Vehicle movement system

Abstract

To solve the problem that a tendency to successively mount convenient functions on a vehicle movement system is to be accelerated in consideration of various needs of users, but a conventional vehicle movement system is not necessarily convenient in using the convenient functions, concretely, a plurality of automatic operation work vehicles have to be properly moved between different fields.SOLUTION: In a vehicle movement system 1, route information related to each one of movement routes of a plurality of automatic operation work vehicles 10 is concentrated by a center device 30. A priority sequence imparting rule is predetermined, which imparts a priority sequence in the automatic operation work vehicles 10 where a route interference place to allow the movement routes to be mutually crossed or overlapped exists. The vehicle movement of the respective automatic operation work vehicles 10 is controlled not to mutually interfere each other based on the priority sequence imparted by the priority sequence imparting rule.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle movement system for an autonomous driving work vehicle or the like. [Background technology]

[0002] A management device is known that includes an information acquisition unit configured to acquire peripheral information from a vehicle that has the functions of creating peripheral information representing the surrounding situation using sensors, automatically driving along a route based on the peripheral information, transmitting the peripheral information, and traveling by remote control by an operator; a selection unit configured to select either remote control of the vehicle or alternative processing depending on the peripheral information; a remote control unit configured to remotely control the vehicle if the selection unit selects remote control of the vehicle; and an instruction unit configured to instruct the vehicle to perform the alternative processing if the selection unit selects the alternative processing, wherein the alternative processing is changing the sensor or changing the route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-207539 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the present inventor believes that the trend of incorporating convenient functions into vehicle mobility systems one after another in consideration of various user needs will continue to accelerate.

[0005] However, the inventors have noticed that conventional vehicle movement systems are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have recognized a need for better moving multiple autonomous work vehicles between different fields.

[0007] The present invention has been made in consideration of the above-mentioned conventional problems, and has an object to provide a vehicle movement system that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a vehicle movement system that includes a plurality of autonomously driven work vehicles that perform work while moving between different fields along a predetermined movement route, and that acquires current vehicle position information for each of the plurality of autonomously driven work vehicles, route information regarding the travel routes of each of the plurality of autonomously driven work vehicles is aggregated by a center device or shared by the plurality of autonomously driven work vehicles; a priority assignment rule is defined in advance to assign priorities to the autonomously driven work vehicles where there is a route interference point where the travel routes intersect or overlap with each other; This is a vehicle movement system characterized in that the movement of each of the multiple automatically driven work vehicles is controlled so as not to interfere with each other based on the priorities assigned by the priority assignment rules.

[0009] The second invention is the vehicle movement system of the first invention, characterized in that the priority assignment rule is a rule that assigns the priority depending on the timing when the autonomous work vehicle departs from the field toward the next field.

[0010] The third invention is the vehicle movement system of the second invention, characterized in that the autonomously driven work vehicle with a lower priority waits in front of the existing route interference point until the autonomously driven work vehicle with a higher priority has passed the existing route interference point.

[0011] In a fourth aspect of the present invention, the route information is collected by the center device, The third vehicle movement system of the present invention is characterized in that the center device controls the suspension and resumption of the vehicle movement of each of the multiple autonomously driven work vehicles in accordance with the priority assignment rules by utilizing the acquired vehicle current position information.

[0012] A fifth aspect of the present invention is a method for controlling a vehicle using autonomous driving technology, wherein the route information is shared by the plurality of autonomous driving work vehicles; The third vehicle movement system of the present invention is characterized in that each of the plurality of autonomously driven work vehicles controls the suspension and resumption of its own vehicle movement in accordance with the prioritization rules by utilizing the acquired vehicle current position information.

[0013] The sixth aspect of the present invention is the vehicle movement system of the fourth aspect of the present invention, characterized in that the movement route of the remaining autonomous work vehicle, which is not the autonomous work vehicle that departed first for the next field, of the two autonomous work vehicles where the route interference point exists can be changed by the center device.

