501 based on the required code is affixed to the surface of the luggage 5, and this ID code 501 is composed of a barcode.

[0024] As shown in FIG. 2(b), the ID marker 203 of the delivery van 2 is composed of a combination of red cells with a reflectance of 95%, green cells with a reflectance of 70%, blue cells with a reflectance of 50%, and black cells with a reflectance of 10%. The ID marker 203 is formed by applying paint of a plurality of different colors to the surface of the body 200 of the delivery van, but it may also be configured by attaching a combination of sheet materials with different reflectances to the surface of the body 200. Alternatively, it may be composed of achromatic paints or sheet materials with different reflectances. This ID marker 203 is formed based on the unique ID information of each delivery van 2.

[0025] 3 is a schematic block diagram of the delivery van 2. The delivery van 2 is equipped with a driving device 21 for driving on roads, an on-board detection device 22 that detects traffic conditions at least in the destination of the delivery van and outputs traffic information, a driving control device 23 that controls the driving device 21 to perform automatic driving, and an on-board communication device 24 that connects to a communication network.

[0026] The driving device 21 is equipped with a battery 210 as a power source, and a motor 211 that generates driving force. The rotation of this motor 211 is controlled by a driving control device 23, which causes the delivery vehicle 2 to travel and controls its travel speed. In addition, the driving device 21 is provided with a steering unit 213, which is controlled by the driving control device 23 to control the travel direction of the delivery vehicle 2.

[0027] The vehicle-mounted detection device 22 includes a camera 221 that captures images of the area around the delivery vehicle as a detection unit, and a detection control unit 222 that outputs information related to other vehicles, pedestrians, etc. based on the images captured by the camera 221. The camera 221 is configured to capture images based on visible light, and can capture images using light illuminated by street lights 200, for example. The camera 221 may be an infrared camera. Alternatively, instead of a camera, a small, low-cost, low-function LiDAR may be used. The low-function LiDAR is small and low-cost, with a detection distance of several meters to several tens of meters.

[0028] The driving control device 23 includes a position detection unit 231 that detects the current position of the vehicle, such as a GPS, and map information 232 of the area in which the vehicle travels, which includes congested areas A1 and A2. By controlling the driving device 21 based on the current position information detected by the position detection unit 231 and the map information 232, the delivery vehicle 2 can automatically travel toward the destination. The driving control device 23 also controls the driving device 21 based on traffic information, and can control the vehicle speed when traveling. In this example, the vehicle speed can be controlled within a range of 0 km to 20 km per hour.

[0029] The in-vehicle communication device 24 is connected to a communication network and is capable of transmitting and receiving information at least to and from the delivery hub 1. The driving control device 23 is also capable of controlling the drive device 21 based on traffic information acquired by the in-vehicle communication device 24, thereby controlling the vehicle speed.

[0030] 4 is a schematic diagram of the distribution hub 1. The distribution hub 1 has a required space 101 secured on a part of the road in the congested area A1, and this space is configured as a parking space where multiple delivery vehicles can be parked. A street light 100 with a illuminator 10 attached to the top is arranged in this parking space 101, and this illuminator 10 can illuminate the delivery vehicle 2 parked in the parking space 101. The illuminator 10 can also illuminate the baggage 5 carried by a worker M performing transfer work in the parking space 100.

[0031] 5 is a schematic diagram of a street light 100, in which a housing 103 is attached to the upper part of a pole 102 of the street light 100, and an illuminator 10 is disposed within this housing 103. This illuminator 10 is configured to be equipped with an illuminance sensor, for example, and to automatically turn on at night. Also disposed within the housing 103 are a hub detection device 11, a hub monitoring device 12, and a hub communication device 13.

[0032] The hub detection device 11 includes a camera 111 as a detection unit and a detection control unit 112. The camera 111 is configured as a visible light camera capable of capturing images of the delivery vehicle 2 illuminated by the illuminator 10, the worker M, and the luggage 5 being transferred here. In particular, the camera 111 is capable of capturing images of the ID marker 203 provided on the body panel of the delivery vehicle 2 and the ID code 501 provided on the luggage 5.

