Travel management system and travel management method

Abstract

To provide a travel management system for reducing a processing load on travel management of a vehicle within a predetermined area.SOLUTION: A travel management system includes: a recognition sensor arranged in a predetermined area so as to recognize a state within the predetermined area; and a management server. The management server manages a passage route for regulating a travel position of a vehicle concerning a route of the vehicle within the predetermined area. The management server detects an object within the predetermined area with the use of the recognition sensor, and executes processing to calculate a vehicle speed profile for giving a vehicle speed condition which the vehicle has to follow at each one of spots on the passage route based on position relation between the detected object and the passage route. When the travel of the object vehicle is managed, the management server transmits a travel position in at least a travel section on which the object vehicle travels within the passage route and the vehicle speed profile of the travel section to a control system of the object vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a technique for managing the travel of vehicles within a predetermined area.

Background Art

[0002] Patent Document 1 discloses a travel control device for remotely controlling an autonomous vehicle traveling in an autonomous driving area. The travel control device disclosed in Patent Document 1 includes a sensing unit that detects targets within a detection range defined within the autonomous driving area, a route generation unit that generates a travel route for the autonomous vehicle traveling within the detection range using the detection information of the targets detected by the sensing unit, and a route transmission unit that transmits a control command based on the travel route to the autonomous vehicle.

[0003] In addition, there is the following Patent Document 2 as a document showing the technical level of this technical field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] When managing the travel of vehicles within a predetermined area, usually, there are a plurality of vehicles to be subject to travel management within the area. In the technique disclosed in Patent Document 1, calculations considering each object (target) detected within the area for each vehicle are required. Therefore, when the number of vehicles to be subject to travel management is large, there is a risk that the processing load will become enormous. Thus, conventionally, in the technique for managing the travel of vehicles within an area, the high processing load has been a problem.

[0006] One object of the present disclosure is, in view of the above problems, to reduce the processing load with respect to a technique for managing the travel of vehicles in an area.

Means for Solving the Problems

[0007] A first aspect of the present disclosure relates to a travel management system for managing the travel of vehicles within a predetermined area. The travel management system includes a recognition sensor installed in the predetermined area for recognizing the situation within the predetermined area, and a management server. The management server is configured to manage a traffic route that defines the travel position of a vehicle with respect to the traffic routes of vehicles within the predetermined area. Further, the management server uses the recognition sensor to detect an object within the predetermined area, and based on the positional relationship between the detected object and the traffic route, executes a process of calculating a vehicle speed profile that gives the vehicle speed conditions to be followed by the vehicle at each point on the traffic route. Further, when managing the travel of a target vehicle, the management server is configured to transmit at least the travel position of the travel section on the traffic route that the target vehicle travels and the vehicle speed profile of that travel section to the control system of the target vehicle.

[0008] A second aspect of the present disclosure relates to a travel management method for managing the travel of vehicles within a predetermined area. The travel management method, by cooperation of one or more processors and one or more storage devices, manages a traffic route that defines the travel position of a vehicle with respect to the traffic routes of vehicles within the predetermined area, uses a recognition sensor to detect an object within the predetermined area, and based on the positional relationship between the detected object and the traffic route, executes a process of calculating a vehicle speed profile that gives the vehicle speed conditions to be followed by the vehicle at each point on the traffic route, and when managing the travel of a target vehicle, includes transmitting at least the travel position of the travel section on the traffic route that the target vehicle travels and the vehicle speed profile of that travel section to the control system of the target vehicle.

Advantages of the Invention

[0009] According to the present disclosure, a traffic route that defines the driving position of a vehicle is managed, and a vehicle speed profile is calculated based on the positional relationship between a detected object detected within a predetermined area and the traffic route. Then, in the driving management of the target vehicle, the driving position of the driving section of the traffic route on which the target vehicle is driving and the vehicle speed profile are transmitted to the control system of the target vehicle. Thereby, it is possible to perform the driving management of each vehicle without performing an operation considering the object detected for each vehicle. As a result, even when the number of vehicles subject to driving management increases, an increase in the processing load can be suppressed and the processing load can be reduced.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] 1 Travel Management System The travel management system according to this embodiment manages the travel of vehicles within a predetermined area. Vehicles within the predetermined area travel based on instructions from the travel management system.

[0012] The predetermined area to which the travel management system is applied is not particularly limited. Examples of the predetermined area include a parking lot, a factory site, a warehouse, a town, etc. The predetermined area may be a part of these areas.