[0014] A seventh aspect of the present invention is a first route search for changing the travel route of the remaining autonomously driven work vehicle so that there are no route interference points with all other autonomously driven work vehicles excluding the remaining autonomously driven work vehicle; If the first route search is successful, the travel routes of the remaining autonomously driven work vehicles are changed according to the results of the successful first route search; If the first route search fails, a second route search is performed to change the travel route of the remaining autonomously driven work vehicle so that there is no point of route interference with an autonomously driven work vehicle that has already departed for the next field among all of the other autonomously driven work vehicles; If the second route search is successful, the travel routes of the remaining autonomously driven work vehicles are changed according to the results of the successful second route search; A sixth aspect of the vehicle movement system of the present invention is characterized in that if the second route search fails, the movement routes of the remaining autonomously driven work vehicles are not changed.

[0015] An eighth aspect of the present invention further includes a manually operated vehicle equipped with an information terminal device, The vehicle current position information of the manually driven vehicle acquired by the information terminal device is uploaded to the center device together with the movement route of the manually driven vehicle stored in the information terminal device, The vehicle movement system of the seventh invention is characterized in that the center device controls the suspension and resumption of the vehicle movement of each of the plurality of automatically driven work vehicles by utilizing the uploaded vehicle current position information of the manually driven vehicle.

[0016] A ninth aspect of the present invention is a method for assigning a priority to the manually driven vehicle that is higher than the priority of each of the plurality of automatically driven work vehicles, The center device is an eighth vehicle movement system of the present invention, characterized in that it controls the suspension and resumption of the vehicle movement of each of the plurality of autonomously driven work vehicles in accordance with the extended prioritization rules.

[0017] A tenth aspect of the present invention is the vehicle movement system of the ninth aspect of the present invention, characterized in that when the vehicle movement of the manually driven vehicle interferes with the vehicle movement of the automatically driven work vehicle, the manually driven vehicle avoids the automatically driven work vehicle by manual driving. [Effects of the Invention]

[0018] The first aspect of the present invention makes it possible to improve usability.

[0019] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve convenience.

[0020] According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to further improve convenience.

[0021] According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to further improve usability.

[0022] According to the fifth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to further improve usability.

[0023] According to the sixth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to reduce the burden on the worker.

[0024] According to the seventh aspect of the present invention, in addition to the effect of the sixth aspect of the present invention, it is possible to improve reliability.

[0025] According to the eighth aspect of the present invention, in addition to the effect of the seventh aspect of the present invention, it is possible to further reduce the burden on the worker.

[0026] According to the ninth aspect of the present invention, in addition to the effects of the eighth aspect of the present invention, it is possible to improve practicality.

[0027] According to the tenth aspect of the present invention, in addition to the effects of the ninth aspect of the present invention, it is possible to further improve practicality. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention; [Figure 2] 1A to 1C are explanatory diagrams of travel routes of a vehicle travel system according to an embodiment of the present invention; [Figure 3] FIG. 2 is an explanatory diagram of a travel route of the vehicle travel system according to the embodiment of the present invention (part 2); [Figure 4]FIG. 3 is an explanatory diagram of a travel route of the vehicle travel system according to the embodiment of the present invention (part 3); [Figure 5] FIG. 4 is an explanatory diagram of a travel route of the vehicle travel system according to the embodiment of the present invention. [Figure 6] 5 is an explanatory diagram of a travel route of a vehicle travel system according to an embodiment of the present invention; [Figure 7] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention (part 2); [Figure 8] 6 is an explanatory diagram of a travel route of the vehicle travel system according to the embodiment of the present invention (part 6); [Figure 9] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention (part 3); [Figure 10] FIG. 1 is an explanatory diagram of an autonomously driven work vehicle of a vehicle movement system according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0030] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0031] While explaining the operation of the vehicle movement system 1 according to the embodiment of the present invention, a vehicle movement system operation control method according to an invention related to the present invention, which is realized by the center device 30 and the like, will also be explained.

[0032] (1) First, the configuration and operation of a vehicle movement system 1 according to an embodiment of the present invention will be specifically described with reference to FIGS.

[0033] Here, Figure 1 is a block diagram (part 1) of a vehicle movement system 1 according to an embodiment of the present invention, and Figures 2 to 6 are explanatory diagrams (parts 1 to 5) of the movement route of the vehicle movement system 1 according to an embodiment of the present invention.