[0033] The detection control unit 112 detects the ID marker 203 of the delivery van 2 captured by the camera 111, and detects vehicle ID information of the delivery van 2. In addition, the detection control unit 112 detects baggage ID information of the baggage 5 from the ID code 501 of the baggage 5 captured by the camera 111.

[0034] The hub monitoring device 12 includes a monitoring unit 121 that monitors the delivery vehicle 2 and the luggage 5 based on the vehicle ID information and luggage ID information detected by the hub detection device 11. The hub monitoring device 12 also includes a storage unit 122 that pre-stores various information such as luggage information to be delivered, information about the delivery vehicle, and information about the delivery destination 6 of the delivery vehicle 2. The monitoring unit 121 then compares the detected vehicle ID information and luggage ID information with the information stored in the storage unit 122 to monitor the delivery vehicle 2 and the luggage 5.

[0035] The hub communication device 13 is connected to a communication network, and various information can be transmitted and received via this communication network. That is, as described above, information can be transmitted and received between the delivery vehicle 2, the roadside detection device 3, and the monitoring center 4.

[0036] Furthermore, in this embodiment, a power supply device 14 is provided below the street light 100. This power supply device 14 is mainly used for charging the battery 211 of the parked delivery vehicle 2 by being electrically connected thereto. In addition, a code reader 15 that uses infrared rays is provided above the power supply device 14. This code reader 15 takes into consideration the reliability and ease of use when detecting baggage ID information, and is used by the worker M when performing detection in cases such as when it is difficult to detect baggage ID information from the image captured by the camera 111 of the hub detection device 11.

[0037] 6 is a schematic diagram of a street light 300 as a road electrical facility 3 arranged on a road in the quiet area A3. The multiple street lights 300 arranged at a predetermined distance interval basically have the same configuration. These street lights 300 have a housing 303 attached to the top of a pole 302, similar to the street light 100 in the delivery hub 1, and a illuminator 30 that illuminates the road is arranged inside this housing 303. Similar to the illuminator 10 in the delivery hub 1, this illuminator 30 can be automatically turned on by an illuminance sensor.

[0038] In addition, the roadside detection device 31 and the roadside communication device 32 are disposed in the housing 303. The roadside detection device 31 includes a detection unit 311 for detecting vehicles traveling on a road, and a detection control unit 312 for outputting traffic information based on the position of the vehicles detected by the detection unit 311. The detection unit 311 is configured with a high-performance LiDAR and is capable of detecting objects present within its detection area, that is, automobiles, pedestrians, obstacles, etc. The detection distance of the high-performance LiDAR is about 100 to 500 m, and therefore it is large and expensive. Therefore, it is possible to detect the delivery vehicle 2 traveling on a wide range of roads in the sparsely populated area A3. As described later, if the interval distance of the roadside detection device 31, that is, the interval distance of the street lamps 300, is not so long compared to the detection distance of the detection unit 221 of the vehicle-mounted detection device 22 of the delivery vehicle 2, the detection unit 311 of the roadside detection device 31 does not necessarily have to be a high-performance LiDAR.

[0039] The detection control unit 312 detects the position and moving direction of the object detected by the LiDAR 311, and outputs these as traffic information. In addition, when the detection control unit 312 detects a delivery vehicle 2 by the LiDAR 311, it outputs the vehicle ID information of the delivery vehicle 2 from the ID marker 203 of the delivery vehicle 2. This vehicle ID information includes information on the position, moving direction, and vehicle speed of the delivery vehicle 2.

[0040] The roadside communication device 32 is connected to a communication network, and can transmit traffic information and vehicle ID information detected by the roadside detection device 31 to the delivery hub 1 via the communication network. In addition, the information may be transmitted to the center monitoring device 41 at the same time.