[0013] The travel management system according to this embodiment can be used as a system that provides various functions according to the predetermined area and the type of vehicle. For example, when the predetermined area is a parking lot, the travel management system can be used as an AVP (Auto Valet Parking) system that provides automatic valet parking. That is, at this time, the travel management system provides a function of automatically performing the entry and exit of vehicles in the parking lot without user operation. In addition, for example, when the predetermined area is a warehouse, the travel management system can be used as a system that provides a function of managing the travel of an automated guided vehicle that transports goods in and out of the warehouse.

[0014] FIG. 1 is a conceptual diagram for explaining an example of the travel management of vehicle 1 performed by the travel management system as an AVP system. FIG. 1 shows the case where the travel management system performs travel management of vehicles 1 (1-A and 1-B) within parking lot 2.

[0015] The driving management of Vehicle 1-A is related to storage in AVP. At this time, the driving management system performs the driving management of Vehicle 1-A so that Vehicle 1-A travels from the storage position 21 to the parking position 22-A. Route 3-A shows an example of the driving of Vehicle 1-A realized by the driving management by the driving management system.

[0016] The driving management of Vehicle 1-B is related to departure in AVP. At this time, the driving management system performs the driving management of Vehicle 1-B so that Vehicle 1-B travels from the parking position 22-B to the departure position 23. Route 3-B shows an example of the driving of Vehicle 1-B realized by the driving management by the driving management system.

[0017] Thus, the driving management of Vehicle 1 by the driving management system according to this embodiment includes instructing the driving position of Vehicle 1.

[0018] By the way, in the predetermined area to which the driving management system is applied, it is assumed that there are some objects in addition to Vehicle 1 for which driving management is performed. For example, there may be pedestrians and falling objects in Parking Lot 2. The driving management system performs the driving management of Vehicle 1 in consideration of these objects. More specifically, the driving management system performs the driving management of Vehicle 1 so as to reduce the vehicle speed or stop temporarily near these objects.

[0019] Thus, the driving management of Vehicle 1 by the driving management system according to this embodiment includes instructing the vehicle speed condition that Vehicle 1 should follow regarding the driving position of Vehicle 1 in consideration of the objects existing in the predetermined area.

[0020] The travel management system usually manages the travel of a plurality of vehicles 1 within a predetermined area. For this reason, the travel management system performs travel management for each vehicle 1 considering the objects existing within the predetermined area. Conventionally, when performing travel management considering each object within the predetermined area for each vehicle, the high processing load when there are a large number of vehicles 1 to be subject to travel management has been an issue. The travel management system according to the present embodiment can suppress an increase in processing load even when the number of vehicles 1 to be subject to travel management increases. Hereinafter, the travel management system according to the present embodiment will be described in detail.

[0021] FIG. 2 is a diagram showing an example of the configuration of a travel management system 10 according to the present embodiment. The travel management system 10 includes a management server 100 that communicates with the vehicle control system 200 of the vehicle 1, and a recognition sensor 101 communicably connected to the management server 100.

[0022] The recognition sensor 101 is installed in a predetermined area to which the travel management system 10 is applied. The recognition sensor 101 recognizes the situation within the predetermined area. The recognition sensor 101 is composed of sensors such as a camera, LiDAR, radar, or a combination of one or more of these sensors. The recognition sensor 101 detects at least the objects within the predetermined area and acquires information on the detected objects. For example, the recognition sensor 101 acquires the position of the detected object within the predetermined area. Also, for example, the recognition sensor 101 acquires the state (e.g., speed, acceleration, etc.) of the detected object. Also, for example, the recognition sensor 101 acquires the type (e.g., pedestrian, bicycle, falling object, etc.) of the detected object. Also, for example, the recognition sensor 101 acquires the attribute (e.g., moving object, stationary object, size, etc.) of the detected object. The information acquired by the recognition sensor 101 is transmitted to the management server 100.

[0023] The management server 100 generates instruction information for travel management of the vehicle 1 and transmits the generated instruction information to the vehicle control system 200 of the vehicle 1.

[0024] The management server 100 includes a processor 110, a storage device 120, and a communication interface (communication I / F) 130.

[0025] The processor 110 executes various processes. The processor 110 is composed of, for example, a general-purpose processor, an application-specific processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, a conventional circuit, and one or a combination of these. The processor 110 can also be referred to as circuitry or processing circuitry. "Circuitry" is hardware programmed to implement the functions described in this disclosure, or hardware that executes those functions.

[0026] The storage device 120 stores various information necessary for the execution of the processes of the processor 110. The storage device 120 is composed of, for example, recording media such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), an HDD (Hard Disk Drive), etc. A computer program 121 is stored in the storage device 120. The computer program 121 may be recorded on a computer-readable recording medium. The computer program 121 describes the processes to be executed by the processor 110. The functions of the management server 100 are realized by the cooperation of the processor 110 that executes the computer program 121 and the storage device 120.