[0034] The autonomously driven work vehicles 10 are vehicles that perform work while moving between different fields along predetermined travel routes. The vehicle movement system 1 is a system that acquires current vehicle position information for each of the multiple autonomously driven work vehicles 10. Priority assignment rules are established in advance to assign priorities to autonomously driven work vehicles 10 where there are route interference points where the travel routes intersect or overlap with each other. The movement of each of the multiple autonomously driven work vehicles 10 is controlled so that they do not interfere with each other based on the priorities assigned by the priority assignment rules.

[0035] A vehicle movement system 1 is constructed as a remote monitoring system for monitoring multiple autonomous work vehicles 10, such as tractors. Information is collected through communication with the autonomous work vehicles 10 to monitor the current location and status of all autonomous work vehicles 10, and the latest movement routes for movement between fields and planned movements can be determined for each autonomous work vehicle 10. When autonomous work vehicles 10, such as robotic agricultural machinery that move between fields, are monitored, discrepancies in the movement times of each autonomous work vehicle 10 to the next work field, which depend on factors such as work progress, can easily occur, resulting in work delays. Multiple autonomous work vehicles 10 may unintentionally encounter each other on a single road, resulting in passing each other and reducing movement efficiency. Therefore, it is desirable to update appropriate movement routes in real time as needed. Managing the latest movement routes can often improve the efficiency of movement between fields for autonomous work vehicles 10.

[0036] The priority assignment rule is a rule that assigns a priority according to the timing when the autonomously driven work vehicle 10 departs from a field and heads for the next field.

[0037] As shown in Figure 2, the autonomous work vehicle 10, "Vehicle 2," has completed work in field "A10" and is moving toward the next field, "C0." The autonomous work vehicle 10, "Vehicle 2," was the first to start moving and currently has a priority of "1." The autonomous work vehicle 10, "Vehicle 4," has completed work in field "G3" and has started moving toward the next field, "D0," and currently has a priority of "2." The autonomous work vehicle 10, "Vehicle 1," is working in field "A5," and the autonomous work vehicle 10, "Vehicle 3," is working in field "H1."

[0038] Route information and location information are shared directly or indirectly between autonomous work vehicles 10 that are traveling between fields at the same time or that are scheduled to travel between fields at the same time. This not only reduces the occurrence of passing on a single road, but also often reduces the loss of time required to turn back at intersections to allow priority passage. By using the route information and location information of other autonomous work vehicles 10, settings can be made to prevent passing, and it is expected that efficient movement between fields based on priority rules will be achieved even when an autonomous work vehicle 10 crosses an intersection without using obstacle sensors installed at the intersection.

[0039] As shown in Figure 3, the autonomous work vehicle 10 of "Vehicle 2" is working in field "C0." As will be described later (see Figure 4), the autonomous work vehicle 10 of "Vehicle 1" has been waiting at a position inside the field just before the route interference point, and the autonomous work vehicle 10 of "Vehicle 4" has arrived at field "D0" and begun work; the priority order associated with movement between fields has been discarded by the priority rank elimination process, and there is currently no priority. The autonomous work vehicle 10 of "Vehicle 1," which had been waiting, is now moving toward the next field, "B0," and its priority has been increased by the priority increase process, with its current priority being "1." The autonomous work vehicle 10, "Vehicle 3," has completed work in the "H1" field and is about to move on to the next field, "B5." Its current priority is "2," but there are no route interference points, so the autonomous work vehicle 10, "Vehicle 3," can continue moving as is.

[0040] Priority regarding movement between fields can be assigned to the autonomously driven work vehicles 10; specifically, a higher priority is assigned to the autonomously driven work vehicle 10 that starts moving between fields earlier, the priority of the autonomously driven work vehicle 10 that has finished moving between fields is discarded, and the priority of the autonomously driven work vehicle 10 that is currently moving is raised by one.

[0041] An autonomously driven work vehicle 10 with a lower priority waits in front of an existing route interference point until an autonomously driven work vehicle 10 with a higher priority has passed the existing route interference point.

[0042] As shown in Figure 4, the autonomous work vehicle 10 of "Vehicle 2" has arrived at field "C0" and begun work, and its priority has been discarded. The autonomous work vehicle 10 of "Vehicle 4" is moving toward the next field, "D0," and its priority has been increased by the priority increase process, with its current priority being "1." The autonomous work vehicle 10 of "Vehicle 1" has completed work in field "A5" and is attempting to move toward the next field, "B0," but its current priority is "2," and as described above (see Figure 3), the autonomous work vehicle 10 of "Vehicle 1" is waiting at a position inside the field until the autonomous work vehicle 10 of "Vehicle 4" has passed. The autonomous work vehicle 10 of "Vehicle 3" is working in field "H1."

