Automatic operation mobile system and application for automatic operation mobile system

Abstract

To provide an automatic operation mobile system capable of selecting a destination to which an automatic operation vehicle is to move by an automatic operation from a plurality of destinations.SOLUTION: An automatic operation mobile system includes: a parking management section 25 for controlling and managing a parking device 20 arranged within a predetermined area; and a terminal-side application 52 to be used in an actuator 50 to be operated by a user. The terminal-side application 52 comprises: a first application 53 for presenting a plurality of destinations including the parking device 20 or its entrance position to the user, and receiving one of the destinations as a selected destination; and a second application 54 for acquiring information related to the parking device 20 from the parking management device 25 and also transmitting information related to an automatic operation vehicle 30 to the parking management section 25. The second application 54 starts cooperative processing between the automatic operation vehicle 30 and the parking device 20 by defining a fact that the parking device 20 or its entrance position has been received as the selected destination in the first application 53 as a trigger.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This application relates to an autonomous driving mobile system that moves an automobile to a destination by autonomous driving and an application for the autonomous driving mobile system.

Background Art

[0002] In recent years, systems for automatically parking using the autonomous driving function of automobiles have been proposed. For example, there is an autonomous driving parking system that transmits a driving route connecting a boarding / alighting location and in front of a mechanical parking facility from the mechanical parking facility to an autonomous driving vehicle based on an automatic entry / exit start command issued by a passenger (see, for example, Patent Document 1). This autonomous driving parking system enables the autonomous driving vehicle to autonomously drive only between the boarding / alighting location and in front of the mechanical parking facility based on the driving route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the autonomous driving parking system described in Patent Document 1 above transmits a driving route connecting a predetermined single boarding / alighting location and in front of a mechanical parking facility to the autonomous driving vehicle, the autonomous driving of the autonomous driving vehicle by the automatic entry / exit function is limited to only one option from the boarding / alighting location to in front of the mechanical parking facility. Therefore, this autonomous driving parking system cannot respond to users who want to use autonomous driving between any points other than a single boarding / alighting location and in front of a mechanical parking facility.

[0005] An object of this application is to provide an autonomous driving mobile system that can select a destination for moving an autonomous driving vehicle to the destination by autonomous driving from a plurality of destinations and an application for the autonomous driving mobile system.

Means for Solving the Problem

[0006] An automatic driving mobile system according to an aspect of the present application is an automatic driving mobile system that automatically drives a self-driving vehicle to a selected destination selected from a plurality of destinations within a predetermined area, and includes a parking management unit that controls and manages a parking device provided within the predetermined area, and a terminal-side application used in an operating device operated by a user. The terminal-side application includes a first application that presents the plurality of destinations including the parking device or its storage position to the user and accepts one of the plurality of destinations as the selected destination, and a second application that acquires information about the parking device from the parking management unit and sends information about the self-driving vehicle to the parking management unit. The second application is configured to start the cooperation process between the self-driving vehicle and the parking device triggered by the first application accepting the parking device or its storage position as the selected destination.

[0007] With this configuration, when a plurality of destinations including a parking device or its storage position within a predetermined area are presented on an operating device operated by a user, and the first application accepts the parking device or its storage position as the selected destination, the second application that acquires information about the parking device from the parking management unit and sends information about the self-driving vehicle to the parking management unit can start the cooperation process between the self-driving vehicle and the parking device triggered by the acceptance. On the other hand, when the selected destination is other than the parking device or its storage position, the second application can be made unused. As a result, since the second application can operate independently of the first application, the first application can cause only the parking device that needs to cooperate with the self-driving vehicle to communicate between the self-driving vehicle and the parking device. Thereby, the terminal-side application can allow the user to select a plurality of destinations including the parking device within the predetermined area and can perform efficient operation.

[0008] Further, the first application may be configured to display, on the display unit of the operating device, first area information visually representing information regarding the predetermined area.

[0009] With this configuration, the user can easily select the destination to which the user wants the automated vehicle to move in autonomous driving.

[0010] Further, the first area information may be configured to include at least one of the drivable area and the parkable area of the automated vehicle.

[0011] With this configuration, since at least one of the drivable area and the parkable area of the automated vehicle is displayed by the first application, the user can easily select the destination.

[0012] Further, it has area comprehensive information including the first area information and second area information including a driving boundary necessary when the automated vehicle sets a route, is communicable with the operating device or the automated vehicle, and when the automated vehicle enters or approaches the predetermined area, based on reception of a transmission request for the area comprehensive information from the operating device or the detection means of the automated vehicle, a predetermined area control unit that transmits data of the area comprehensive information to the operating device or the automated vehicle, and the predetermined area control unit may be configured to transmit at least one of the data of the first area information and the data of the second area information to the operating device or the automated vehicle.

[0013] With this configuration, when the detection means of the operating device or the automated vehicle detects that the automated vehicle has entered or approached the predetermined area, a transmission request for the area comprehensive information is sent from the operating device or the automated vehicle to the predetermined area control unit, and the predetermined area control unit can transmit at least one of the data of the first area information and the data of the second area information to the operating device or the automated vehicle based on the reception.

[0014] Further, a signal output unit is provided at a predetermined point in the outer edge portion of the predetermined area or an area in the vicinity thereof, and is capable of outputting a signal to the operation device or the autonomous vehicle. The detection means may be configured to detect that the autonomous vehicle has entered or approached the predetermined area based on the operation device or the autonomous vehicle receiving the signal from the signal output unit.

[0015] With this configuration, based on the operation device or the autonomous vehicle receiving the signal from the signal output unit provided at a predetermined point in the outer edge portion of the predetermined area or an area in the vicinity thereof, it is possible to detect that the autonomous vehicle has entered or approached the predetermined area. Further, it is possible to reliably obtain data on area information at the timing when the autonomous vehicle enters or approaches the predetermined area. Thereby, after the autonomous vehicle enters the predetermined area, the autonomous vehicle can be smoothly directed to any of a plurality of destinations within the predetermined area.

[0016] Further, the detection means may include a GNSS receiver, and the detection means may be configured to detect that the autonomous vehicle has entered or approached the predetermined area from the positioning information of the GNSS receiver of the operation device or the autonomous vehicle.

[0017] With this configuration, based on the positioning information acquired by the GNSS receiver of the detection means, it is possible for the operation device or the autonomous vehicle to easily detect that the autonomous vehicle has entered or approached the predetermined area.

[0018] Further, it includes an identification marker provided at a predetermined point in the outer edge portion of the predetermined area or an area in the vicinity thereof. The detection means includes a reading unit for reading the identification marker, and the detection means may be configured to detect that the autonomous vehicle has entered or approached the predetermined area based on the reading unit reading the identification marker.

[0019] With such a configuration, based on the fact that an operating device or an autonomous vehicle has detected an identification marker provided at a predetermined point in an area near or at the outer edge of a predetermined area by a reading unit of a detection means, it is possible to easily detect that the autonomous vehicle has entered or approached the predetermined area.

