Mobile object control system

Abstract

To provide a mobile object control system that shifts a mobile object into a standby state to prevent loss of battery function when an abnormality is detected in the mobile object that is capable of autonomous driving.SOLUTION: A mobile object control system includes a management device (20) having an instruction unit (201) that transmits to a vehicle (10) a command to shift the vehicle (10) as a mobile object from an autonomous driving state into a standby state. When the vehicle (10) is determined to have its state satisfying a predetermined condition by a state transition determination unit (102) and receives the command from the management device (20), the vehicle (10) transitions to the standby state by a state transition execution unit (103) so as to prevent loss of function of the battery.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control system. [Background technology]

[0002] In recent years, with the advancement of technologies such as automatic driving and remote operation, the development of vehicles as moving bodies such as unmanned electric carts and forklifts has progressed, and a moving body control system equipped with a control device that issues operation commands to the vehicles has been considered. In such a moving body control system, when an abnormality occurs in the moving body vehicle, it is required to notify the control device of the abnormality and deal with the abnormality of the vehicle.

[0003] Conventionally, a device has been disclosed that, when an abnormality occurs in a vehicle while the vehicle is being driven autonomously, predicts the possibility of continuing autonomous driving based on the state of the battery that serves as a power source installed in the autonomous vehicle, and notifies other moving vehicles around the vehicle of the abnormality in the vehicle before the battery function is completely lost (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7091827 Summary of the Invention [Problem to be solved by the invention]

[0005] According to the conventional device disclosed in Patent Document 1, an abnormality in the autonomous vehicle is reported to other vehicles in the vicinity, but no consideration is given to preventing the loss of battery function in the autonomous vehicle. Therefore, if the battery function of the autonomous vehicle continues to deteriorate, it may become impossible to ensure the functionality of the autonomous vehicle necessary to deal with the abnormality.

[0006] The present disclosure discloses techniques for solving the problems described above, and aims to provide a mobile object control system that, when an abnormality is detected in an autonomously operable mobile object, transitions the mobile object to a standby state, thereby preventing loss of functionality of the mobile object's battery. [Means for solving the problem]

[0007] The mobile object control system according to the present disclosure comprises: A mobile object control system having a mobile object configured to be capable of traveling by automatic driving and a management device that controls the mobile object by communicating with the mobile object, The management device includes: An instruction unit that transmits a command to the moving body via the communication to transition the moving body from the automatic driving state to a standby state; Equipped with The moving body is a storage unit that stores a condition for transitioning to the standby state, a state transition determination unit that determines whether the moving body satisfies the condition, and a state transition execution unit that transitions the moving body to the standby state, The moving body is when the state transition determination unit determines that the state of the moving object satisfies the condition and the command is received from the management device, the state transition execution unit transitions to the standby state. It is characterized by:

[0008] In addition, the mobile object control system according to the present disclosure includes: A mobile object control system having a mobile object configured to be capable of traveling by automatic driving and a management device that controls the mobile object by communicating with the mobile object, The management device includes: a communication unit on a management device side; and an instruction unit connected to the communication unit on the management device side via a communication path so as to be able to communicate with each other; Equipped with The moving body is a communication unit on a mobile device connected to the communication unit on the management device via a communication path so as to be able to communicate with each other; A storage unit that stores a condition for the moving body to transition to a standby state; a state transition determination unit that determines whether the moving object satisfies the condition; a state transition execution unit that transitions the moving body to the standby state; Equipped with the communication unit, the storage unit, the state transition determination unit, and the state transition execution unit of the mobile unit are communicatively connected to each other via a communication path; The state transition determination unit when it is determined that the state of the moving object satisfies the condition stored in the storage unit, transmitting a request message to the management device via a communication path on the moving object side and a communication path on the management device side, the request message requesting transmission of a command to instruct the moving object to transition to the standby state; The instruction unit is In response to the request message, a response message including the command is transmitted to the mobile unit via a communication path on the management device side and a communication path on the mobile unit side; The state transition execution unit, transitioning the moving object to the standby state based on the command included in the response message; It is configured as follows: It is characterized by: Effect of the Invention

[0009] According to the present disclosure, a mobile object control system can be obtained that, when an abnormality is detected in an automatically operable mobile object, transitions the mobile object into a standby state, thereby preventing loss of functionality of the mobile object's battery. [Brief description of the drawings]