[0043] When an autonomously driven work vehicle 10 with a higher priority is traveling between fields, an autonomously driven work vehicle 10 with a lower priority will wait along its travel route until the autonomously driven work vehicle 10 with a higher priority has passed, to prevent the vehicles from passing each other or encountering each other at intersections. This results in work being carried out with improved efficiency in traveling between fields, and dangerous accidents such as collisions between autonomously driven work vehicles 10 are less likely to occur.

[0044] Route information regarding the travel routes of each of the multiple autonomously driven work vehicles 10 is aggregated by the center device 30. By using the acquired vehicle current position information, the center device 30 controls the suspension and resumption of vehicle movement of each of the multiple autonomously driven work vehicles 10 in accordance with the priority assignment rules.

[0045] When an autonomously driven work vehicle 10 with a higher priority is moving between fields, if the movement route of the autonomously driven work vehicle 10 with a higher priority coincides with its own movement route in terms of route direction, the autonomously driven work vehicle 10 with a lower priority is made to wait until the autonomously driven work vehicle 10 with a higher priority passes through the movement route.

[0046] A configuration in which the waiting position of an autonomously driven work vehicle 10 with a lower priority is a position inside the field is also permitted.

[0047] The route information may be shared by multiple autonomously driven work vehicles 10. Each of the multiple autonomously driven work vehicles 10 uses the acquired vehicle current position information to control the suspension and resumption of its own vehicle movement in accordance with the priority assignment rules.

[0048] Of course, it is also conceivable that route information may be aggregated by the center device 30 and shared by multiple autonomously driven work vehicles 10 at the same time.

[0049] Of the two automatically driven work vehicles 10 where a route interference point exists, the travel route of the remaining automatically driven work vehicle 10 that is not the automatically driven work vehicle 10 that departed first for the next field can be changed by the center device 30.

[0050] A new travel route is generated that avoids route intersections or passing each other, and the autonomously driven work vehicle 10 with a lower priority is driven. Work interruptions that are likely to result in reduced work efficiency are avoided so that route intersections or passing each other do not occur. When it is possible to generate an avoidance route that does not involve a large increase in travel distance, selecting such a route achieves work that is not only safe but also efficient.

[0051] A first route search is performed to change the movement routes of the remaining autonomously driven work vehicles 10 so that there are no points of route interference with all other autonomously driven work vehicles 10, excluding the remaining autonomously driven work vehicles 10. If the first route search is successful, the movement routes of the remaining autonomously driven work vehicles 10 are changed according to the results of the successful first route search. If the first route search is unsuccessful, a second route search is performed to change the movement routes of the remaining autonomously driven work vehicles 10 so that there are no points of route interference with autonomously driven work vehicles 10 that have already departed for the next field. If the second route search is successful, the movement routes of the remaining autonomously driven work vehicles 10 are changed according to the results of the successful second route search. If the second route search is unsuccessful, the movement routes of the remaining autonomously driven work vehicles 10 are not changed.

[0052] Even if the first route search fails, a second route search with relaxed conditions is performed, so route interference is expected to be reduced in many cases.

[0053] To prevent unintended vehicle encounters while traveling, instructions for temporary stopping or waiting, including automatic determinations by the monitoring center system, are sent from the center device 30 to the autonomously driven work vehicle 10 with a lower priority. It is hoped that a traveling system that reliably avoids crossings or passing each other on the travel route will be realized. Vehicle communication with the center device 30 often uses LTE lines or the like, and short communication delays are often unavoidable. The center device 30 can grasp the vehicle status comprehensively, so it can supervise traveling while taking into account the effects of communication delays so as to avoid crossings or passing each other on the travel route.

[0054] The manually driven vehicle 20 is a vehicle equipped with an information terminal device 21. Current vehicle position information of the manually driven vehicle 20 acquired by the information terminal device 21 is uploaded to the center device 30 along with the movement route of the manually driven vehicle 20 stored in the information terminal device 21. The center device 30 uses the uploaded current vehicle position information of the manually driven vehicle 20 to control the suspension and resumption of vehicle movement of each of the multiple automatically driven work vehicles 10.