[0020] Further, it includes a predetermined area control unit that can communicate with the operating device and transmits data of the first area information to the operating device based on receiving a request for transmission of the first area information from the operating device. The first application is configured to be able to set a representative destination representing the predetermined area in the operating device, and the predetermined area control unit may be configured to transmit the data of the first area information to the operating device based on receiving that the representative destination has been set from the operating device.

[0021] With such a configuration, at the timing when a representative destination of a predetermined area is set by the first application of the operating device, data of the first area information can be transmitted from the predetermined area control unit to the operating device. Thereby, when the autonomous vehicle travels from the departure point to the representative destination, data of the first area information can be obtained at the departure point. Thereby, the user can visually confirm information regarding the predetermined area before the autonomous vehicle approaches the predetermined area.

[0022] On the one hand, an application for an autonomous driving mobile system according to one aspect of the present application is used in an operating device operated by a user, and is an application for an autonomous driving mobile system that moves an autonomous vehicle from a plurality of destinations within a predetermined area to a selected destination selected by the user. The application includes a first application that presents a plurality of destinations within a predetermined area to the user and accepts the selected destination desired by the user from the plurality of destinations, and a second application that acquires information related to the parking device from a parking management unit that controls and manages the parking device and sends information related to the autonomous vehicle to the parking management unit. The first application is configured to send the selected destination to the autonomous vehicle when the selected destination is accepted. The second application is configured to start the cooperation process between the autonomous vehicle and the parking device triggered by the first application accepting the parking device or its storage location as the selected destination.

[0023] With this configuration, a plurality of destinations within a predetermined area are presented on the operating device operated by the user. When the first application accepts the selected destination desired by the user, the selected destination is sent to the autonomous vehicle. When the selected destination is the parking device or its storage location, the second application can start the cooperation process between the autonomous vehicle and the parking device triggered by the acceptance of the first application. On the other hand, when the selected destination is other than the parking device or its storage location, the second application can be made unused. As a result, the second application can be operated independently of the first application. Therefore, the first application can cause the autonomous vehicle to communicate only with the parking device that requires cooperation with the autonomous vehicle. Thereby, the application for the autonomous driving mobile system can allow the user to select a plurality of destinations including the parking device within a predetermined area and can perform efficient operation.

Effect of the Invention

[0024] According to the automatic driving movement system of the present application, it is possible to select a destination for moving an autonomous vehicle by automatic driving from a plurality of destinations.

Brief Description of the Drawings

[0025]

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MODE FOR CARRYING OUT THE INVENTION

[0026] Hereinafter, an embodiment of the present application will be described with reference to the drawings. The following embodiment will be described by taking as an example the inside of a predetermined area 10 delimited by a boundary wall 11 of a commercial facility such as a shopping mall. In the documents of this specification and the claims, the concepts of front, rear, left, and right directions shall be consistent with the concepts of front, rear, left, and right directions in the state where the autonomous vehicle 30 is heading toward the entrance 12 of the predetermined area 10 as shown in FIG. 1.

[0027] <Configuration of the Predetermined Area> FIG. 1 is a perspective view showing an example of a predetermined area 10 according to an embodiment and the main configuration of the autonomous driving movement system 1. The predetermined area 10 of this embodiment is surrounded by a boundary wall 11 and has an entrance 12 provided in part. The predetermined area 10 includes, for example, a predetermined area such as a commercial facility, a predetermined area including a private condominium, etc. The predetermined area 10 of this embodiment has a plurality of first buildings 15, second buildings 17, a mechanical parking device 20 (also simply referred to as a "parking device"), and a surface parking lot 28. A plurality of destinations in the predetermined area 10 include the entrance 16 in front of the first building 15, the entrance 18 in front of the second building 17, in front of the parking device 20, its storage position 23, the entrance / exit gate 29 of the surface parking lot 28, and the like. The mechanical parking device 20 of this embodiment is an elevator type, and in this example, a turntable 24 is provided at the storage position 23 in front of the parking device 20.

[0028] In this embodiment, the main components of the automatic driving mobile system 1 shown in FIG. 1 include an automatic driving vehicle 30, an operating device 50 operated by a user, a parking management unit 25 that controls and manages the mechanical parking device 20, and a predetermined area control unit 60 that controls a predetermined area 10. Although the operating device 50 is shown separately from the automatic driving vehicle 30 in this figure, usually, a mobile terminal carried by a user riding in the automatic driving vehicle 30 is used. The operating device 50 includes, in addition to a mobile terminal such as a smartphone, a personal computer, an in-vehicle terminal, and the like. The operating device 50, the automatic driving vehicle 30, the parking management unit 25, and the predetermined area control unit 60 are each capable of communicating via a network 40. The network 40 includes a wireless communication network such as the Internet, mobile communication, and wireless LAN.

[0029] In addition, near the entrance / exit 12 of the predetermined area 10, a signal output unit 14 capable of outputting a signal to the operating device 50 or the automatic driving vehicle 30 approaching the predetermined area 10 from the external public road 13 is installed. The signal output unit 14 may be installed at a predetermined point in an area near or at the outer edge of the predetermined area 10. The operating device 50 or the automatic driving vehicle 30 detects that the automatic driving vehicle 30 has entered or approached the predetermined area 10 by receiving a signal from the signal output unit 14. This configuration is a detection means for detecting that the automatic driving vehicle 30 has entered or approached the predetermined area 10.

[0030] The detection means for detecting that the automatic driving vehicle 30 has entered or approached the predetermined area 10 may utilize a GNSS receiver provided in the operating device 50 or the automatic driving vehicle 30. In this case, the operating device 50 or the automatic driving vehicle 30 can determine that the automatic driving vehicle 30 has entered or approached the predetermined area from the positioning information of the GNSS receiver. Further, the detection means may be detection by reading an identification marker provided at a predetermined point in an area near or at the outer edge of the predetermined area 10. Further, the detection means may be one that detects a beacon provided at a predetermined point in an area near or at the outer edge of the predetermined area 10.

[0031] The autonomous vehicle 30 can enter the predetermined area 10 from the public road 13 via the entrance / exit 12 and automatically drive on the in- predetermined - area driving route 19 inside the predetermined area 10.