[0010] [Figure 1] 1 is a configuration diagram showing a configuration of a mobile object control system according to a first embodiment. [Diagram 2] 1 is a configuration diagram showing a configuration of a vehicle in a mobile object control system in accordance with a first embodiment. [Diagram 3] 2 is an explanatory diagram showing a state transition of a vehicle in the mobile object control system in accordance with the embodiment 1. FIG. [Figure 4] 4 is an explanatory diagram showing a transmission condition for a vehicle to transmit a request message to a management device in the mobile object control system in accordance with the first embodiment. FIG. [Diagram 5] 4 is a flowchart showing the operation of a vehicle in the mobile object control system in accordance with the first embodiment. [Figure 6] FIG. 11 is a configuration diagram showing the configuration of a mobile object control system according to a second embodiment. [Figure 7] 10 is a flowchart showing the operation of a vehicle in the mobile object control system according to the embodiment 2. [Figure 8] 1 is a block diagram showing an example of hardware configurations of a state transition unit, a state transition execution unit, a waiting place selection unit, and an instruction unit in a mobile object control system according to the first and second embodiments. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a mobile object control system according to the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals indicate the same or corresponding parts. Embodiment 1 The mobile object control system according to embodiment 1 shows an example in which the system is applied to a truck transport system that includes a vehicle (hereinafter simply referred to as the vehicle) as a mobile object configured for automatic driving, which consists of a trailer and a trailer head that tows the trailer, and in which the vehicle moves between multiple transport bases by automatic driving to transport cargo, etc.

[0012] Fig. 1 is a configuration diagram showing the configuration of a mobile object control system according to the first embodiment, and Fig. 2 is a configuration diagram showing the configuration of a vehicle in the mobile object control system according to the first embodiment. In Fig. 1, the mobile object control system 1 includes two vehicles 10, 11 and a management device 20 configured to communicate with these vehicles 10, 11. Each of the vehicles 10, 11 is configured to be capable of autonomous driving. The management device 20 is arranged in a command center or a management building provided outside the vehicles 10, 11.

[0013] In addition, in the mobile object control system according to embodiment 1, an example is shown in which the system includes two vehicles 10 and 11 capable of automatic driving. However, the number of vehicles included in the mobile object control system 1 is not limited to two, and may be one, or multiple vehicles such as three or more.

[0014] In the following explanation, a message sent from vehicles 10, 11 to the management device 20 requesting the management device 20 to send commands to the vehicle itself is referred to as a "request message," and a message sent from the management device 20 to vehicles 10, 11 in response to the request message and including commands from the management device 20 to vehicles 10, 11 is referred to as a "response message."

[0015] In the moving object control system according to the first embodiment, a vehicle 10 as a moving object is a vehicle equipped with a trailer head capable of automatic driving. As shown in FIG. 2, the vehicle 10 is equipped with a trailer head 1000 and a trailer 1001.

[0016] The trailer head 1000 is equipped with a front wheel section 1003 consisting of a pair of left and right wheels for running on a road or a floor surface (neither shown), a rear wheel section 1004 consisting of a pair of left and right wheels, a drive device (not shown) consisting of a motor or the like that drives at least one of the front wheel section 1003 and the rear wheel section 1004, and a steering device (not shown) that steers at least one of the front wheel section 1003 and the rear wheel section 1004.

[0017] The trailer 1001 is connected to a trailer head 1000 via a connecting member 1002, and is configured to be able to carry, for example, cargo (not shown). The trailer 1001 is equipped with a front wheel section 1005 consisting of a pair of left and right wheels for traveling on a road or a floor surface, and a rear wheel section 1006 consisting of a pair of left and right wheels.

[0018] The vehicles 10 and 11 may be trailer heads alone, or may be forklifts or automobiles for transporting people.

[0019] 1, vehicle 10 includes a vehicle-side communication unit 100, a storage unit 101, a state transition determination unit 102, and a state transition execution unit 103. Communication unit 100, storage unit 101, state transition determination unit 102, and state transition execution unit 103 can transmit and receive data to and from each other via a communication path 31 provided in vehicle 10. Here, communication path 31 is formed, for example, by a LAN (Local Area Network) provided in vehicle 10. Vehicle 11 has the same configuration as vehicle 10.

[0020] The management device 20 includes a communication unit 200 on the management device side and an instruction unit 201. The communication unit 200 and the instruction unit 201 can transmit and receive data to and from each other via a communication path 32 provided in the management device 20. Here, the communication path 32 is configured, for example, by a LAN provided in the management device.

[0021] 8 is a block diagram showing an example of hardware configurations of a state transition determination unit, a state transition execution unit, a waiting place selection unit, and an instruction unit in the mobile object control system according to the first and second embodiments. The waiting place selection unit will be described later in the mobile object control system according to the second embodiment. The state transition determination unit 102 and state transition execution unit 103 provided in the above-mentioned vehicle 10, the waiting place selection unit 104 described later, and the instruction unit 201 provided in the management device 20 each have the hardware configuration shown in FIG. 8, for example.