[0055] An information terminal device 21, such as a tablet terminal device with communication functions for processing map information, etc., is mounted on a manually driven vehicle 20, which is a vehicle not managed like the automatically driven work vehicle 10, and by constructing a management support mechanism that allows communication with the center device 30 of the remote monitoring system, it is possible to check the current vehicle location information of the manually driven vehicle 20. Not only the movement of the automatically driven work vehicle 10 between fields, but also the movement of the automatically driven work vehicle 10 itself is managed in the same way. By preparing a communication system between the GNSS positioning sensor and information terminal device 21 of the automatically driven work vehicle 10 and the center device 30, information can be provided to vehicles such as the automatically driven work vehicle 10 that may enter the work field area, and the current vehicle location information of vehicles other than the automatically driven work vehicle 10 can also be accurately grasped.

[0056] By providing information to the automatically driven work vehicle 10, information such as the vehicle's current location information from the information terminal device 21 is shared via the center device 30. When a movement between fields is in progress or is planned, the vehicle's current location information of the manually driven vehicle 20 on which the information terminal device 21 is mounted can be obtained, allowing measures such as having the automatically driven work vehicle 10 wait to avoid passing each other.

[0057] The prioritization rules are expanded to assign a higher priority to the manually driven vehicle 20 than the priority of each of the multiple automatically driven work vehicles 10. The center device 30 controls the suspension and resumption of vehicle movement of each of the multiple automatically driven work vehicles 10 in accordance with the expanded prioritization rules.

[0058] As shown in Figure 5, the other vehicle, a manually driven "farm vehicle" 20, is stopped but has a current priority of "2", and the automatically driven work vehicle 10, "Vehicle 3", has completed work in the "H1" field and is about to move to the next field but has a current priority of "3", and the automatically driven work vehicle 10, "Vehicle 3", is waiting at the intersection.

[0059] The installed information terminal device 21 can generate a destination and travel route for the moving manually driven vehicle 20 through screen operations by the user, and at least such generated information is shared. When a movement between fields is being performed or is planned, not only the current vehicle location information of the manually driven vehicle 20 equipped with the information terminal device 21 but also the travel route can be obtained, making it possible to take measures such as having the automatically driven work vehicle 10 wait to avoid passing each other.

[0060] For example, a travel route can be generated based on the vehicle's current position information by plotting the destination and planned intersections to be passed through by tapping on a map displayed on information terminal device 21. Because such a tapping operation is extremely simple, it is expected that cooperation from the manually driven vehicle 20 will be reliably obtained. A travel route as a planned route to the destination can be easily generated by simply tapping the positions of intersections displayed on the screen of information terminal device 21, thereby realizing a user-friendly specification that easily obtains cooperation from the user of manually driven vehicle 20.

[0061] In a case where the current vehicle position or destination is inside a farm field, the position of a path facing the entrance / exit to the farm field may be plotted, and the plotted position may be regarded as an intersection.

[0062] As shown in Figure 6, the other vehicle, a manually driven "farm vehicle" 20, is moving and currently has a priority of "2", while the automatically driven work vehicle 10, "Vehicle 3", has completed work in the "H1" field and is about to move to the next field, but its current priority is "3", and the automatically driven work vehicle 10, "Vehicle 3", is waiting at the intersection.

[0063] When the destination and travel route of the manually driven vehicle 20 are generated by the information terminal device 21, the generated information is transmitted to the center device 30, and by providing the information to the automatically driven work vehicle 10, the information from the information terminal device 21 is shared via the center device 30.

[0064] Information is shared so that the current vehicle position of the autonomously driven work vehicle 10 and the travel route between fields, as determined by the center device 30, can be displayed on the information terminal device 21. By providing information from the autonomously driven work vehicle 10 to the manually driven vehicle 20, it is expected that passing each other, which is likely to occur when traveling between fields, can be avoided. By allowing the manually driven vehicle 20 to also determine the upcoming schedule for the autonomously driven work vehicle 10's travel between fields, the information terminal device 21 can attempt to generate a travel route that is less likely to result in passing each other and to adjust the time using time shifting.