[0032] <Autonomous driving and moving system> FIG. 2 is a configuration diagram of the autonomous driving and moving system 1 according to this embodiment. The operating device 50 includes a terminal - side application 52 stored in the storage unit 51. The terminal - side application 52 is an application for the autonomous driving and moving system and has a first application 53 and a second application 54. The first application 53 presents a plurality of destinations including the parking position of the parking device 20 or the autonomous vehicle 30 to the user and accepts one of the plurality of destinations as the selected destination. The second application 54 acquires information about the parking device 20 from the parking management unit 25 and sends information about the autonomous vehicle 30 to the parking management unit 25. Note that the terminal - side application 52 includes not only the application stored in the storage unit 51 but also cases where an application installed on the cloud server is provided through a browser. The storage unit 51 is connected to the control unit 55. The control unit 55 has a processor, a volatile memory, a non - volatile memory, an I / O interface, etc. The control unit 55 is realized by the processor performing arithmetic processing using the volatile memory based on a program stored in the non - volatile memory. The control unit 55 is connected to a detection means 56, a touch panel 57, and a communication unit 58. The detection means 56 may be means capable of detecting the signal emitted from the signal output unit 14 in this example. The touch panel 57 is both an input unit and a display unit for information.

[0033] The self-driving vehicle 30 includes a vehicle-side control unit 31. The vehicle-side control unit 31 has a processor, a volatile memory, a non-volatile memory, an I / O interface, etc. The vehicle-side control unit 31 controls the self-driving of the self-driving vehicle 30, the calculation of the moving route, the communication with the operating device 50, etc. The vehicle-side control unit 31 is connected to a detection means 32 and a communication unit 33. The detection means 32 may be any means capable of detecting the signal emitted from the signal output unit 14 in this example.

[0034] The parking management unit 25 is connected to the parking device 20 and controls the transport device 21, the entrance / exit door 22, etc. of the parking device 20. The parking management unit 25 has a processor, a volatile memory, a non-volatile memory, an I / O interface, etc. The parking management unit 25 manages the operations, controls, etc. in the parking device 20, but detailed descriptions are omitted. The parking management unit 25 includes a communication unit 26.

[0035] The predetermined area control unit 60 has a storage unit 61. The storage unit 61 in this embodiment stores the data of the area comprehensive information 70. The storage unit 61 is connected to a control unit 62, and the control unit 62 is connected to a communication unit 63. The control unit 62 has a processor, a volatile memory, a non-volatile memory, an I / O interface, etc.

[0036] The predetermined area control unit 60 in this embodiment is provided on the cloud. The predetermined area control unit 60 has the function of an area information providing server that communicates with the operating device 50 or the vehicle-side control unit 31. As will be described later, the predetermined area control unit 60 transmits the data of the first area information 71, 75, 80 and the data of the second area information 72, 76 including the driving boundary necessary when the vehicle-side control unit 31 performs route setting to the operating device 50 and the vehicle-side control unit 31. The transmission timing of the data of the first area information 71, 75, 80 and the data of the second area information 72, 76 can be when the detection means 32 of the self-driving vehicle 30 or the detection means 56 of the operating device 50 detects that the self-driving vehicle 30 has entered or approached the predetermined area 10. Details will be described later.

[0037] Then, the communication unit 58 of these operation devices 50, the communication unit 33 of the autonomous vehicle 30, the communication unit 26 of the parking management unit 25, and the communication unit 63 of the predetermined area control unit 60 can communicate via the network 40.

[0038] <Area comprehensive information> FIG. 3 is a drawing showing an example of area comprehensive information 70 for selecting a destination from an arbitrary point, where (A) is the first area information 71 and (B) is the second area information 72. FIG. 4 is a drawing showing an example of area comprehensive information 70 for selecting a destination from a plurality of destination candidates, where (A) is the first area information 75 and (B) is the second area information 76. The area comprehensive information includes the first area information 71, 75 and the second area information 72, 76. FIGS. 3 and 4 are examples of displaying a plurality of destination candidates as a map. FIG. 5 is a drawing of the first area information 80 showing a modified example of the first area information 75 shown in FIG. 4(A). FIG. 5 is an example of displaying a plurality of destination candidates using a combination of a map and a list. These area comprehensive information 70 are examples, and the area comprehensive information 70 is not limited thereto. For example, the first area information 71, 75, 80 does not necessarily have to be a map, and it may be only a list of destination candidates. The first area information 71, 75, 80 and the second area information 72, 76 show an example such as a map displayed based on the data of the area comprehensive information 70 of the predetermined area control unit 60.

[0039] The first area information 71 shown in FIG. 3(A) is a map that visually represents a predetermined area 10 on the touch panel 57 which is the display unit of the operating device 50. In this figure, it is a map with a layout where the entrance / exit 12 that forms the boundary with the public road 13, the in-predetermined-area driving route 19 within the predetermined area 10, and the destination candidates within the predetermined area 10 can be seen. The first area information 71 displays the in-predetermined-area driving route 19 that leads to the parking device 20, the flat parking lot 28, the first building 15, and the second building 17 within the predetermined area 10 in a planar manner. The first area information 71 in this example is an example where any position on the in-predetermined-area driving route 19 can be selected as a plurality of destinations where the automated vehicle 30 can move by autonomous driving throughout the predetermined area 10. The illustrated first area information 71 displays names such as "parking device" and "first building" for visually indicating the destination locations. The user can view the first area information 71 with the operating device 50 and specify any point as the destination for the automated vehicle 30 to move by autonomous driving. That is, the selected destination is to select any destination that will be the destination for the automated vehicle 30 to move by autonomous driving from the map of the first area information 71 within the predetermined area 10. Note that the first area information 71 cannot specify points outside the drivable area of the automated vehicle 30 indicated by the in-predetermined-area driving route 19. The figure in this example shows a state where the user has entered the predetermined area 10 and temporarily stopped, and has specified the storage position 23 of the parking device 20.

[0040] The second area information 72 shown in FIG. 3(B) is information including the driving boundary necessary when the automated vehicle 30 performs route setting. The second area information 72 is information including the drivable area information (such as the coordinates of the driving boundary) within the predetermined area 10. In this example, in the first area information 71 shown in FIG. 3(A), only the range where the automated vehicle 30 can drive is visually shown for convenience in the drawings of this application. Different from the first area information 71, the second area information 72 does not need to be visually recognizable by the user, as long as it can be recognized by the automated vehicle 30. Also, for example, the data of the second area information 72 includes the flat parking lot identification number, the parking device identification number, the first building identification number, the second building identification number, and the information on the drivable area of the in-predetermined-area driving route.

[0041] The automatic driving vehicle 30 calculates a travel route 73 for automatically moving to a destination selected by the user on the map of the first area information 71 based on the second area information 72 by the vehicle-side control unit 31. In this example, the vehicle-side control unit 31 calculates a travel route 73 from the position where it has entered the in-vehicle road 19 within the predetermined area and temporarily stopped to the turntable 24 which is the storage position 23 of the parking device 20. The use of the travel route 73 calculated by the vehicle-side control unit 31 will be described in the flowchart described later.