[0022] 8, the above-mentioned state transition determination unit 102, state transition execution unit 103, waiting place selection unit 104 described below, and instruction unit 201 provided in management device 20 are composed of a processor 2001 and a storage device 2002. Although not shown, storage device 2002 includes a volatile storage device such as a random access memory, and a non-volatile auxiliary storage device such as a flash memory.

[0023] The state transition determination unit 102, the state transition execution unit 103, the waiting place selection unit 104 described below, and the instruction unit 201 provided in the management device 20 execute a program input from the storage device 2002. In this case, the program is input from the auxiliary storage device to the processor 2001 via the volatile storage device. The processor 2001 may output data such as the results of calculations to the volatile storage device of the storage device 2002, or may store the data in the auxiliary storage device via the volatile storage device. The state transition determination unit 102, the state transition execution unit 103, and the waiting place selection unit 104 described below may be integrated or may be separate.

[0024] 1, a vehicle-side communication unit 100 provided in vehicle 10 and a management device-side communication path 30 provided in management device 20 can transmit and receive data to and from each other via the communication path 30. Furthermore, vehicles 10 and 11 can transmit and receive data to and from each other via the communication path 30 by the vehicle-side communication unit 100 provided in each vehicle 10 and a vehicle-side communication unit (not shown) provided in vehicle 11. Here, the communication path 30 between management device 20 and vehicles 10, 11, and between vehicles 10 and 11 may be a wired communication path or a wireless communication path.

[0025] The transmission and reception of data between the management device 20 and vehicles 10, 11 via communication path 30, the transmission and reception of data between vehicles 10 and 11 via communication path 30, and the transmission and reception of data within vehicles 10, 11 via communication path 31 are each performed, for example, by serial communication using a CAN (Controller Area Network).

[0026] Next, the configuration of vehicle 10 will be described in more detail. In Fig. 1, vehicle-side communication unit 100 transmits a request message, described later, to management device-side communication unit 200 in management device 20. After transmitting the request message to management device-side communication unit 200, vehicle-side communication unit 100 receives a response message, described later, from management device-side communication unit 200 as a response to the request message.

[0027] Here, the "standby state" of the vehicle means a state in which functions other than communication with the management device are stopped to suppress power consumption of the battery load. The functions other than communication with the management device may be, for example, functions of an air conditioner or an audio device, or functions of a drive device, steering device, control device, etc. that drive the vehicle.

[0028] The storage unit 101 stores the following data: (1) The multiple operating states that the vehicle 10 can be in. (2) Transition conditions for the vehicle 10 to transition from one operating state to another. (3) A request message transmission condition for transmitting a request message from the vehicle 10 to the management device 20.

[0029] Next, a description will be given of the relationship between the "multiple operating states that the vehicle 10 can take" in (1) above stored in the storage unit 101 and the "transition conditions for the vehicle 10 to transition from one operating state to another operating state" in (2) above. Fig. 3 is an explanatory diagram showing the state transitions of the vehicle in the mobile object control system according to the first embodiment, and Fig. 4 is an explanatory diagram showing the transmission conditions of a request message for the vehicle to transmit a request message to a management device in the mobile object control system according to the first embodiment.

[0030] In the mobile object control system according to the first embodiment, the operation states of the vehicle 10 stored in the storage unit 101 of the vehicle 10 include four operation states: "power off" A, "standby" B, "manual driving" C, and "automatic driving" D. In addition, there are five transition conditions for the vehicle 10 to transition to a specific operation state: "power on" E, "receive manual driving command" F, "receive automatic driving command" G, and "receive standby command" Q.

[0031] In the initial state of the vehicle 10, the vehicle 10 is in an operating state of "power off" A shown in Fig. 3. When the vehicle 10 is in the operating state of "power off" A, the vehicle 10 transitions to a standby state J when "power on" E, which is a transition condition, is executed, that is, when a power switch (not shown) provided on the vehicle 10 is pressed to turn on the power.

[0032] Furthermore, when the vehicle 10 is in a "standby state" B, if a manual driving command is received from the management device 20, thereby satisfying "manual driving command reception" F, the vehicle 10 transitions to a "manual driving" state K. Furthermore, if a predetermined time has elapsed in the "standby state" B, thereby satisfying the transition condition of "a predetermined time has elapsed in the standby state" G, the vehicle 10 transitions to an "automated driving" state M.

[0033] Furthermore, when the vehicle 10 is in the "standby" state B, if the transition condition of "automatic driving command received" H is satisfied by the vehicle 10 receiving an automatic driving command from the management device 20, the vehicle 10 transitions to the "automatic driving" state N. Furthermore, when the vehicle 10 is in the "manual driving" state C, if the transition condition of "automatic driving command received" H is satisfied by the vehicle 10 receiving an automatic driving command from the management device 20, the vehicle 10 transitions to the "automatic driving" O state.