[0065] By using the GNSS positioning information obtained by information terminal device 21, information relating to the state of manually driven vehicle 20, such as a moving or stopped state distinguished based on the vehicle's moving speed, can be shared and displayed. Information such as whether manually driven vehicle 20 has started moving or remains stopped can also be grasped by the automatically driven work vehicle 10, which is expected to prevent the automatically driven work vehicle 10 from having to wait unnecessarily.

[0066] Information regarding the travel route of the manually driven vehicle 20 is provided, and in the event of a travel route intersection or passing between automatically driven work vehicles 10 when they move between fields, the priority assignment rules are expanded so that the priority of the manually driven vehicle 20 is higher than the priority of the automatically driven work vehicle 10. By expanding the priority assignment rules for managing movement between fields, it is possible to perform control to avoid passing by using waiting operations based on the expanded priority assignment rules, and serious vehicle collisions due to passing can be suppressed without the need for new rules.

[0067] Information regarding the travel route of the manually driven vehicle 20 is provided, and in the event of a travel route intersection or passing between automatically driven work vehicles 10 when the automatically driven work vehicle 10 moves between fields, the priority assignment rules are expanded at the timing when the automatically driven work vehicle 10 starts moving so that the priority of the manually driven vehicle 20 is higher than the priority of the automatically driven work vehicle 10. By expanding the priority assignment rules for managing movement between fields, not only can passing avoidance control be performed by waiting operations based on the expanded priority assignment rules, but travel loss due to unnecessary waiting by the automatically driven work vehicle 10 can also be reduced.

[0068] The information about manually driven vehicle 20 that is generated and displayed by information terminal device 21 is deleted when manually driven vehicle 20 reaches its destination. By ending the sharing and display of information when manually driven vehicle 20 finishes moving, memory consumption due to unnecessary display is reduced.

[0069] When the information terminal device 21 is installed, the type of manually driven vehicle 20 on which the information terminal device 21 is mounted can be input. The types of manually driven vehicle 20 that can be input include, for example, passenger cars, light trucks, trucks, or agricultural vehicles such as tractors and combine harvesters, and are set by selecting on the screen. By allowing the administrator to know the vehicle type, the approximate travel route, travel speed, travel time, etc. can be estimated, which is expected to make it easier to give instructions such as forced waiting to avoid danger.

[0070] The information terminal device 21 communicates only with the center device 30 and does not communicate with the data server. The information in the information terminal device 21 is data that does not require cloud storage, and the information terminal device 21 is not permitted to connect to the cloud that stores the data. Cloud data is often important to the administrator and contains intellectual property, etc., and prohibiting access from the information terminal device 21 improves the reliability of security management of such cloud data and the autonomously driven work vehicle 10.

[0071] Communication between an autonomously driven work vehicle 10, such as an autonomously driven robot, and the center device 30 is highly secure encrypted communication, while communication between a manually driven vehicle 20 and the center device 30 is communication in which secure encryption processing is performed based on different rules.

[0072] When the movement of the manually driven vehicle 20 interferes with the movement of the automatically driven work vehicle 10, the manually driven vehicle 20 avoids the automatically driven work vehicle 10 by manual driving.

[0073] Even if forced waiting based on the priority rules is not possible in time, the autonomously driven work vehicle 10 can be avoided by manual driving, thereby improving safety.

[0074] To prevent vehicle encounters, a temporary stop or waiting may be performed based on the vehicle's own judgment, utilizing information shared by an autonomously driven work vehicle 10 with a lower priority. It is anticipated that a driving system will be realized that more reliably avoids crossings or passing each other on travel routes. Even when a temporary stop or waiting is performed by the vehicle's own system judgment, such a judgment is based on communication with the center device 30, and communication delays using LTE lines and the like often have an impact. However, even if a decision to reduce unnecessary waiting time is delayed, the waiting time lost after a higher-priority autonomously driven work vehicle 10 has passed is minimal, and there is almost no adverse impact on safety.

[0075] To prevent vehicle encounters, temporary stops or standby may be performed based not only on the vehicle's own judgment, which utilizes information shared by autonomously driven work vehicles 10 with lower priority, but also on the judgment of the center device 30. Even if it is not possible to completely eliminate the effects of communication delays, the vehicle makes decisions that fully utilize the functionality of the entire system, so serious vehicle collisions due to passing each other can be reliably prevented.