[0042] The first area information 75 shown in FIG. 4(A) is a map visually representing the predetermined area 10 on the touch panel 57 which is the display unit of the operating device 50. In this figure, it is a map with a layout such that the entrance / exit 12 which is the boundary with the public road 13 and the in-vehicle road 19 within the predetermined area 10 can be understood. The first area information 75 planar-ly displays the in-vehicle road 19 leading to the parking device 20, the flat parking lot 28, the first building 15, and the second building 17 within the predetermined area 10. In the first area information 75 of this example, the storage position 23 of the parking device 20, the entrance / exit gate 29 of the flat parking lot 28, the entrance 16 of the first building 15, and the entrance 18 of the second building 17 within the predetermined area 10 are shown as a plurality of destination candidates. The shown first area information 75 displays names such as "parking device" and "first building" for visually indicating the destination location. The destination candidates may also be named such as "in front of the parking device" and "in front of the entrance" for visual classification. The first area information 75 includes coordinate information of the destination candidates and the like. Note that the destination candidates in the first area information 75 only need to be destinations where the automatic driving vehicle 30 can move by automatic driving in the entire predetermined area 10, and are not limited to this example.

[0043] The user views the first area information 75 on the operating device 50 and selects a destination candidate for the autonomous vehicle 30 to move to automatically. Note that the first area information 75 cannot specify a point outside the drivable area of the autonomous vehicle 30 indicated by the travel route 19 within the predetermined area. The figure in this example shows a state where the user has entered the predetermined area 10 and stopped temporarily, and has selected the entrance 18 of the second building 17.

[0044] The second area information 76 shown in FIG. 4(B) is information including the driving boundary necessary when the autonomous vehicle 30 performs route setting. The second area information 76 is information including the drivable area information (such as the coordinates of the driving boundary) within the predetermined area 10. In this example, in the first area information 75 shown in FIG. 4(A), only the range in which the autonomous vehicle 30 can travel is visually shown for convenience in the drawings of this application. Different from the first area information 75, the second area information 76 does not need to be visually recognizable by the user on the operating device 50, as long as it can be recognized by the autonomous vehicle 30. Also, for example, the data of the second area information 76 includes a flat parking lot identification number, a parking device identification number, a first building identification number, a second building identification number, the drivable area of the travel route within the predetermined area, and information on destination candidates.

[0045] The autonomous vehicle 30 calculates a travel route 77 for moving automatically to the destination candidate selected by the user with the first area information 75 based on the second area information 76 by the vehicle-side control unit 31. In this example, the vehicle-side control unit 31 calculates the travel route 77 from the place where it has entered the travel route 19 within the predetermined area and stopped temporarily to the entrance 18 of the second building 17.

[0046] The first area information 80 shown in FIG. 5 is an example in which a plurality of destination candidates are displayed in combination with a map and a destination candidate list 81 in list form. In this case, the user selects a desired destination candidate from the plurality of destination candidate lists 81. The example shown in FIG. 5 is an example in which the same number is assigned to the destination candidate list 81 and the location of the corresponding destination candidate. Since FIG. 5 only has a different display format from the first area information 75 shown in FIG. 4(A) and a plurality of destination candidates, other explanations are omitted.

[0047] The first area information may be a combination of any of the above-mentioned first area information 71, 75, and 80. Similarly, the second area information may be a combination of the above-mentioned second area information 72 and second area information 76. Further, the area comprehensive information 70 sent to the operating device 50 includes the layout diagram within the predetermined area 10 and information on the drivable area during autonomous driving. In addition, the second area information 72 and 76 sent to the autonomous vehicle 30 include information on the drivable area during autonomous driving and the selected destination.

[0048] <Timing of obtaining area comprehensive information> Figures 6(A) to 6(D) are schematic diagrams showing examples of the timing of obtaining the area comprehensive information 70. The obtaining of the area comprehensive information includes obtaining either one or both of the first area information 71, 75, 80 and the second area information 72, 76. The timing at which the operating device 50 or the autonomous vehicle 30 obtains the area comprehensive information 70 of the predetermined area 10 can be the timing when the autonomous vehicle 30 approaches or enters the predetermined area 10. The determination of whether the autonomous vehicle 30 has approached or entered the predetermined area 10 and the obtaining of the area comprehensive information 70 can be at the following timings.

[0049] (Detection by signal output unit) The timing of obtaining the area comprehensive information 70 shown in Figure 6(A) is an example of obtaining the area comprehensive information 70 at the timing when the operating device 50 or the autonomous vehicle 30 detects a signal from the signal output unit 14 provided in the vicinity of the predetermined area 10 or the like. For example, a beacon that emits a signal with an identification number unique to the predetermined area 10 is used for the signal output unit 14. When the operating device 50 or the autonomous vehicle 30 receives the signal from this signal output unit 14, it determines that the autonomous vehicle 30 has entered or approached the predetermined area 10, and can obtain at least one of the data of the first area information 71, 75, 80 and the data of the second area information 72, 76 from the predetermined area control unit 60.

[0050] (Detection by GNSS) The acquisition timing of the area comprehensive information 70 shown in FIG. 6(B) is an example in which the area comprehensive information 70 is acquired at the timing when the predetermined area 10 is detected by the positioning information obtained by the GNSS receiver of the operating device 50 or the autonomous vehicle 30 and the GNSS satellite 91. The operating device 50 or the autonomous vehicle 30 determines from the positioning information obtained by the GNSS receiver and the GNSS satellite 91 that the autonomous vehicle 30 has entered or approached the predetermined area 10, and can acquire at least one of the data of the first area information 71, 75, 80 and the data of the second area information 72, 76 from the predetermined area control unit 60.

[0051] (Detection by image recognition) The acquisition timing of the area comprehensive information 70 shown in FIG. 6(C) is an example in which the area comprehensive information 70 is acquired at the timing when the identification marker 93 of the predetermined area 10 is detected by image recognition of the image captured by the camera 92 (reading unit) of the operating device 50 or the autonomous vehicle 30. An identification marker 93 unique to the predetermined area 10 is provided at the outer edge of the predetermined area 10 or in its vicinity. The operating device 50 or the autonomous vehicle 30 determines that the autonomous vehicle 30 has entered or approached the predetermined area when the identification marker 93 is detected by image recognition, and can acquire at least one of the data of the first area information 71, 75, 80 and the data of the second area information 72, 76 from the predetermined area control unit 60.

[0052] Note that the acquisition timing of the area comprehensive information 70 may be when the predetermined area 10 is set as the destination in the autonomous vehicle 30. For the movement to the predetermined area 10, for example, when moving manually or automatically from a home apartment or the like to the predetermined area 10 such as a commercial facility via the public road 13, a representative destination such as in front of the welcome gate of the predetermined area 10 is selected as the representative destination of the commercial facility or the like. In this case, the acquisition of the area comprehensive information 70 may be such that the area comprehensive information 70 of the predetermined area 10 serving as the destination is downloaded at the time when the representative destination is set at the home apartment at the departure place.

[0053] Further, based on the user setting a representative destination representing the predetermined area 10 as the destination using the operating device 50, at least one of the data of the first area information and the data of the second area information may be acquired from the predetermined area control unit 60. The data of the first area information 71, 75, 80 and the data of the second area information 72, 76 may be acquired at different timings as necessary.