[0034] Furthermore, when the vehicle 10 is in the "autonomous driving" state D, if the transition condition of "manual driving command received" F is satisfied by the vehicle 10 receiving a manual driving command from the management device 20, the vehicle 10 transitions to the "manual driving" state L; and further, when the vehicle 10 is in the "autonomous driving" state D, if the transition condition shown in "standby command received" Q is satisfied by the vehicle 10 receiving a standby command from the management device 20, the vehicle 10 transitions to the "standby" state P.

[0035] Note that the "-" in Figure 3 indicates that even if the transition conditions shown in E, F, G, H, and I are satisfied, there is no operating state to which the vehicle 10 can transition from the operating states shown in A, B, C, and D.

[0036] Next, an example of the "conditions for transmitting a request message from the vehicle 10 to the management device 20" in (3) above stored in the memory unit 101 will be described. In Fig. 4, "ID1", "ID2", and "ID3" indicate identification numbers of the transmission conditions of the request message. Also, "operation state" indicates the type of the operation state of the vehicle to which the transition will be made, and "request message transmission conditions" indicate the transmission conditions for transmitting a request message from the vehicle 10 to the management device 20.

[0037] In FIG. 4, the transmission condition indicated by the identification number ID1 is that the remaining charge of the battery of the vehicle 10 has fallen to "20" [%] or less. The transmission condition indicated by the identification number ID2 is that the work time of the next transport instruction is "2" hours or more. The reason why this is a standby condition is that if the work time of the next transport instruction is expected to be long and consume a lot of power, it is necessary to secure sufficient power in the battery. If it is expected that the power consumption for the next work time is large, the current operation of the vehicle 10 as a moving body is temporarily stopped and transitioned to a standby state to conserve power. This prevents the vehicle 10 from running out of power in the middle of the next work and makes it possible to complete the work, so that the vehicle 10 as a moving body can be operated efficiently. In other words, the transmission condition indicated by the identification number ID2 is a condition for transitioning the vehicle 10 as a moving body to a standby state in order to efficiently operate the vehicle 10 as a moving body. The transmission condition indicated by the identification number ID3 is that "10" minutes have passed since the last automatic driving operation performed by the vehicle 10.

[0038] In addition, in FIG. 4, the conditions for sending a request message to transition to a standby state are shown, but for the manual driving state and the automatic driving state, separate conditions for sending a request message may be set, or the state may transition based on a message received from the management device 20 without sending a request message.

[0039] In Figure 1, the state transition determination unit 102 in the vehicle 10 determines whether or not data acquired from a sensor (not shown) equipped in the vehicle 10, or the execution status of a transportation command from the management device 20, etc., satisfy the conditions for sending a request message shown in Figure 4 described above, and if the conditions are satisfied, creates a request message including content indicating that a state transition is necessary, in a communication format that can be sent to the management device 20, for example, a serial communication format via CAN, and sends the request message to the management device-side communication unit 200 in the management device 20 via the vehicle-side communication unit 100.

[0040] In the mobile object control system according to the first embodiment, the transmission conditions of the request message shown in Fig. 4 correspond to the conditions for determining the state of the vehicle 10 as a mobile object by the state transition determination unit 102. The state transition determination unit 102 determines whether or not the state of the vehicle 10 satisfies at least one of the transmission conditions of the request message shown in Fig. 4.

[0041] When the vehicle 10 receives a response message from the management device 20 in response to a request message transmitted from the vehicle 10 to the management device 20, the state transition execution unit 103 transitions the operation state of the vehicle 10 to the operation state instructed by the response message. For example, when the vehicle 10 is in an autonomous driving state and the response message instructs a transition to a standby state, the state transition execution unit 103 of the vehicle 10 switches the operation state of the vehicle 10 from the autonomous driving state to a standby state. As a result, the vehicle 10 stops the autonomous driving operation at that location and transitions to the standby state. The vehicle 10 is configured to execute an operation to suppress loss of function of the battery mounted on the vehicle 10 while in the standby state.

[0042] Furthermore, when the vehicle 10 is in an autonomous driving state, if the response message contains content that rejects the request of the request message, the state transition execution unit 103 of the vehicle 10 continues the autonomous driving state without switching the operation state. Furthermore, when the state transition execution unit 103 receives a message from the management device 20 to cancel the standby state, it cancels the standby state and transitions to another operation state.

[0043] In addition, after sending a request message from vehicle 10 to management device 20, when vehicle 10 receives a response message from management device 20, vehicle 10 may continue traveling until state transition execution unit 103 performs processing, or may stop traveling at that location to prevent loss of battery function, or may not accept new transportation commands.