[0076] In a system in which mutual information sharing takes place between center device 30 and autonomously driven work vehicle 10, when an autonomously driven vehicle is about to start moving between fields, information about the movement route is first shared with center device 30, and after the autonomously driven work vehicle 10 receives a notification from center device 30 that it is authorized to start moving, the movement actually begins. In order to determine the current location of the autonomously driven work vehicle 10, the action of waiting for instructions from center device 30, which involves the above-mentioned communication delay, while also taking communication time loss into consideration, can be introduced to more reliably avoid movement route intersections or passing each other.

[0077] (2) Next, the configuration and operation of the vehicle movement system 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0078] Here, FIG. 7 is a block diagram (part 2) of the vehicular movement system 1 according to the embodiment of the present invention, and FIG. 8 is an explanatory diagram (part 6) of the movement route of the vehicular movement system 1 according to the embodiment of the present invention.

[0079] A vehicle movement system 1 is constructed as a remote monitoring system that monitors multiple autonomously driven work vehicles 10, such as tractors, and information is collected collectively through communication with the autonomously driven work vehicles 10 so that the current vehicle positions and vehicle conditions of all autonomously driven work vehicles 10 are monitored. This not only makes it possible to grasp the latest movement routes for movement between fields and planned movement for each autonomously driven work vehicle 10, but also to monitor the passage of emergency vehicles 50. Even when autonomously driven work vehicles 10, such as unmanned robots, are moving between fields, it is desirable that emergency vehicles 50 be given priority passage. Appropriate measures can be taken by controlling the autonomously driven work vehicles 10 based on the understanding of the passage of emergency vehicles 50.

[0080] The autonomously driven work vehicle 10 detects the distinctive siren sound of the emergency vehicle 50 and shares the information obtained with the center device 30, thereby allowing the remote monitoring system to recognize the entry of the emergency vehicle 50.

[0081] It is also possible that the entry of the emergency vehicle 50 can be recognized in the remote monitoring system by having the autonomous work vehicle 10 detect the specific wireless communication radio frequency of the emergency vehicle 50 and sharing the information obtained with the center device 30.

[0082] Not only are route information and location information shared directly or indirectly between autonomously driven work vehicles 10 that are traveling between fields at the same time or that are scheduled to travel between fields at the same time, but when the possibility of an emergency vehicle 50 passing through is detected, the emergency vehicle 50 is given priority, and the movement of autonomously driven work vehicles 10 between fields is temporarily suspended. The passage of the emergency vehicle 50 is not obstructed by controlling the autonomously driven work vehicles 10 based on the detection of the passage of the emergency vehicle 50.

[0083] Priority regarding movement between fields can be assigned to autonomous work vehicles 10; specifically, a higher priority is assigned to an autonomous work vehicle 10 that starts moving between fields earlier, the priority of an autonomous work vehicle 10 that has finished moving between fields is discarded, and the priority of an autonomous work vehicle 10 that is currently moving is not only raised by one, but also lowered by one if the possibility of an emergency vehicle 50 passing through is detected.

[0084] The priority of the autonomously driven work vehicle 10, which has been lowered by one based on the traffic information of the emergency vehicle 50 and has therefore inevitably become 2 or less, will not generally begin moving between fields.

[0085] As the priority of the emergency vehicle 50 is lowered in accordance with the traffic information, an evacuation action such as a temporary stop of an autonomously driven work vehicle 10 that is already moving between fields is instructed.

[0086] The above-mentioned evacuation action is performed, for example, by stopping the autonomously driven work vehicle 10 at the edge of the road or by having the autonomously driven work vehicle 10 enter the nearest field so as not to obstruct the passage of the emergency vehicle 50.

[0087] (3) Next, the configuration and operation of the vehicle movement system 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0088] FIG. 9 is a block diagram (part 3) of vehicle movement system 1 according to an embodiment of the present invention, and FIG. 10 is an explanatory diagram of an autonomously driven work vehicle 10 of vehicle movement system 1 according to an embodiment of the present invention.