[0041] Note that, although a plurality of street lights 300 are arranged along the road, the roadside detection device 31 may be arranged at selected street lights 300 among these street lights 300. In this case, the distance interval of the roadside detection device 31 is set according to the detection range of the LiDAR 311. For example, when the detection area is about 100 to 500 m, the roadside detection devices 31 are arranged at distance intervals of about 1.5 to 2 times the detection area. In addition, it is preferable that the street lights 300 are arranged near an intersection where roads intersect, so that traffic information of the intersecting roads can be detected.

[0042] The travel control of the delivery vehicle 2 in the delivery system configuration described above will be described. Here, as shown in FIG. 1, an example will be described in which the delivery vehicle 2 delivers luggage from the delivery hub 1 in the congested area A1 through the quiet area A3 to the delivery destination 6 in the congested area A2. Prior to this travel control, when the delivery truck 40 from the delivery collection point 4 arrives at the delivery hub 1, the luggage is transferred from the delivery truck 40 to the delivery vehicle 2. This work is performed by a worker M as shown in FIG. 4. The luggage 5 to be transferred is detected by the hub detection device 11 provided on the street light 100 of the delivery hub 1. That is, the ID code 501 of the luggage 5 illuminated by the illuminator 10 is imaged by the camera 111, and the luggage ID information of each luggage 5 is detected. When the ID code 501 is composed of a barcode, it is detected based on its black and white striped pattern, i.e., a light and dark striped pattern.

[0043] At the same time, the delivery van 2 onto which the package 5 is to be loaded is detected by the hub detection device 11, and the vehicle ID information of the delivery van 2 is detected. This detection is performed by using the camera 111 to capture an image of the ID marker 203 of the delivery van 2 illuminated by the illuminator 10. Since the camera 111 is capable of capturing images using visible light, the ID information can be detected from a code pattern made up of cells of different colors that make up the ID marker 203. The camera 111 may be configured as an infrared camera, in which case the vehicle ID information can be detected from the light and dark pattern of the image obtained due to differences in reflectance of each cell that makes up the ID marker 203.

[0044] The monitoring unit 121 of the hub monitoring device 12 compares the baggage ID information and vehicle ID information detected by the hub detection device 11 with the information stored in the memory unit 122, and confirms that the baggage has been correctly transferred to the delivery vehicle. At the same time, the monitoring unit 121 recognizes the baggage ID information of the baggage 5 loaded on the delivery vehicle 2.

[0045] When the delivery vehicle 2 loaded with the package 5 starts traveling, the required command is sent from the hub monitoring device 12 of the delivery hub 1 to the delivery vehicle 2 via the communication network. When the delivery vehicle 2 receives the command addressed to itself, the driving control device 23 controls the drive device 21 to start traveling. Note that the vehicle may also start traveling based on the judgment of an operator present at the delivery hub 1.

[0046] Fig. 7 is a flow diagram of driving control, and Fig. 8 is a diagram showing the driving control in a schematic manner. Referring to Fig. 7 and Fig. 8 together, the delivery vehicle 2 detects where it is driving by the position detection unit 231 of the driving control device 23. When it is detected that the delivery vehicle 2 is driving in a congested area A1 (S11), the delivery vehicle 2 automatically drives toward the delivery destination 6 while detecting traffic information of the vehicle's driving destination by the on-vehicle detection device 22 (S12). That is, the delivery vehicle 2 drives while controlling the vehicle speed and driving direction so as not to come into contact with other vehicles or pedestrians based on the traffic information detected by the on-vehicle detection device 22, particularly the traffic information of other vehicles and pedestrians.