[0054] In addition, when the predetermined area 10 is an area of a home condominium including the parking device 20 and the parking device 20 is a contract parking device, at the time of the use contract of the parking device 20, in each of the operating device 50 and the autonomous vehicle 30, the necessary comprehensive area information 70 may be downloaded. For example, using an ID, a password, etc., the comprehensive area information 70 can be downloaded in advance from an area information providing server on the cloud or the like. When the parking device 20 is a temporary use parking device, the comprehensive area information 70 can be automatically downloaded at the timing when the autonomous vehicle 30 enters the predetermined area 10 including the parking device 20.

[0055] <Example 1 of Movement by Autonomous Driving Movement System> Figs. 7 to 11 are flowcharts of an example of moving the autonomous vehicle 30 from the departure place to the predetermined area 10 and then moving the autonomous vehicle 30 to the selected destination by autonomous driving by the autonomous driving movement system 1 after the autonomous vehicle 30 arrives at the entrance 12 of the predetermined area 10. Fig. 7 is the first flowchart, Fig. 8 is the second flowchart following Fig. 7, Fig. 9 is the third flowchart following Fig. 8, Fig. 10 is the fourth flowchart following Fig. 9, and Fig. 11 is the fifth flowchart following Fig. 10. The first flowchart to the fifth flowchart are one flowchart. The consecutive parts of each flowchart show the autonomous vehicle 30 (vehicle side control unit 31) as "1a", the operating device 50 (portable terminal) as "2a", the mechanical parking device 20 (parking management unit 25) as "3a", and the predetermined area control unit 60 (area information providing server) as "4a".

[0056] The following description will be based on a flowchart that includes an example of automatically driving and parking the autonomous vehicle 30 at the storage position 23 of the parking device 20, which is the selected destination, and an example of automatically driving to, for example, the entrance 18 of the second building 17 as another selected destination. This flowchart is an example in which, when the selected destination is the parking device 20, the storage sequence linked to the trigger information starts with the selection of the parking device 20 as the trigger information. That is, when the selected destination is the storage position 23 of the parking device 20, it is an example of transitioning to the storage sequence.

[0057] Also, in the following flowchart, an example will be described in which a portable terminal carried by the user is used as the operating device 50 and the example starts from the state where the user is on board the autonomous vehicle 30. Also, an example will be described in which the predetermined area control unit 60 also serves as an area information providing server that stores the data of the area comprehensive information 70. The area comprehensive information 70 will be described by taking the first area information 71 shown in FIG. 3(A) and the second area information 72 shown in FIG. 3(B) as examples. Also, as the timing for acquiring the area comprehensive information 70, an example will be described based on the operation device 50 receiving a signal from the signal output unit 14 installed near the outer edge of the entrance / exit 12, which is the representative destination of the predetermined area 10. The predetermined area control unit 60 transmits both the data of the first area information 71 and the data of the second area information 72 of the predetermined area 10 shown in FIG. 3, which are the data of the area comprehensive information 70, to the operation device 50 based on receiving an area information transmission request from the operation device 50. The transmission and reception of signals are indicated by dotted arrows.

[0058] In the following flowchart, an example will be described in which after the autonomous vehicle 30 arrives at the predetermined area 10, the operator 50 sends a request to the predetermined area control unit 60 to transmit area information of the predetermined area 10. The timing for the predetermined area control unit 60 to send the comprehensive area information 70 to the operator 50 may be based on the fact that the representative destination of the predetermined area 10 is set as the destination by the operator 50 at home or the like. The operator 50 sends the destination setting to the predetermined area control unit 60, and the predetermined area control unit 60 may send it based on receiving that the destination has been set from the operator 50.

[0059] As shown in FIG. 7, the start is for the user to start the first application 53 with the portable terminal which is the operator 50 in the vicinity of the departure place or the predetermined area 10 (S1). Thereby, the first application 53 of the operator 50 makes a communication connection with the vehicle-side control unit 31 of the autonomous vehicle 30 (S2). The vehicle-side control unit 31 responds to the communication connection from the operator 50 (S3). The autonomous vehicle 30 moves from the vicinity of the departure place or the predetermined area 10 to the entrance / exit 12 which is the representative destination of the predetermined area 10 by manual driving or autonomous driving (S4). Note that the communication connection between the operator 50 and the vehicle-side control unit 31 of the autonomous vehicle 30 may be made after arriving at the entrance / exit 12. When the autonomous vehicle 30 arrives at the entrance / exit 12, the operator 50 receives a signal of the identification number unique to the predetermined area 10 from the signal output unit 14 (S5). The autonomous vehicle 30 temporarily stops at the entrance / exit 12 which is the representative destination (S6). On the other hand, the operator 50 sends a request to the predetermined area control unit 60 to transmit area information of the received identification number unique to the predetermined area 10 (S7). When the predetermined area control unit 60 receives the area information transmission request (S8), it sends the comprehensive area information 70 of the corresponding identification number to the operator 50. In this example, the data of the first area information 71 and the second area information 72 included in the comprehensive area information 70 are sent simultaneously (S9).

[0060] The operator 50 stores the data of the first area information 71 and the second area information 72 received from the predetermined area control unit 60 (S10), and transmits the data of the second area information 72 to the vehicle-side control unit 31 of the automated vehicle 30 (S11). The vehicle-side control unit 31 stores the data of the second area information 72 received from the operator 50 (S12).

[0061] As shown in FIG. 8, the vehicle-side control unit 31 transmits a ready signal to the operator 50 (S13). When the operator 50 receives the ready signal from the vehicle-side control unit 31 (S14), the operator 50 displays the first area information 71 on the touch panel 57 and accepts a selected destination for moving in autonomous driving (S15). The first area information 71 is displayed by the first application and is a map in which the inside of the predetermined area 10 including the parking device 20 is visually displayed and the available parking areas can be understood (see FIG. 3(A)). The user selects a desired destination within the predetermined area 10 from the first area information 71 displayed on the touch panel 57 (S16). This destination is the selected destination, which is the storage position 23 of the parking device 20 in this example. Note that the user may get out of the automated vehicle 30 at the stage of selecting the destination.

[0062] The operator 50 transmits the input selection destination to the vehicle-side control unit 31 (S17), and the vehicle-side control unit 31 receives and stores the selection destination from the operator 50 (S18). The operator 50 determines whether the selection destination is the mechanical parking device 20 (S19). If the selection destination is, for example, the entrance 18 of the second building 17, this determination results in "NO", and as shown by "5a", it continues to (S27) described later. In this example, since the selection destination is the parking device 20, this determination results in "YES", the second application 54 is launched, and a communication connection is established with the parking management unit 25 of the mechanical parking device 20 (S20). Note that the second application 54 may be launched simultaneously with the launch of the first application 53, or may be launched before the launch of the first application 53. The second application 54 starts the cooperation process between the autonomous vehicle 30 and the parking device 20 triggered by receiving the parking device 20 as the selection destination. The cooperation process obtains information about the parking device 20 from the parking management unit 25 and sends information about the autonomous vehicle 30 to the parking management unit 25. The parking management unit 25 responds to the communication connection from the operator 50 (S21). Then, the second application 54 of the operator 50 sends a request for storage to the parking management unit 25 (S22). The parking management unit 25 waits until it receives the request for storage from the operator 50 (S23).