[0027] The communication interface 130 is an interface for connecting to the communication network 300 and communicating with devices external to the management server 100. The communication network 300 is composed of, for example, the Internet, a mobile communication network, a LAN, etc. The management server 100 transmits and receives information to and from the vehicle control system 200 via the communication interface 130. In addition, the management server 100 may transmit and receive information to and from the user's user terminal (e.g., smartphone, tablet terminal) via the communication interface 130.

[0028] The vehicle control system 200 is a system for controlling the vehicle 1.

[0029] The vehicle control system 200 includes a communication device 210, an in-vehicle sensor 220, a control device 230, and a driving device 240.

[0030] The communication device 210 connects to the communication network 300 and transmits and receives information. The vehicle control system 200 transmits and receives information to and from the management server 100 via the communication device 210. The communication device 210 receives at least instruction information from the management server 100. The information received by the communication device 210 is transmitted to the control device 230.

[0031] The in-vehicle sensor 220 is mounted on the vehicle 1 and detects the driving environment of the vehicle 1. Information such as the situation around the vehicle 1 (e.g., other vehicles, white lines, obstacles) and the driving state of the vehicle 1 (e.g., vehicle speed, acceleration / deceleration, yaw rate) is acquired by the in-vehicle sensor 220. Examples of the in-vehicle sensor 220 include a camera, a radar, a LiDAR, a wheel speed sensor, an IMU (Inertial Measurement Unit), a GNSS (Global Navigation Satellite System) sensor, etc. The detection information acquired by the in-vehicle sensor 220 is transmitted to the control device 230.

[0032] The control device 230 is a computer that controls the vehicle 1 based on various information. In particular, the control device 230 has a function of controlling the vehicle 1 so that the vehicle 1 travels according to the instruction information. The control device 230 acquires the instruction information from the management server 100 via the communication device 210. The control device 230 also acquires detection information on the driving environment of the vehicle 1 from the in-vehicle sensor 220. Then, the control device 230 generates a control signal so as to realize the driving of the vehicle 1 according to the instruction information based on the detection information. The control signal generated by the control device 230 is transmitted to the driving device 240.

[0033] The control device 230 includes a processor 231 and a storage device 232. The processor 231 executes various processes. The processor 231 is composed of, for example, a general-purpose processor, an application-specific processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, a conventional circuit, and one or a combination of these. The storage device 232 stores various information necessary for the execution of the processes of the processor 231. The storage device 232 is composed of, for example, recording media such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), and an HDD (Hard Disk Drive). A computer program 233 is stored in the storage device 232. The computer program 233 may be recorded on a computer-readable recording medium. The computer program 233 describes the processes to be executed by the processor 231. The functions of the control device 230 are realized by the cooperation of the processor 231 that executes the computer program 233 and the storage device 232.

[0034] The running gear 240 is mounted on the vehicle 1 and provides the running function of the vehicle 1. It includes a driving device, a braking device, and a steering device. The driving device generates driving force. Examples of the driving device include an engine, an electric motor, etc. The braking device generates braking force. The steering device steers the wheels of the vehicle 1. Each device may include an actuator that can be controlled by the control device 230. The running gear 240 operates the driving device, the braking device, and the steering device according to the control signal obtained from the control device 230. Thereby, the running of the vehicle 1 according to the instruction information is realized.

[0035] In the vehicle control system 200, the communication device 210 and the control device 230 may be provided outside the vehicle 1. For example, the communication device 210 and the control device 230 may be provided as a part of the infrastructure within a predetermined area. In this case, the control device 230 may be configured to transmit and receive information with the in-vehicle sensor 220 and the running gear 240 of each vehicle 1 via the communication device 210.

[0036] In this way, the running management system 10 according to the present embodiment is configured. Hereinafter, based on the above-described configuration, the functions of the management server 100 will be described in more detail.

[0037] 2 Functions of the Management Server 2.1 Transmission of Instruction Information In the running management system 10, the management server 100 generates instruction information for the running management of the vehicle 1 and transmits the generated instruction information to the vehicle control system 200 of the vehicle 1. FIG. 3 is a block diagram showing an example of the functional configuration of the management server 100 related to the function of transmitting instruction information. The management server 100 manages a management database D1. The management database D1 is stored in the storage device 120, for example.

[0038] The management database D1 includes route data D10 and a vehicle speed profile D20.