[0047] The road conditions within the congested area A1 are congested with many vehicles and pedestrians. In addition, the detection unit 221 of the vehicle-mounted detection device 22 is a camera or a low-function LiDAR, and it only detects a nearby area of ​​about 10 meters of the traveling vehicle, so high-speed driving is not preferable from the viewpoint of safe driving. Therefore, the speed limit of the delivery vehicle 2 during driving is set to about 6 km / h at which sudden stopping is possible by control of the driving control device (S13). Therefore, the delivery vehicle drives safely while controlling deceleration and acceleration within a range of vehicle speeds not exceeding 6 km / h. Note that if the vehicle speed is mistakenly controlled to a speed higher than this, the hub monitoring device 12 recognizes this, and a command to limit the vehicle speed of the delivery vehicle 2 is transmitted to the delivery vehicle 2 via the communication network, and the vehicle speed of the delivery vehicle 2 is limited.

[0048] When the delivery vehicle 2 leaves the congested area A1 and reaches the sparse area A3, the driving control device 23 of the delivery vehicle 2 recognizes that it is driving in the sparse area A3 from the current position detected by the position detection unit 231 (S14). Then, the driving control device 23 switches from control based on traffic information from the on-board detection device 22 to control based on traffic information from the roadside detection device 31 sent via the communication network (S15). In this case, the hub monitoring device 12 monitoring the delivery vehicle 2 may transmit a predetermined switching signal via the communication network to the driving control device 23 of the delivery vehicle 2 to perform the switching.

[0049] The driving control device 23 switches the traffic information and controls the delivery vehicle 2 to increase its speed. Since there are few pedestrians on the roads in the quiet area A3 and surrounding vehicles are also traveling at high speeds, there is less need to limit the vehicle speed to a low speed to ensure safe driving. On the other hand, it is preferable to make the delivery vehicle's speed as fast as possible in order to avoid the delivery time being extended by continuing to travel at a low speed and to increase delivery efficiency. Therefore, the speed limit of the delivery vehicle 2 is increased to about 19 km per hour (S16).

[0050] The roadside detection device 31 installed on the road in the quiet area A3 is composed of a high-performance LiDAR and detects vehicles traveling on the road over a wide area. Here, when detecting a vehicle traveling on the road, the roadside detection device 31 detects the ID marker 203 provided on the delivery vehicle 2, and detects the vehicle ID information of the traveling vehicle 2 with high accuracy from the detected ID marker 203. In particular, it detects information on the traveling direction, traveling speed, and current position of the delivery vehicle 2. Then, it detects information on other vehicles and obstacles present on the road ahead of the detected delivery vehicle 2, particularly the road far ahead, and transmits this as traffic information to the hub monitoring device 12. This traffic information includes traffic information that cannot be detected by the low-performance on-board detection device 22 of the delivery vehicle 2, such as information on vehicles entering from side roads that are blind spots of the delivery vehicle 2 and congestion on the road far ahead.

[0051] At this time, as shown in FIG. 8, the traffic information detected by the roadside detector 31 is transmitted to the hub monitor 12 via the communication network NW (i1, i2), and is further transmitted from the hub monitor 12 to the delivery vehicle 2 via the communication network NW (i2, i3). The driving control device 23 of the delivery vehicle 2 controls the drive unit 21 based on the transmitted traffic information. Since this traffic information includes traffic information on the road far ahead of the delivery vehicle 2, the driving control device 23 of the delivery vehicle 2 can perform control equivalent to that performed based on traffic information detected by a high-performance detector (LiDAR). This allows the delivery vehicle 2 to increase its vehicle speed and drive within the speed limit of 19 km while ensuring the safety of the vehicle. At the same time, the hub monitor 12 can monitor the driving of each delivery vehicle 2.

[0052] The traffic information from the roadside detector 31 may be transmitted to the hub monitoring device 12, and then transmitted from the hub monitoring device 12 to the delivery vehicle 2. Also, instead of completely switching from the traffic information from the vehicle-mounted detector 22 to the traffic information from the roadside detector 31, the traffic information from the roadside detector 31 may be used as the main traffic information, with the traffic information from the vehicle-mounted detector 22 used as the secondary traffic information. Using traffic information from the vehicle-mounted detector 22 rather than the roadside detector 31 allows for a faster response speed since no communication is required, making it possible to respond to unexpected events.