[0044] Furthermore, vehicle 10 may be configured to transition from the standby state to another state when vehicle 10, while in the standby state, no longer satisfies the above-described condition for transmitting a request message shown in Fig. 4. Furthermore, vehicle 10 may be configured to maintain the operating state prior to transitioning to the standby state until transitioning to the standby state.

[0045] Next, the management device 20 will be described. In Fig. 1, the management device 20 is a device capable of communicating with the vehicle 10 via a communication path 30, and includes a communication unit 200 on the management device side and an instruction unit 201. The communication unit 200 on the management device side and the instruction unit 201 are connected to a communication path 32 such as an in-house LAN provided inside the management device 20, and are configured to be able to communicate with each other via the communication path 32.

[0046] The management device 20 may be a mobile terminal used for business purposes, or a monitoring terminal provided in a control room that monitors the operation of the vehicle 10.

[0047] The communication unit 200 on the management device side is configured to be able to communicate with the vehicle-side communication units 100 provided in the vehicles 10 and 11 connected via the communication path 30. For example, the communication unit 200 on the management device side can receive a request message from the vehicle-side communication unit 100, and can also transmit a response message transmitted from the instruction unit 201 via the communication path 32 to the vehicle-side communication units 100 in the vehicles 10 and 11.

[0048] The instruction unit 201 creates a response message including the contents of a command to instruct the vehicle 10, and transmits the response message to the communication unit 100 of the vehicle 10 via the communication unit 200. For example, when a request message is received from the vehicle 10 and the request message requests a transition from an autonomous driving state to a standby state, if an operator who owns the management device 20 inputs to the management device 20 a request to permit the request from the vehicle 10, the instruction unit 201 creates a response message based on a format that allows the contents of the command to transition to the standby state to be transmitted to the vehicle 10, for example, a format for serial communication via CAN, and transmits the response message to the communication unit 200 on the management device side via the communication path 32.

[0049] Note that the instruction unit 201 is not limited to the above configuration, and for example, an operator may input information in advance to the management device 20 so that the vehicle 10 starts an automatic driving operation at a predetermined time, and the instruction unit 201 may create a message including the input information. Furthermore, the message created by the instruction unit 201 may be created based on the contents of a program provided in the management device 20, in addition to the input by the operator.

[0050] Next, the operation of the mobile object control system according to the first embodiment configured as above will be described. Fig. 5 is a flow chart showing the operation of the vehicle in the mobile object control system according to the first embodiment, and shows the operation of the vehicle 10 transitioning from an autonomous driving state to a standby state. In Fig. 5, in step S101, the vehicle 10 is operating in an autonomous driving state. When proceeding to step S102, the vehicle 10 in the autonomous driving state acquires its own vehicle information from data acquired from a sensor equipped in the vehicle 10, or the execution status of a transport command from the management device 20, or the like.

[0051] Next, in step S103, the state transition determination unit 102 of the vehicle 10 determines whether the vehicle 10 satisfies the conditions for transmitting a request message from an autonomous driving state to a standby state. The operating states to which the vehicle 10 can transition during autonomous driving are the manual driving state shown in L of Fig. 3 and the standby state shown in P, but here, it is assumed that a state transition to the standby state shown in P of Fig. 3 is requested, and in step S103, the state transition determination unit 102 determines whether the vehicle 10 satisfies the conditions for transmitting a request message to request a transition to the standby state.

[0052] As described above, the condition for vehicle 10 in an autonomous driving state to transmit a request message for requesting transition to a standby state is that at least one of the conditions of identification number ID1, identification number ID2, and identification number ID3 shown in Fig. 4 stored in storage unit 101 of vehicle 10 is satisfied. Therefore, state transition determination unit 102 of vehicle 10 compares the transmission condition of the request message stored in storage unit 101 with the driving information of vehicle 10 acquired in step S102, and determines whether vehicle 10 satisfies at least one of the transmission conditions of identification number ID1, identification number ID2, and identification number ID3.

[0053] If the result of the determination in step S103 is that the vehicle 10 satisfies the conditions for transmitting a request message (Yes), the process proceeds to step S104, and if the vehicle 10 does not satisfy the above conditions (No), the process returns to step S103 and the above determination is repeated.

[0054] Proceeding to step S104, the state transition determination unit 102 of the vehicle 10 creates a request message including content indicating that a state transition is necessary in a communication format that can be transmitted to the management device 20, such as the format of serial communication via CAN, and transmits the request message to the communication unit 200 of the management device 20 via the communication unit 100, and then proceeds to step S105.

[0055] In step S105, the state transition execution unit 103 determines whether or not the vehicle 10 has received a response message from the management device 20 in response to the request message transmitted from the vehicle 10 to the management device 20. If the result of the determination in step S105 is that the vehicle 10 has received a response message from the management device 20 (Yes), the process proceeds to step S106, and if the vehicle 10 has not received a response message (No), the process returns to step S105 and repeats the above determination.