[0039] The passage route data D10 is data on the passage route of vehicle 1 within a predetermined area, which defines the driving position of vehicle 1. FIG. 4 is a conceptual diagram showing an example of the passage route data D10 when the predetermined area is the parking lot 2 shown in FIG. 1. In FIG. 4, the driving position TP (thick dashed line) defined by the passage route data D10 is shown. The passage route data D10 can manage the driving position TP by coordinate data of two-dimensional coordinates (x, y) that determine the position within the parking lot 2. Alternatively, the passage route data D10 may manage the driving position TP by graph data having the driving direction of vehicle 1 at each point.

[0040] Also, as shown in FIG. 4, the passage route data D10 may further manage information on the route width WD of the passage route. At this time, the passage route represented by the passage route data D10 is an area (area surrounded by a thin dashed line) determined by the driving position TP and the route width WD. The route width WD is set, for example, to a value obtained by adding a predetermined margin to the vehicle width of vehicle 1 for which the driving management system 10 performs driving management.

[0041] The passage route data D10 is created in advance according to the predetermined area to which the driving management system 10 is applied. However, the management server 100 may be configured to be able to update the passage route data D10 as appropriate. For example, the management server 100 receives new passage route data D10 via the communication network 300. Then, the management server 100 updates the passage route data D10 in the management database D1 to the received new passage route data D10.

[0042] The vehicle speed profile D20 is data that gives the vehicle speed conditions that vehicle 1 should follow at each point on the traffic route represented by the traffic route data D10. The vehicle speed conditions can adopt a suitable one according to the form of the driving management of vehicle 1 performed by the driving management system 10. Typically, the vehicle speed condition is the maximum vehicle speed or the target vehicle speed of vehicle 1. Hereinafter, it is assumed that the vehicle speed condition is the maximum vehicle speed of vehicle 1. That is, the vehicle speed profile D20 gives the maximum vehicle speed of vehicle 1 at each point on the traffic route represented by the traffic route data D10. However, when the vehicle speed condition is the target vehicle speed, the "maximum vehicle speed" in the following description may be appropriately replaced with the "target vehicle speed".

[0043] FIG. 5 is a conceptual diagram showing an example of the vehicle speed profile D20 for a part of the traffic route data D10. As shown in FIG. 5, the vehicle speed profile D20 gives the maximum vehicle speed between the basic speed and zero. In the example shown in FIG. 5, the vehicle speed profile D20 gives the maximum vehicle speed of the section SC1 of the traffic route at the basic speed. Also, the vehicle speed profile D20 gives the maximum vehicle speed of the section SC2 of the traffic route at a speed lower than the basic speed (suppression speed). And the vehicle speed profile D20 gives the maximum vehicle speed of the section SC3 of the traffic route as zero.

[0044] The vehicle speed profile D20 can be managed by data that associates the maximum vehicle speed with each point on the traffic route. FIG. 6 shows an example of the data of the vehicle speed profile D20. In the example shown in FIG. 6, the driving position TP on the traffic route is managed by coordinate data.

[0045] The vehicle speed profile D20 is calculated based on the positional relationship between an object within a predetermined area and the traffic route. The calculation of the vehicle speed profile D20 will be described later.

[0046] Referring to FIG. 3 again. The management server 100 includes, as functional blocks, a request acquisition unit P110, a driving section determination unit P120, and an instruction information transmission control unit P130. These functional blocks are realized, for example, by the cooperation of a processor 110 that executes a computer program 121 and a storage device 120.

[0047] The request acquisition unit P110 acquires a request regarding the travel management of vehicle 1 via the communication network 300. Based on the acquired request, the vehicle 1 (target vehicle) subject to travel management is specified. Also, based on the acquired request, the content of travel management is specified. For example, the request acquisition unit P110 acquires a request for the storage of vehicle 1 from the user. The request acquisition unit P110 may acquire a request from vehicle 1.

[0048] The travel section determination unit P120 accesses the management database D1 and refers to the passage route data D10. Then, the travel section determination unit P120 determines the travel section of the target vehicle among the passage routes for the request acquired by the request acquisition unit P110. For example, when the request is for the storage of vehicle 1 from the user, the travel section determination unit P120 determines the section from the storage position 21 to the parking position 22-A among the passage routes as the travel section of the target vehicle.

[0049] The instruction information transmission control unit P130 generates instruction information to be transmitted to the vehicle control system 200 of the target vehicle. The instruction information transmission control unit P130 accesses the management database D1 and refers to the passage route data D10 and the vehicle speed profile D20. Also, the instruction information transmission control unit P130 acquires the travel section determined by the travel section determination unit P120. Then, the instruction information transmission control unit P130 generates the travel position TP of the acquired travel section and the vehicle speed profile D20 as instruction information. The instruction information transmission control unit P130 transmits the generated instruction information to the vehicle control system 200 of the target vehicle via the communication network 300.