[0063] As shown in FIG. 9, when the parking management unit 25 receives the request for storage, it sends to the operator 50 whether there is an empty space and storage is possible or whether it is full and storage is not possible (S24). When the operator 50 receives the storage availability from the parking device 20 (S25), it determines whether storage in the parking device 20 is possible (S26). If it is determined that storage is not possible, as shown by "6a", the first area information 71 is displayed on the touch panel 57, and it returns to the state of accepting selection destinations other than the parking device 20 (S15). If storage in the parking device 20 is possible, a start button is displayed on the touch panel 57 of the operator 50 (S27). Note that if the determination (S19) of whether the selection destination is the mechanical parking device 20 is "NO", it continues from "5a" to the state where the start button on the touch panel 57 of this operator 50 is displayed (S27).

[0064] When the start button is pressed (S28), the operator 50 determines whether the selected destination is the mechanical parking device 20 (S29). If the selected destination is the parking device 20, an instruction to move to the preposition for storage is issued to the vehicle side control unit 31 (S30). In this example, the preposition is a predetermined position of the turntable 24 and is also the storage position 23 for the parking device 20. If the selected destination is other than the parking device 20, an instruction to move to the selected destination is issued to the vehicle side control unit 31 (S31). The vehicle side control unit 31 of the autonomous vehicle 30 determines whether it has received a movement instruction from the operator 50 (S32). Also, when the selected destination is the parking device 20, the operator 50 transmits a pallet call instruction to the parking management unit 25 of the parking device 20 (S33). The parking management unit 25 of the parking device 20 determines whether it has received a pallet call instruction from the operator 50 (S34).

[0065] As shown in FIG. 10, when the vehicle side control unit 31 of the autonomous vehicle 30 receives a movement instruction from the operator 50 (S32), it calculates a movement route to move from the current location to the preposition or the selected destination by autonomous driving using the second area information 72 (S35). The autonomous vehicle 30 moves and stops by autonomous driving to the preposition or the selected destination based on the calculated movement route (S36). On the other hand, the operator 50 notifies via the touch panel 57 that the autonomous vehicle 30 is moving by autonomous driving (S37). Also, when the parking management unit 25 of the parking device 20 receives a pallet call instruction from the operator 50 (S34), it starts the operation of calling an empty pallet (S38) and arranges the empty pallet at the loading / unloading section.

[0066] The autonomous vehicle 30 transmits to the operator 50 that it has completed moving to the preposition or the selected destination (S39). When the operator 50 receives the completion of the movement of the autonomous vehicle 30 (S40), it determines whether the selected destination is the mechanical parking device 20 (S41). If the selected destination is, for example, the entrance 18 of the second building 17, this determination results in "NO", and as shown by "7a", it continues to (S59) described later. Since the selected destination in this example is the parking device 20, this determination results in "YES", and an instruction to start the preparation for storage is issued from the operator 50 to the parking device 20 (S42). When the parking management unit 25 of the parking device 20 receives the instruction to start the preparation for storage from the operator 50 (S43), it opens the entrance / exit door (S44).

[0067] On the other hand, after transmitting to the operator 50 that it has completed moving (S39), the vehicle-side control unit 31 of the autonomous vehicle 30 determines whether the selected destination is the mechanical parking device 20 (S45). If the selected destination is, for example, the entrance 18 of the second building 17, this determination results in "NO", and as shown by "8a", it continues to (S52) described later. Since the selected destination in this example is the parking device 20, this determination results in "YES", and it waits for the storage instruction from the operator 50 (S46). The operator 50 transmits the storage instruction to the vehicle-side control unit 31 (S47). When the vehicle-side control unit 31 receives the storage instruction from the operator 50 (S46), it stores in the parking device 20 by autonomous driving (S48). The automatic storage of the autonomous vehicle 30 is notified to the touch panel 57 of the operator 50 (S49). When the storage is completed, the vehicle-side control unit 31 of the autonomous vehicle 30 transmits the completion of storage to the operator 50 (S50). The operator 50 determines whether it has received the completion of storage from the vehicle-side control unit 31 (S51).

[0068] As shown in FIG. 11, after notifying the operator 50 of the completion of storage (S50), the self-driving vehicle 30 stores the parking position based on the current second area information 72 (S52) and then ends. Also, even when the selected destination in the determination in (S45) is not the mechanical parking device 20, it stores the parking position based on the current second area information 72 and ends (S52). On the other hand, when the operator 50 receives the completion of storage from the vehicle-side control unit 31 (S51), it transmits the completion of storage to the parking management unit 25 of the parking device 20 (S53). When the parking management unit 25 of the parking device 20 receives the completion of storage from the operator 50 (S54), it closes the entrance / exit door and starts the pallet storage operation (S55). After the parking management unit 25 completes the pallet storage operation, it transmits the completion of the pallet storage operation to the operator 50 (S56), stores the storage position of the self-driving vehicle 30 (S57), and then ends. When the operator 50 receives the completion of the pallet storage operation from the parking management unit 25 of the parking device 20 (S58), it displays the completion of the operation on the touch panel 57 (S59). The user checks the notification of the completion of the operation on the touch panel 57, ends the first application 53 and the second application 54 (S60), and then ends.

[0069] <Example of Movement by the Autonomous Driving Movement System 2> Figures 12 to 15 are flowcharts of an example in which the automatic driving mobile system 1 automatically drives the autonomous vehicle 30 parked in the parking device 20 within the predetermined area 10 to another selected destination. Figure 12 is the 6th flowchart, Figure 13 is the 7th flowchart following Figure 12, Figure 14 is the 8th flowchart following Figure 13, and Figure 15 is the 9th flowchart following Figure 14. The 6th to 9th flowcharts are one flowchart. The consecutive parts of each flowchart indicate the autonomous vehicle 30 (vehicle-side control unit 31) as "1b", the operating device 50 (portable terminal) as "2b", and the mechanical parking device 20 (parking management unit 25) as "3b". The autonomous vehicle 30 and the operating device 50 acquire and store the data of the first area information 71 and the second area information 72 of the predetermined area 10 when entering the predetermined area 10. Therefore, when moving to another selected destination within the predetermined area 10, it is not necessary to newly acquire the data of the area information from the predetermined area control unit 60 (area information providing server).