[0056] In step S106, the state transition execution unit 103 determines whether the content of the received response message is a command to transition to a standby state, and if the content of the received response message is a command to transition to a standby state (Yes), the process proceeds to step S107, where the state transition execution unit 103 executes the transition of the vehicle 10 from the autonomous driving state to the standby state. As a result, the vehicle 10 stops the autonomous driving operation at that location and enters the standby state.

[0057] If it is determined in step S106 that the content of the received response message is not a command to transition to the standby state (No), the process in FIG. 5 ends.

[0058] According to the moving object control system of the first embodiment described above, it is possible to obtain the effect of making it possible to suppress loss of battery function of the vehicle 10.

[0059] Embodiment 2 Next, a mobile object control system according to the second embodiment will be described. Fig. 6 is a configuration diagram showing the configuration of the mobile object control system according to the second embodiment. The mobile object control system according to the second embodiment shown in Fig. 6 differs from the mobile object control system according to the first embodiment described above in that a vehicle as a mobile object is provided with a waiting place selection unit. The following description will mainly focus on the differences from the mobile object control system according to the first embodiment.

[0060] 6, vehicle 10 as a moving body includes a vehicle-side communication unit 100, a storage unit 101, a state transition determination unit 102, a state transition execution unit 103, and a waiting place selection unit 104. When a response message received from management device 20 indicates an instruction to transition to a waiting state, waiting place selection unit 104 selects a place where vehicle 10 should wait, and determines to move vehicle 10 to the waiting place.

[0061] For example, if the reason for sending a request message from vehicle 10 to management device 20 is that the remaining charge of the battery indicated by identification number ID1 in Fig. 4 is "20" [%] or less, waiting place selection unit 104 selects "charging facility" as the waiting place and notifies the worker of vehicle 10 of a message encouraging the worker to perform charging operation. Vehicle 10 moves to the charging facility based on the determination of waiting place selection unit 104. After vehicle 10 arrives at the charging facility, vehicle 10 waits by automatically or manually shutting off a part of its power source until the worker of vehicle 10 starts charging operation.

[0062] In addition to determining the operation of vehicle 10 to be performed at the waiting area based on the transmission conditions of the request message shown in FIG. 4, such as battery charging, the management device 20 may include instructions on the content of the operation in a response message, and vehicle 10 may perform the operation automatically or by an operator in accordance with the instructions, or the operation may be determined independently by an operator of vehicle 10.

[0063] Next, a description will be given of the operation of the mobile object control system according to the embodiment 2 configured as above. Fig. 7 is a flowchart showing the operation of the vehicle in the mobile object control system according to the embodiment 2, and shows the operation after the vehicle 10 receives a response message from the management device 20.

[0064] 7, in step S201, in response to a request message from the vehicle 10 to the management device 20, the vehicle 10 receives a response message from the management device 20. Next, in step S202, the vehicle 10 in an autonomous driving state acquires its own vehicle information from data acquired from a sensor or the like equipped in the vehicle 10, or the execution status of a transportation command from the management device 20, and proceeds to step S203.

[0065] In step S203, the waiting place selection unit 104 selects a place where the vehicle 10 should wait, since the response message received from the management device 20 instructs the vehicle 10 to transition to a waiting state. Here, it is assumed that the reason for sending the request message is that the remaining charge of the battery indicated by the identification number ID1 in Fig. 4 is "20" [%] or less, and the waiting place selection unit 104 selects a place such as a charging station where charging equipment is present as the waiting place. In step S204, the waiting place selection unit 104 selects the waiting place and also determines to charge the battery as an action to be taken during waiting, and notifies the operator of the vehicle 10 of a message urging the vehicle 10 to perform a charging operation.

[0066] Next, in step S205, the vehicle 10 starts moving to the waiting location selected by the waiting location selection unit 104. In step S206, the waiting location selection unit 104 determines whether the vehicle 10 has arrived at the waiting location, and if the vehicle 10 has arrived at the waiting location (Yes), the process proceeds to step S207, and if the vehicle 10 has not arrived at the waiting location (No), the process returns to step S206 and repeats the process in step S206.

[0067] In step S207, the vehicle 10 transitions to a standby state by the state transition execution unit 103. Next, in step S208, the worker of the vehicle 10 starts an operation during standby, such as charging the battery, and the process in FIG.

[0068] In the mobile object control system according to the second embodiment described above, the vehicle 10 is provided with the waiting place selection unit 104, but for example, the management device 20 may be provided with the waiting place selection unit 104. In the case where the management device 20 is provided with the waiting place selection unit 104, the management device 20 that has received a request message from the vehicle 10 transmits a response message including the waiting place to the vehicle 10, whereby the vehicle 10 moves to the specified waiting place and transitions to a waiting state.