[0050] FIG. 7 is a flowchart showing the processing flow of the processing executed by the management server 100 regarding the function of transmitting instruction information.

[0051] First, in step S110, the management server 100 acquires a request regarding the travel management of vehicle 1 via the communication network 300.

[0052] Next, in step S120, the management server 100 determines the driving section of the target vehicle from the acquired request.

[0053] Next, in step S130, the management server 100 accesses the management database D1 and acquires the driving position TP and the vehicle speed profile D20 of the driving section determined in step S120. Then, the management server 100 transmits the acquired driving position TP and vehicle speed profile D20 of the driving section as instruction information. As will be described later, the vehicle speed profile D20 is changed according to an object detected within a predetermined area. Therefore, the management server 100 may execute the process according to step S130 each time the vehicle speed profile D20 is changed.

[0054] As described above, the management server 100 transmits instruction information to the vehicle control system 200 of the target vehicle. The instruction information includes the driving position TP and the vehicle speed profile D20 of the driving section in which the target vehicle travels among the passing routes. Therefore, the vehicle control system 200 of the target vehicle controls the driving of the target vehicle so as to satisfy the driving position TP and the vehicle speed profile D20 of the instruction information.

[0055] 2.2 Calculation of Vehicle Speed Profile The management server 100 detects an object within a predetermined area using the recognition sensor 101. Then, the management server 100 calculates and manages the vehicle speed profile D20 based on the positional relationship between the detected object (detected object) and the passing route. FIG. 8 is a block diagram showing an example of the functional configuration of the management server 100 related to the function of calculating the vehicle speed profile D20.

[0056] In FIG. 8, the management server 100 includes, as functional blocks, an object detection information acquisition unit P140, a target point determination unit P150, and a vehicle speed profile calculation unit P160. These functional blocks are realized, for example, by the cooperation of a processor 110 that executes a computer program 121 and a storage device 120.

[0057] The object detection information acquisition unit P140 acquires the detection information of the object within a predetermined area detected by the recognition sensor 101.

[0058] The target point determination unit P150 acquires the detection information from the object detection information acquisition unit P140. The target point determination unit P150 also accesses the management database D1 and refers to the passage route data D10. The target point determination unit P150 determines the target point on the passage route for the detected object based on the detection information. The target point is typically the point where the distance to the detected object on the passage route is minimized. The target point determination unit P150 further calculates the distance between the detected object and the target point. When a plurality of objects are detected within the predetermined area, the target point determination unit P150 may determine the target point for each detected object. The target point determination unit P150 may also calculate the distance to the target point for each detected object.

[0059] The vehicle speed profile calculation unit P160 calculates the vehicle speed profile D20. The calculation of the vehicle speed profile D20 by the vehicle speed profile calculation unit P160 is performed as follows.

[0060] The vehicle speed profile calculation unit P160 acquires the detection information from the object detection information acquisition unit P140. When there is no detected object within the predetermined area (when no object is detected within the predetermined area), the vehicle speed profile calculation unit P160 calculates the vehicle speed profile D20 in which the maximum vehicle speed at each point on the passage route is the basic speed. That is, the basic speed is the maximum vehicle speed when the vehicle 1 travels in a situation where the detected object does not need to be considered.

[0061] When there is a detected object within the predetermined area, the vehicle speed profile calculation unit P160 acquires the target point and the distance between the detected object and the target point from the target point determination unit P150. The vehicle speed profile calculation unit P160 calculates the vehicle speed profile D20 so as to change the maximum vehicle speed of the section including the target point (target section) according to the distance between the detected object and the target point based on the basic speed. The target section is typically a section within a certain distance from the target point.

[0062] Specifically, when the distance between the detected object and the target point becomes equal to or less than the first threshold, the vehicle speed profile calculation unit P160 calculates the vehicle speed profile D20 such that the maximum vehicle speed in the target section is a suppression speed lower than the basic speed. That is, in this case, the vehicle 1 decelerates until it becomes equal to or lower than the suppression speed when traveling through the target section. Further, the vehicle speed profile calculation unit P160 may calculate the vehicle speed profile D20 such that the suppression speed decreases as the distance between the detected object and the target point decreases.

[0063] Also, when the distance between the detected object and the target point becomes equal to or less than a second threshold that is smaller than the first threshold, the vehicle speed profile calculation unit P160 calculates the vehicle speed profile D20 such that the maximum vehicle speed in the target section is zero. That is, in this case, the vehicle 1 temporarily stops in the target section.