[0070] As shown in FIG. 12, the start is for the user to start the first application 53 by means of the mobile terminal which is the operating device 50 (S70). For example, the user is near the entrance 18 of the second building 17 and starts the first application 53 in order to call the autonomous vehicle 30 from that location. Thereby, the first application 53 of the operating device 50 makes a communication connection with the vehicle-side control unit 31 of the autonomous vehicle 30 (S71). The vehicle-side control unit 31 responds to the communication connection from the operating device 50 (S72). Further, the vehicle-side control unit 31 transmits the parking position based on the current second area information 72 to the operating device 50 (S73). When the operating device 50 receives the parking position of the autonomous vehicle 30 from the vehicle-side control unit 31, it displays the first area information 71 and the vehicle position on the touch panel 57 (S74). The user can confirm the parking position of the autonomous vehicle 30 on the touch panel 57. Also, the vehicle-side control unit 31 transmits to the operating device 50 that the preparation for moving by autonomous driving is completed (S75). When the operating device 50 receives the completion of the preparation of the autonomous vehicle 30 (S76), it starts accepting other selected destinations on the touch panel 57 (S77). The acceptance of the selected destination waits for an input in the first area information 71 displayed on the touch panel 57. The user inputs the next selected destination from the first area information 71 (S78). For example, the user selects the entrance 18 of the second building 17.

[0071] As shown in FIG. 13, the operating device 50 transmits the received selected destination to the vehicle-side control unit 31 (S79). When the vehicle-side control unit 31 receives the selected destination from the operating device 50 (S80), it determines whether the current parking position is the mechanical parking device 20 (S81). If the determination is "NO", it continues to (S107) described later as indicated by "4b". If the determination is "YES", it continues to (S99) indicated by "1b".

[0072] Also, after the operator 50 transmits the selection destination to the vehicle-side control unit 31, it determines whether the current parking position is the mechanical parking device 20 (S82). If the determination is "NO" in this case, as described later (S88), a start button is displayed on the touch panel 57. Since this example is parked in the parking device 20, the determination is "YES" in this case, and the second application 54 is started (S83), and a communication connection is made with the parking management unit 25 of the mechanical parking device 20 (S84). Also, the operator 50 transmits a request for departure to the parking management unit 25 (S85). When the parking management unit 25 of the parking device 20 receives the request for departure (S86), it extracts the storage position of the vehicle from the storage unit 27 (S87).

[0073] On the other hand, a start button is displayed on the touch panel 57 of the operator 50 (S88), and when the user presses the start button (S89), it determines whether to depart from the mechanical parking device 20 (S90). Note that when the current parking position is not the parking device 20, it continues to the later-described (S106) as indicated by "5b".

[0074] As shown in FIG. 14, when the operator 50 determines that it is a departure from the parking device 20 (S90), it transmits a pallet call instruction to the parking management unit 25 of the parking device 20 (S91). The operator 50 notifies on the touch panel 57 that the departure operation is in progress (S92). When the parking management unit 25 receives the pallet call instruction from the operator 50 (S93), it starts the call operation of the target pallet (S94). When the call of the target pallet is completed, the parking management unit 25 opens the loading / unloading door (S95) and transmits the completion of the pallet call operation to the operator 50 (S96). When the operator 50 receives the completion of the pallet call operation (S97), it transmits a movement instruction to the preposition to the vehicle-side control unit 31 (S98). When the vehicle-side control unit 31 receives the movement instruction to the preposition from the operator 50 (S99), it moves to the preposition by automatic driving (S100). When the movement of the automatic driving vehicle 30 to the preposition is completed, the vehicle-side control unit 31 transmits the completion of the movement to the preposition to the operator 50 (S101). The operator 50 determines whether it has received the completion of the movement to the preposition from the vehicle-side control unit 31 (S102).

[0075] As shown in FIG. 15, when the operator 50 receives that the autonomous vehicle 30 has completed moving to the preposition (S102), it transmits the completion of the warehousing operation to the parking management unit 25 of the parking device 20 (S103). When the parking management unit 25 receives the completion of the warehousing operation from the operator 50 (S104), it closes the access door (S105) and ends.

[0076] On the other hand, the operator 50 transmits a movement instruction to the selected destination to the vehicle-side control unit 31 (S106). When the vehicle-side control unit 31 receives the movement instruction to the selected destination from the operator 50 (S107), it calculates the movement route to the selected destination using the data of the second area information 72 (S108), moves automatically to the selected destination and stops (S109). The operator 50 notifies on the touch panel 57 that the autonomous vehicle 30 is moving to the selected destination (S110). The vehicle-side control unit 31 transmits to the operator 50 that the autonomous vehicle 30 has completed moving to the selected destination (S111). When the operator 50 receives from the vehicle-side control unit 31 that the movement to the selected destination has been completed (112), it displays on the touch panel 57 the completion of the movement operation of the autonomous vehicle 30 (S113). The user checks the operation completion notification on the touch panel 57, ends the first application 53 and the second application 54 (S114), and ends.

[0077] As described above, according to the above-described autonomous driving movement system 1, when the user selects a desired selected destination from the first area information of the predetermined area 10 displayed on the touch panel 57 of the operator 50, the information of the selected destination is transmitted from the operator 50 to the vehicle-side control unit 31. Thereby, the vehicle-side control unit 31 can calculate by itself the movement route necessary for autonomous driving from the current location to the selected destination. Then, since the autonomous vehicle 30 travels autonomously according to the calculated movement route, the user can move the autonomous vehicle 30 automatically to a plurality of destinations within the predetermined area 10.

[0078] Also, according to the above-described automated driving mobile system 1, when a user selects a selected destination related to the parking device 20 in the first application 53, the second application 54 is activated at that timing. Then, the second application 54 can start the coordinated operation between the parking management unit 25 of the parking device 20 and the vehicle-side control unit 31 of the automated driving vehicle 30 to start the movement of the automated driving vehicle 30 by automated driving. On the other hand, when the selected destination is not related to the parking device 20, such as the entrance 18 of the second building 17, the second application 54 can be made unused. As a result, the second application 54 can be operated independently of the first application 53, so that the first application 53 can cause only the parking device 20 that needs to cooperate with the automated driving vehicle 30 to communicate between the automated driving vehicle 30 and the parking device 20. Thereby, the terminal-side application 52 can allow the user to select a plurality of destinations including the parking device 20 within the predetermined area 10 and can perform efficient operation.

[0079] Also, according to the above-described automated driving mobile system 1, the first application 53 can acquire information such as the overall area information 70 (the first area information 71, 75, 80, the second area information 72, 76), which is necessary for the automated driving vehicle 30 to move by automated driving within the predetermined area 10, before the start timing of the automated driving, from the operating device 50, the automated driving vehicle 30, or both. Also, the second application 54 can easily vary the content for each type of the parking device 20 or can be individually created by a plurality of companies that manufacture and manage the parking device 20. Therefore, it is easily possible to configure the automated driving mobile system 1 according to the predetermined area 10.