[0069] According to the mobile object control system of the second embodiment described above, after the vehicle 10 transitions to a standby state, it is possible to select an operation of moving to a standby location selected by the standby location selection unit 104 and suppressing loss of battery power.

[0070] Although the present disclosure describes two embodiments, the various features, aspects, and functions described in these embodiments are not limited to the application of a specific embodiment, but can be applied to the embodiments alone or in various combinations. Therefore, countless modifications not illustrated are expected within the scope of the technology of the present disclosure. For example, the following are included: when at least one component is modified, added, or omitted; and when at least one component is extracted and combined with a component of another embodiment.

[0071] Next, aspects of the mobile object control system disclosed in the present application will be described below as supplementary notes. (Appendix 1) A mobile object control system having a mobile object configured to be capable of traveling by automatic driving and a management device that controls the mobile object by communicating with the mobile object, The management device includes: An instruction unit that transmits a command to the moving body via the communication to transition the moving body from the automatic driving state to a standby state; Equipped with The moving body is a storage unit that stores a condition for transitioning to the standby state, a state transition determination unit that determines whether the moving body satisfies the condition, and a state transition execution unit that transitions the moving body to the standby state, The moving body is when the state transition determination unit determines that the state of the moving object satisfies the condition and the command is received from the management device via the communication, the state transition execution unit transitions to the standby state. A mobile object control system comprising: (Appendix 2) The moving body is the state transition determination unit is configured to request the management device to transmit the command when it determines that the condition is satisfied; The management device includes: and transmitting the command to the mobile body via the communication based on the request from the mobile body. 2. A mobile object control system according to claim 1. (Appendix 3) A mobile object control system having a mobile object configured to be capable of traveling by automatic driving, and a management device that controls the mobile object by communicating with the mobile object, The management device includes: a communication unit on a management device side; and an instruction unit connected to the communication unit on the management device side via a communication path so as to be able to communicate with each other; Equipped with The moving body is a communication unit on a mobile device connected to the communication unit on the management device via a communication path so as to be able to communicate with each other; A storage unit that stores a condition for the moving body to transition to a standby state; a state transition determination unit that determines whether the moving object satisfies the condition; a state transition execution unit that transitions the moving body to the standby state; Equipped with the communication unit, the storage unit, the state transition determination unit, and the state transition execution unit of the mobile unit are communicatively connected to each other via a communication path; The state transition determination unit when it is determined that the state of the moving object satisfies the condition stored in the storage unit, transmitting a request message to the management device via a communication path on the moving object side and a communication path on the management device side, the request message requesting transmission of a command to instruct the moving object to transition to the standby state; The instruction unit is In response to the request message, a response message including the command is transmitted to the mobile unit via a communication path on the management device side and a communication path on the mobile unit side; The state transition execution unit, transitioning the moving object to the standby state based on the command included in the response message; It is configured as follows: A mobile object control system comprising: (Appendix 4) the moving body includes a waiting place selection unit that selects a waiting place where the moving body waits; The moving object that has transitioned to the standby state is configured to wait at a standby location selected by the standby location selection unit. 4. A mobile object control system according to any one of claims 1 to 3. (Appendix 5) the management device includes a waiting place selection unit that selects a waiting place where the moving object waits; The moving object that has transitioned to the standby state is configured to wait at a standby location selected by the standby location selection unit. 4. A mobile object control system according to any one of claims 1 to 3. (Appendix 6) the condition stored in the storage unit includes a condition for transitioning the mobile body to the standby state in order to efficiently operate the mobile body; 6. A mobile object control system according to any one of claims 1 to 5. (Appendix 7) The storage unit is configured to store the condition and an operating state of the moving object. 7. A mobile object control system according to any one of claims 1 to 6. (Appendix 8) the moving body is configured to transition from the standby state to another state when the moving body no longer satisfies the condition while in the standby state; 8. A mobile object control system according to any one of claims 1 to 7. (Appendix 9) The moving body is configured to maintain an operating state before transitioning to the standby state until transitioning to the standby state. 9. A mobile object control system according to any one of claims 1 to 8. (Appendix 10) The mobile body is configured to perform an operation to suppress loss of functionality of a battery mounted on the mobile body during the standby state. 10. A mobile object control system according to any one of claims 1 to 9. [Explanation of symbols]

[0072] 1 Mobile control system, 10, 11 Vehicle, 20 Management device, 30, 31, 32 communication path, 100, 200 communication section, 101 storage unit, 102 state transition determination unit, 103 state transition execution unit, 104 waiting location selection unit, 201 instruction unit, 1000 trailer head, 1001 trailer, 1002 coupling member, 1003, 1005 front wheel portion, 1004, 1006 Rear wheel section