[0064] Note that when the distance between the detected object and the target point is greater than the first threshold, the vehicle speed profile calculation unit P160 keeps the maximum vehicle speed in the target section at the basic speed. That is, in this case, the vehicle 1 travels at a normal speed even in the target section. Therefore, the fact that the distance between the detected object and the target point is greater than the first threshold means that the detected object is sufficiently away from the traffic route.

[0065] FIGS. 9(A) to 9(D) are diagrams showing an example of the vehicle speed profile D20 calculated by the vehicle speed profile calculation unit P160. In each of FIGS. 9(A) to 9(D), a detected object 4, a target point, a target section, the distance d between the detected object and the target point, a first threshold th1, and a second threshold th2 are shown.

[0066] In FIG. 9(A), the distance d is greater than the first threshold value th1. Therefore, in the vehicle speed profile D20, the maximum vehicle speed in the target section remains the basic speed. In FIG. 9(B), the distance d is equal to or less than the first threshold value th1. Therefore, in the vehicle speed profile D20, the maximum vehicle speed in the target section is a suppression speed lower than the basic speed. Also in FIG. 9(C), the distance d is equal to or less than the first threshold value th1. Further, in FIG. 9(C), the distance d is smaller than that in FIG. 9(B). Therefore, in the vehicle speed profile D20, the maximum vehicle speed in the target section is a suppression speed lower than the basic speed. Also, the suppression speed of the vehicle speed profile D20 in FIG. 9(C) is lower than the suppression speed of the vehicle speed profile D20 in FIG. 9(B). In FIG. 9(D), the distance d is equal to or less than the second threshold value th2. Therefore, in the vehicle speed profile D20, the maximum vehicle speed in the target section is zero.

[0067] The vehicle speed profile calculation unit P160 may further be configured to obtain the type of the detected object 4 from the detection information and change at least one of the first threshold value, the second threshold value, and the suppression speed according to the type of the detected object 4. For example, when the type of the detected object 4 is a bicycle, the first threshold value th1 and the second threshold value th2 are increased and the suppression speed is decreased compared to when the type of the detected object 4 is a pedestrian. Thereby, when the bicycle approaches the traffic path, the vehicle 1 decelerates significantly at an earlier stage compared to when the pedestrian approaches the traffic path. Also, the vehicle 1 stops temporarily at an earlier stage. Also, for example, when the type of the detected object 4 is a falling object, the first threshold value and the second threshold value are decreased compared to when the type of the detected object 4 is a person. Thereby, when the falling object is close to the traffic path, it is possible to determine the deceleration and the temporary stop of the vehicle 1 more gently than when the person is close to the traffic path.

[0068] FIG. 10 is a flowchart showing a processing flow of processing executed by the management server 100 regarding the function of calculating the vehicle speed profile D20. The processing flow shown in FIG. 10 is repeatedly executed at a predetermined processing cycle.

[0069] First, in step S210, the management server 100 detects an object within a predetermined area using the recognition sensor 101.

[0070] If the detected object 4 does not exist (step S220; No), the management server 100 calculates a vehicle speed profile D20 in which the maximum vehicle speed at each point on the traffic route is the basic speed (step S230).

[0071] If the detected object 4 exists (step S230; Yes), the management server 100 determines a target point on the traffic route for the detected object 4 (step S240). Then, the management server 100 calculates the distance between the detected object 4 and the target point (step S241).

[0072] When the distance between the detected object 4 and the target point is equal to or less than the second threshold (step S250; Yes), the management server 100 calculates a vehicle speed profile D20 such that the maximum vehicle speed in the target section is zero (step S260).

[0073] When the distance between the detected object 4 and the target point is greater than the second threshold (step S250; No) and equal to or less than the first threshold (step S270; Yes), the management server 100 calculates a vehicle speed profile D20 such that the maximum vehicle speed in the target section is the suppression speed (step S280).

[0074] When the distance between the detected object 4 and the target point is greater than the first threshold (step S250; No, step S270; No), the management server 100 calculates a vehicle speed profile D20 such that the maximum vehicle speed in the target section is the basic speed (step S290).

[0075] In this way, the management server 100 calculates the vehicle speed profile D20 based on the positional relationship between the detected object 4 and the traffic route.