[0080] <Other Modification Examples> In the above-described embodiment, as candidates for the selection destination within the predetermined area 10, three categories, namely, the mechanical parking device 20, the flat parking lot 28, the first building 15, and the second building 17, were described as examples. Among these selection destinations, there are destinations where warehousing and shipping may overlap, such as the mechanical parking device 20. In this case, for example, it may be necessary to execute a shipping sequence before the autonomous vehicle 30 reaches the parking device 20. Therefore, it may be possible to select candidate destinations that require cooperation with the parking device 20 (for example, a candidate destination such as a "waiting place for shipping"). Further, when the mechanical parking device 20 is selected as the selection destination, for example, when the autonomous vehicle 30 transitions to the warehousing sequence when it reaches the mechanical parking device 20, it may be made to wait at the warehousing position 23 that requires cooperation with the parking device 20.

[0081] Also, in the above-described embodiment, after transmitting the area comprehensive information 70 of the predetermined area control unit 60 to the operation device 50, it is then transmitted from the operation device 50 to the vehicle-side control unit 31, but it is not limited to this. The area comprehensive information 70 may be transmitted from the predetermined area control unit 60 to the vehicle-side control unit 31 and then from the vehicle-side control unit 31 to the operation device 50. Further, the area comprehensive information 70 may be transmitted from the predetermined area control unit 60 to the operation device 50 and the vehicle-side control unit 31 respectively with the necessary area information.

[0082] Also, the above-described embodiment shows an example, and the configuration of the mechanical parking device 20 in the above-described embodiment is not limited. For example, the present application can be implemented according to the configuration of the predetermined area 10 and the like, and the present application may change various configurations without impairing the gist, and the present application is not limited to the above-described embodiment.

[0083] <Summary> According to the above-described automatic driving and moving system 1, when a manipulator 50 operated by a user presents a plurality of destinations including a parking device 20 within a predetermined area 10, and the first application 53 accepts the parking device 20 as a selected destination, the second application 54 is activated triggered by the acceptance. Then, the second application 54 acquires information regarding the parking device 20 from the parking management unit 25 and sends information regarding the autonomous vehicle 30 to the parking management unit 25, starts the cooperation process between the autonomous vehicle 30 and the parking device 20, and enables the autonomous vehicle 30 to move to the selected destination by autonomous driving.

[0084] Also, according to the above-described automatic driving and moving system 1, it is possible to move the autonomous vehicle 30 with a high degree of freedom by autonomous driving to a plurality of destinations within the predetermined area 10, such as the entrance / exit gate 29 of the flat parking lot 28, the entrance 16 of the first building 15, and the entrance 18 of the second building 17, in addition to the mechanical parking device 20.

Explanation of Reference Numerals

[0085] 1 Automatic driving and moving system 10 Predetermined area 14 Signal output unit 15 First building 16 Entrance 17 Second building 18 Entrance 19 Road within the predetermined area 20 Mechanical parking device 23 Storage position 25 Parking management unit 27 Storage unit 28 Flat parking lot 30 Autonomous vehicle 31 Vehicle-side control unit 40 Network 50 Manipulator 51 Storage unit 52 Terminal-side application 53 First application 54 Second application 60 Predetermined area control unit 61 Memory section 70 Area comprehensive information 71 First area information 72 Second area information 73 Movement route 75 First area information 76 Second area information 77 Movement route 80 First area information 81 Destination candidate list

Claims

1. An automatic driving movement system for moving an autonomous vehicle automatically from a plurality of destinations within a predetermined area to a selected destination, comprising: a parking management unit that controls and manages a parking device provided within the predetermined area; a terminal-side application used in an operating device operated by a user; and comprising: The terminal-side application includes a first application that presents the plurality of destinations including the parking device or its storage position to the user and accepts one of the plurality of destinations as the selected destination, and a second application that acquires information about the parking device from the parking management unit and sends information about the autonomous vehicle to the parking management unit. The second application is configured to start the cooperation process between the autonomous vehicle and the parking device triggered by the acceptance of the parking device or its storage position as the selected destination by the first application. An automatic driving movement system.

2. The first application is configured to display, on a display unit of the operating device, first area information that visually represents information about the predetermined area. The automatic driving movement system according to claim 1.

3. The first area information includes at least one of a travelable area and a parkable area of the autonomous vehicle. The automatic driving movement system according to claim 2.

4. It has comprehensive area information including the first area information and second area information including a travel boundary required when the autonomous vehicle sets a route, A predetermined area control unit that is communicable with the operating device or the autonomous vehicle, and based on receiving a transmission request for the comprehensive area information from the operating device or the autonomous vehicle when the detection means of the operating device or the autonomous vehicle detects that the autonomous vehicle has entered or approached the predetermined area, transmits the data of the comprehensive area information to the operating device or the autonomous vehicle. And The predetermined area control unit is configured to transmit at least one of the data of the first area information and the data of the second area information to the operating device or the autonomous vehicle. The automatic driving movement system according to claim 2 or 3.

5. It is provided at a predetermined point in the outer edge portion of the predetermined area or an area in the vicinity thereof, and includes a signal output unit capable of outputting a signal to the operating device or the autonomous vehicle. The detection means is configured to detect that the automated vehicle has entered or approached the predetermined area based on the fact that the operator or the automated vehicle has received a signal from the signal output unit. The automated driving mobile system according to claim 4.

6. The detection means includes a GNSS receiver, The detection means is configured to detect that the automated vehicle has entered or approached the predetermined area from the positioning information of the GNSS receiver of the operator or the automated vehicle. The automated driving mobile system according to claim 4.

7. including an identification marker provided at a predetermined point in an area near or at the outer edge of the predetermined area, The detection means includes a reading unit for reading the identification marker, The detection means is configured to detect that the automated vehicle has entered or approached the predetermined area based on the fact that the reading unit has read the identification marker. The automated driving mobile system according to claim 4.

8. being communicable with the operator and including a predetermined area control unit configured to transmit data of the first area information to the operator based on receiving a request for transmitting the first area information from the operator, The first application is configured to be able to set a representative destination representing the predetermined area in the operator, The predetermined area control unit is configured to transmit data of the first area information to the operator based on receiving that the representative destination has been set from the operator. The automated driving mobile system according to claim 2 or 3.

9. An application for an automated driving mobile system that is used by an operator operated by a user and automatically drives and moves an automated vehicle from a plurality of destinations within a predetermined area to a selected destination selected, a first application that presents a plurality of destinations within a predetermined area and receives the selected destination desired by the user from the plurality of destinations, and a second application that acquires information about the parking device from a parking management unit that controls and manages the parking device and sends information about the automated vehicle to the parking management unit, The first application is configured to transmit the selected destination to the automated vehicle when the selected destination is received, The second application is configured to start the cooperation process between the autonomous vehicle and the parking device triggered by the first application receiving the parking device or its storage position as the selected destination. An application for an autonomous driving mobile system.

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