Claims

1. A mobile object control system having a mobile object configured to be capable of traveling by automatic driving, and a management device that controls the mobile object by communicating with the mobile object, The management device includes: An instruction unit that transmits a command to the moving body via the communication to transition the moving body from the automatic driving state to a standby state; Equipped with The moving body is a storage unit that stores a condition for transitioning to the standby state, a state transition determination unit that determines whether the moving body satisfies the condition, and a state transition execution unit that transitions the moving body to the standby state, The moving body is when the state transition determination unit determines that the state of the moving object satisfies the condition and the command is received from the management device via the communication, the state transition execution unit transitions to the standby state. A mobile object control system comprising:

2. The moving body is the state transition determination unit is configured to request the management device to transmit the command when it determines that the condition is satisfied; The management device includes: and transmitting the command to the mobile body via the communication based on the request from the mobile body.

2. The mobile object control system according to claim 1.

3. A mobile object control system having a mobile object configured to be capable of traveling by automatic driving, and a management device that controls the mobile object by communicating with the mobile object, The management device includes: a communication unit on a management device side; and an instruction unit connected to the communication unit on the management device side via a communication path so as to be able to communicate with each other; Equipped with The moving body is a communication unit on a mobile device connected to the communication unit on the management device via a communication path so as to be able to communicate with each other; A storage unit that stores a condition for the moving body to transition to a standby state; a state transition determination unit that determines whether the moving object satisfies the condition; a state transition execution unit that transitions the moving body to the standby state; Equipped with the communication unit, the storage unit, the state transition determination unit, and the state transition execution unit of the mobile unit are communicatively connected to each other via a communication path; The state transition determination unit when it is determined that the state of the moving object satisfies the condition stored in the storage unit, transmitting a request message to the management device via a communication path on the moving object side and a communication path on the management device side, the request message requesting transmission of a command to instruct the moving object to transition to the standby state; The instruction unit is In response to the request message, a response message including the command is transmitted to the mobile unit via a communication path on the management device side and a communication path on the mobile unit side; The state transition execution unit is transitioning the moving object to the standby state based on the command included in the response message; It is configured as follows: A mobile object control system comprising:

4. the moving body includes a waiting place selection unit that selects a waiting place where the moving body waits; The moving object that has transitioned to the standby state is configured to wait at a standby location selected by the standby location selection unit.

4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

5. the management device includes a waiting place selection unit that selects a waiting place where the moving object waits; The moving object that has transitioned to the standby state is configured to wait at a standby location selected by the standby location selection unit.

4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

6. the condition stored in the storage unit includes a condition for transitioning the mobile body to the standby state in order to efficiently operate the mobile body; 4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

7. the condition stored in the storage unit includes a condition for transitioning the mobile body to the standby state in order to efficiently operate the mobile body; 5. The mobile object control system according to claim 4.

8. the condition stored in the storage unit includes a condition for transitioning the mobile body to the standby state in order to efficiently operate the mobile body; 6. The mobile object control system according to claim 5.

9. The storage unit is configured to store the condition and an operational state that the moving object can take.

4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

10. 5. The mobile object control system according to claim 4, wherein the storage unit is configured to store the conditions and possible operating states of the mobile object.

11. 6. The mobile object control system according to claim 5, wherein the storage unit is configured to store the conditions and possible operating states of the mobile object.

12. the moving body is configured to transition from the standby state to another state when the moving body no longer satisfies the condition while in the standby state; 4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

13. the moving body is configured to transition from the standby state to another state when the moving body no longer satisfies the condition while in the standby state; 5. The mobile object control system according to claim 4.

14. the moving body is configured to transition from the standby state to another state when the moving body no longer satisfies the condition while in the standby state; 6. The mobile object control system according to claim 5.

15. The moving body is configured to maintain an operating state before transitioning to the standby state until transitioning to the standby state.

4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

16. The moving body is configured to maintain an operating state before transitioning to the standby state until transitioning to the standby state.

5. The mobile object control system according to claim 4.

17. The moving body is configured to maintain an operating state before transitioning to the standby state until transitioning to the standby state.

6. The mobile object control system according to claim 5.

18. The mobile body is configured to perform an operation to suppress loss of functionality of a battery mounted on the mobile body during the standby state.

4. The mobile object control system according to claim 1, wherein the mobile object control system is a control system for controlling a mobile object.

19. The mobile body is configured to perform an operation to suppress loss of functionality of a battery mounted on the mobile body during the standby state.

5. The mobile object control system according to claim 4.

20. The mobile body is configured to perform an operation to suppress loss of functionality of a battery mounted on the mobile body during the standby state.

6. The mobile object control system according to claim 5.

Images