[0076] 3 Effects As described above, according to the driving management system 10 according to the present embodiment, in the driving management of the target vehicle, the driving position TP of the driving section in the passing route that the target vehicle travels and the vehicle speed profile D20 are transmitted to the vehicle control system 200 of the target vehicle. The vehicle control system 200 controls the driving of the target vehicle so as to satisfy the transmitted driving position TP and vehicle speed profile D20 of the target vehicle. In particular, the vehicle speed profile D20 is calculated based on the positional relationship between the detected object 4 detected within a predetermined area and the passing route. In this way, the driving management system 10 according to the present embodiment updates the vehicle speed profile D20 with respect to the detected object 4, thereby performing driving management of the vehicle 1 considering the detected object 4. Therefore, according to the driving management system 10 according to the present embodiment, since the updated vehicle speed profile D20 is transmitted to each vehicle 1, it is not necessary to perform calculations considering the detected object 4 for each vehicle 1. As a result, the driving management system 10 according to the present embodiment can suppress an increase in the processing load and reduce the processing load even when the number of vehicles 1 subject to driving management increases..

[0077] 4 Variation: Dynamic update of passing route data In the vehicle speed profile D20, setting the maximum vehicle speed of a certain section to the suppression speed or zero means that the vehicle 1 to be driving-managed decelerates or temporarily stops in that section. That is, the operating rate of the vehicle 1 is reduced. By the way, the vehicle speed profile D20 is calculated based on the positional relationship between the detected object 4 and the passing route. For this reason, it can be expected that by changing the passing route, the section in which the maximum vehicle speed in the vehicle speed profile D20 becomes the suppression speed or zero can be reduced.

[0078] Therefore, in the driving management system 10 according to the present embodiment, the management server 100 may be further configured to dynamically update the passing route data D10 as follows.

[0079] FIG. 11 is a block diagram showing an example of the functional configuration of the management server 100 related to the dynamic update of the passing route data D10.

[0080] In FIG. 11, the management server 100 includes, as functional blocks, an object detection information acquisition unit P140, an influence range calculation unit P170, an update determination unit P180, and a travel route update unit P190. These functional blocks are realized, for example, by the cooperation of a processor 110 that executes a computer program 121 and a storage device 120.

[0081] The object detection information acquisition unit P140 is the same as that described in FIG. 8. The object detection information acquisition unit P140 acquires the detection information of the objects within a predetermined area detected by the recognition sensor 101.

[0082] The influence range calculation unit P170 acquires the detection information from the object detection information acquisition unit P140. The influence range calculation unit P170 calculates the influence range in which the detected object 4 affects the travel of the vehicle 1 from the detection information. For example, when the detected object 4 is a moving object, the influence range calculation unit P170 calculates the movement prediction range of the moving object as the influence range. The movement prediction range can be calculated from the speed and acceleration of the detected object 4. Also, for example, when the detected object 4 is a stationary object, the influence range calculation unit P170 calculates the influence range based on the size of the stationary object.

[0083] The update determination unit P180 determines whether to update the travel route data D10. The update determination unit P180 acquires the influence range of the detected object 4 from the influence range calculation unit P170. The update determination unit P180 first determines whether the influence range of the detected object 4 touches the travel route. If the influence range of the detected object 4 does not touch the travel route, the update determination unit P180 determines not to update the travel route data D10. If the influence range of the detected object 4 touches the travel route, the update determination unit P180 then refers to the travel route data D10 and determines whether it is possible to move the travel position TP of the section where the influence range of the detected object 4 touches in a direction away from the influence range. For example, when there is room to move the travel position TP in a direction away from the influence range of the detected object 4 in the touching section, it is determined that the change is possible. When it is determined that the change is possible, the update determination unit P180 determines to update the travel route data D10.

[0084] When the update determination unit P180 determines to update the travel route data D10, the travel route update unit P190 executes processing. The travel route update unit P190 updates the travel route data D10 so as to move the travel position TP in the section where the influence range of the detected object 4 touches in a direction away from the influence range.

[0085] FIG. 12 is a diagram showing an example of the travel route data D10 updated by the travel route update unit P190. Before the update, the influence range 5 of the detected object 4 touches the travel route. On the other hand, in the direction away from the influence range 5, there is a margin for moving the travel position TP. Therefore, the update determination unit P180 determines to update the travel route data D10. After the update, the travel position TP in the contacting section has moved in a direction away from the influence range 5. As a result, as shown in FIG. 12, the detected object 4 can be moved away from the travel route. That is, it can be expected to increase the distance between the detected object 4 and the target point on the travel route.

[0086] FIG. 13 is a flowchart showing the processing flow executed by the management server 100 regarding the dynamic update of the travel route data D10. The processing flow shown in FIG. 13 is repeatedly executed at a predetermined processing cycle.

[0087] First, in step S310, the management server 100 detects an object within a predetermined area using the recognition sensor 101.

[0088] Next, in step S320, the management server 100 calculates the influence range 5 of the detected object 4 based on the detection information from the recognition sensor 101.