[0053] When the delivery vehicle 2 travels from a road in the quiet area A3 to the congested area A2, as shown in the flow of Fig. 7, the delivery vehicle 2 switches from traffic information from the roadside detector 31 to driving control based on traffic information from the vehicle's on-board detector 22 (S11). Therefore, the vehicle speed limit thereafter is set to 9 km / h (S12, S13), and the delivery vehicle travels safely through the congested area A2 with many vehicles and pedestrians, finally reaching the delivery destination 6 and delivering the package.

[0054] Thus, in this delivery system, when the delivery vehicle 2 travels on the roads in the quiet area A3, its travel is controlled based on traffic information detected by the high-performance roadside detection device 31 arranged on the road. This improves the accuracy and reliability of the detected traffic information, and ensures the safe travel of the delivery vehicle 2 even if the vehicle speed is increased. This reduces at least the travel time when traveling through the quiet area A3, shortens the time it takes for the delivery vehicle 2 to reach the delivery destination 6, and improves delivery efficiency. In addition, the high-performance roadside detection device 31 only needs to be arranged in the quiet area A3, and does not need to be arranged in the congested areas A1 and A2, which is also preferable in terms of reducing the cost of the entire system.

[0055] The hub monitoring device 12 can confirm that the delivery destination 6 has been reached based on the position information of the delivery vehicle 2. Although detailed explanation is omitted, the recipient of the package at the delivery destination 6 performs a predetermined operation to confirm the package ID information of the delivered package using the camera 221 and detection control unit 222 of the on-board detection device 22 of the delivery vehicle 2, and transmits this confirmed information to the delivery hub 1 or the center monitoring device 41, whereby the hub monitoring device 12 or the center monitoring device 41 can confirm the completion of delivery.

[0056] The same applies when the delivery vehicle 2, having completed delivery, travels to the next delivery destination. If the next delivery destination is within the congested area A2, driving control is performed at a maximum speed of 9 km / h based on traffic information detected by the vehicle's on-board detection device 22. When traveling on roads in the quiet area A3 to move from the congested area A2 to the next delivery destination or to return to the delivery hub 1, driving control is performed based on traffic information from the roadside detection device 31, just like on the outbound route. This makes it possible to increase delivery efficiency and ensure safe driving.

[0057] As described above, the delivery vehicle 2 can travel at high speeds while ensuring safe driving based on traffic information detected by the roadside detection device 31, which is composed of a high-performance detection device, even without being equipped with a large, expensive, highly functional sensor. This makes it possible to improve the delivery efficiency of the delivery system even when a small, low-cost delivery vehicle is configured. In particular, in a delivery system with many delivery vehicles, the effects of reducing total costs and improving delivery efficiency are remarkable.

[0058] In the embodiment, traffic information detected by the roadside detection device 31 is transmitted to the delivery vehicle 2 via the delivery hub 1, but this traffic information may also be transmitted to the delivery vehicle 2 via a center monitoring device 41 at the baggage collection point 4. The center monitoring device 41 is configured to communicate with multiple delivery hubs 1 via a communication network, making it possible to transmit integrated traffic information to a large number of delivery vehicles 2 within a wide delivery area covered by multiple delivery hubs 1.

[0059] 9, when the delivery vehicle 2 travels on a road in the quiet area A3, it may communicate with a roadside detection device 31 installed on the road, and send traffic information detected by the roadside detection device 31 directly to the delivery vehicle 2 (i4). In this case, the delivery vehicle 2 and the roadside detection device 31 may use a local wireless communication method such as a wireless LAN, instead of using a communication network.

[0060] In the present invention, when the roadside detection devices 31 installed on the roads in the quiet area A3 are installed at short intervals, the roadside detection devices 31 only need to detect traffic information in a short area, so the detection unit 311 of the roadside detection device 31 does not necessarily need to be a high-performance LiDAR. However, in this case, the number of LiDARs may increase, so it is necessary to consider the balance between the unit price and the number. In addition, the roadside detection device 31 in the present invention does not necessarily need to be installed on a street light, but may be installed on an electrical facility such as a telephone pole or a traffic light, as long as it can secure a power source for detection and communication operations. When a secondary power source such as a battery or a solar cell is used as the power source for the roadside detection device 31, it is sufficient that the facility is installed in a place with good visibility along the road.

[0061] In the embodiment, the self-driving vehicle according to the present invention is applied to a delivery system using a delivery vehicle, but the present invention can be configured as a driving control system that ensures the traffic safety of the self-driving vehicle and enables high-speed driving. For example, the present invention can be applied to driving control systems including unmanned taxis and unmanned public transportation vehicles. [Explanation of symbols]

[0062] 1. Shipping Hub 2 Delivery vehicle 3 Road electrical facilities 4 Luggage collection point (monitoring center) 5. Luggage 6. Delivery address 11 Hub detection device 12 Hub Monitoring Device 13 Hub communication device 21 Drive unit 22 Vehicle-mounted detection device 23 Driving control device 24 In-vehicle communication device 31 Roadside detection device 32 Roadside communication equipment 41 Center monitoring device 42 Center communication device 101 Parking Space 203 ID Marker 501 ID Code

Claims

1. An autonomous vehicle equipped with an on-board detection device that detects traffic information around the vehicle, and a cruise control device that controls the vehicle's driving speed based on the detected traffic information, wherein when the vehicle's driving position changes, the cruise control device switches between traffic information detected by the on-board detection device and traffic information detected by a roadside detection device installed on the vehicle's driving path, and controls the vehicle's driving speed based on the switched traffic information.

2. The autonomous vehicle according to claim 1, wherein the driving control device controls driving by switching to traffic information from an on-board detection device when driving along roads in congested areas, and controls driving by switching to traffic information from a roadside detection device when driving along roads in quiet areas.

3. 3. The autonomous vehicle according to claim 2, further comprising a communication device that receives traffic information detected by the roadside detection device and transmitted via a communication network.

4. The autonomous vehicle according to claim 3 , wherein the autonomous vehicle is configured as a delivery vehicle that automatically delivers packages.

5. A driving control system comprising an autonomous vehicle and a roadside detection device that detects traffic information on a specific one of the driving routes of the autonomous vehicle, wherein the autonomous vehicle is equipped with an on-board detection device that detects traffic information around the vehicle, and a driving control device that controls the driving speed of the vehicle based on the detected traffic information, and the driving control device controls the driving speed of the vehicle based on the traffic information from the roadside detection device when the vehicle is driving on the specific route.

6. The cruise control system according to claim 5 , wherein the cruise control device controls the vehicle's travel based on traffic information detected by the in-vehicle detection device when the vehicle travels on a road other than the specific road.

7. 7. The cruise control system according to claim 6, wherein the specific road is a road in a quiet area where the speed limit is relatively high, and the roads other than the specific road are roads in a congested area where the speed limit is relatively low.

8. 8. The cruise control system according to claim 7, wherein the vehicle speed of the automated driving vehicle on roads in quiet areas is faster than the vehicle speed on roads in congested areas.

9. 6. The cruise control system according to claim 5, wherein the roadside detection device is disposed on an electrical facility such as a street light, a traffic signal, or a telephone pole disposed along a roadway.

10. 6. The cruise control system according to claim 5, wherein the roadside detection device is a high-performance detection device that detects a wider area and has higher detection performance than the vehicle-mounted detection device.

11. The cruise control system according to claim 10, wherein the vehicle-mounted detection device is a camera or LiDAR, and the roadside detection device is a more advanced LiDAR.

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