[0089] Next, in step S330, the management server 100 refers to the travel route data D10 and determines whether or not the influence range 5 touches the travel route. If the influence range 5 does not touch the travel route (step S330; No), the management server 100 ends the current processing without updating the travel route data D10.

[0090] When the influence range 5 touches the traffic route (step S330; Yes), the management server 100 determines whether it is possible to move the driving position TP of the traffic route in the section where the influence range 5 touches away from the influence range 5 (step S340). If it is not possible to make a change (step S340; No), the management server 100 ends the current process without updating the traffic route data D10.

[0091] If it is possible to make a change (step S340; Yes), the management server 100 changes the driving position TP of the contacting section to move away from the influence range 5 and updates the traffic route data D10 (step S350).

[0092] As described above, according to the driving management system 10 according to the modification example, the traffic route is updated so that the driving position TP in the section where the influence range 5 of the detected object 4 touches is moved in a direction away from the influence range 5. Thereby, the detected object 4 can be moved away from the traffic route. That is, it can be expected to increase the distance between the detected object 4 and the target point on the traffic route. As a result, it is possible to reduce the section where the maximum vehicle speed becomes the suppression speed or zero in the vehicle speed profile D20.

Explanation of symbols

[0093] 1 vehicle, 4 detected object, 5 influence range, 10 driving management system, 100 management server, 101 recognition sensor, 110 processor, 120 storage device, 121 computer program, 130 communication interface, 200 vehicle control system, 300 communication network, D1 management database, D10 traffic route data, D20 vehicle speed profile, TP driving position

Claims

1. A driving management system for managing the driving of a vehicle within a predetermined area, comprising: a recognition sensor installed in the predetermined area for recognizing the situation within the predetermined area; a management server; The management server manages a traffic route that defines the driving position of the vehicle with respect to the passage of the vehicle within the predetermined area, uses the recognition sensor to detect an object within the predetermined area, and based on the positional relationship between the detected object and the traffic route, executes a process of calculating a vehicle speed profile that gives the vehicle speed condition to be followed by the vehicle at each point on the traffic route. When managing the driving of the target vehicle, the management server transmits at least the driving position of the driving section in which the target vehicle travels and the vehicle speed profile of the driving section among the traffic routes to the control system of the target vehicle. A driving management system configured as described above.

2. The driving management system according to Claim 1, wherein the vehicle speed condition is the maximum vehicle speed or the target vehicle speed of the vehicle. A driving management system.

3. The driving management system according to Claim 2, wherein in the process of calculating the vehicle speed profile, the management server uses the maximum vehicle speed or the target vehicle speed as the basic speed when the object is not detected, and when the distance between the detected object and the target point on the traffic route is equal to or less than a first threshold, sets the maximum vehicle speed or the target vehicle speed in the target section including the target point on the traffic route to a suppression speed lower than the basic speed. A driving management system configured as described above.

4. The driving management system according to Claim 3, wherein in the process of calculating the vehicle speed profile, the management server lowers the suppression speed as the distance decreases when the distance is equal to or less than the first threshold. A driving management system configured as described above.

5. The driving management system according to Claim 3, wherein in the process of calculating the vehicle speed profile, the management server sets the maximum vehicle speed or the target vehicle speed in the target section to zero when the distance is equal to or less than a second threshold smaller than the first threshold. A driving management system configured as described above.

6. The driving management system according to Claim 5, wherein the management server acquires the type of the object and changes at least one of the first threshold, the second threshold, and the suppression speed according to the type of the object. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ configured as follows travel management system.

7. The travel management system according to any one of Claims 1 to 6, wherein the management server further calculates an influence range that affects the travel of the vehicle with respect to the object, when the influence range touches the travel route, determines whether it is possible to make a change to move the travel position of the contacting section in a direction away from the influence range, when it is determined that the change is possible, moves the travel position of the contacting section in a direction away from the influence range configured as follows travel management system.

8. The travel management system according to Claim 7, wherein when the object is a moving object, the management server sets the influence range as a movement prediction range of the moving object travel management system.

9. A travel management method for managing the travel of a vehicle within a predetermined area, comprising managing a travel route that defines the travel position of the vehicle with respect to the passage of the vehicle within the predetermined area, in cooperation with one or more processors and one or more storage devices, detecting an object within the predetermined area using a recognition sensor installed in the predetermined area and recognizing the situation within the predetermined area, executing a process of calculating a vehicle speed profile that gives a vehicle speed condition to be followed by the vehicle at each point on the travel route based on the positional relationship between the detected object and the travel route, when managing the travel of a target vehicle, transmitting the travel position of at least the travel section on the travel route where the target vehicle travels and the vehicle speed profile of the travel section to the control system of the target vehicle including travel management method. ​

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