[0089] In a monitoring system for autonomous work vehicles 10 such as tractor robots, the field monitoring camera unit 60 capable of communicating with the center device 30 is an AI camera unit or the like installed near the field through which the autonomous work vehicle 10 travels, and images of the inside of the field and a predetermined work area around the field are transmitted to the center device 30. By employing a system that uses the field monitoring camera unit 60 to monitor the inside of the field, the performance required of the sensor unit 61, such as a so-called safety sensor mounted on the autonomous work vehicle 10, is reduced, and cost reductions are expected not only through simplification of the sensor unit 61 but also through elimination. By uploading information from the dedicated field monitoring camera unit 60 to the center device 30, monitoring of the work area of ​​the autonomous work vehicle 10 can be achieved with an inexpensive configuration.

[0090] Images captured by the field monitoring camera unit 60 are compared with images of obstacles, such as humans, stored as sample images by the center device 30. If an obstacle is detected, the center device 30 issues an instruction to stop the autonomous work vehicle 10 moving in the work area, which is the target monitoring area, and to stop the vehicle's PTO drive. Analysis of the monitoring images by the center device 30 is expected to enable the avoidance of damage caused by contact with the autonomous work vehicle 10. By using AI or other technologies to determine from the monitoring images whether a human has entered the field, the autonomous work vehicle 10 can be stopped even if its proper detection is not performed correctly, thereby improving safety. The performance required of the sensor unit 61, such as a so-called environment recognition sensor installed on the autonomous work vehicle 10, is reduced, and cost reductions are expected, not only through simplification of the sensor unit 61 but also through elimination of the sensor unit 61.

[0091] Even when an obstacle such as a human is detected based on images captured by the above-described field monitoring camera unit 60, an instruction to halt the driving of the autonomously driven work vehicle 10 is only given if it is determined that the distance between the autonomously driven work vehicle 10 and the obstacle falls within a predetermined range. Not only does stopping the autonomously driven work vehicle 10 improve safety, but unnecessary stopping of the autonomously driven work vehicle 10 is prevented when the autonomously driven work vehicle 10 is sufficiently far from an obstacle, making it less likely that work will be interrupted unnecessarily, allowing the autonomously driven work vehicle 10 to continue driving and maintaining work efficiency.

[0092] Only when an obstacle such as a person is detected in the direction of travel of the autonomously driven work vehicle 10 based on images captured by the above-mentioned field monitoring camera unit 60, is a determination made as to the distance between the autonomously driven work vehicle 10 and the obstacle, and the autonomously driven work vehicle 10 is stopped in accordance with the determination results. Unnecessary work interruptions are less likely to occur, and work efficiency is more reliably maintained.

[0093] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the vehicle movement system operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0094] In addition, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the steps (or processes, operations and actions, etc.) of the vehicle movement system operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0095] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0096] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0097] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0098] The recording medium also includes a ROM (Read Only Memory).

[0099] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0100] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0101] The vehicle movement system of the present invention can improve usability and is useful for use as a vehicle movement system for an autonomous driving work vehicle or the like. [Explanation of symbols]

[0102] 1. Vehicle movement system 10 Autonomous driving vehicle 20 Manually operated vehicles 21 Information terminal device 30 Central equipment 50 Emergency Vehicles 60 Field monitoring camera unit 61 Sensor unit

Claims

1. A vehicle movement system comprising a plurality of autonomously driven work vehicles that perform work while moving between different fields along a predetermined movement route, and that acquires current vehicle position information for each of the plurality of autonomously driven work vehicles, route information regarding the travel routes of each of the plurality of autonomously driven work vehicles is aggregated by a center device or shared by the plurality of autonomously driven work vehicles; a priority assignment rule is defined in advance to assign priorities to the autonomously driven work vehicles where there is a route interference point where the travel routes intersect or overlap with each other; A vehicle movement system characterized in that the movement of each of the plurality of autonomously driven work vehicles is controlled so as not to interfere with each other based on the priorities assigned by the priority assignment rules.

2. 2. The vehicle movement system according to claim 1, wherein the priority assignment rule is a rule that assigns the priority according to the timing at which the autonomously driven work vehicle departs from the field toward the next field.

3. 3. The vehicle movement system according to claim 2, wherein the autonomously driven work vehicle with a lower priority waits in front of the existing route interference point until the autonomously driven work vehicle with a higher priority has passed the existing route interference point.

4. the route information is aggregated by the center device; The vehicle movement system described in claim 3, characterized in that the center device controls the suspension and resumption of the vehicle movement of each of the plurality of autonomously driven work vehicles in accordance with the priority assignment rule by using the acquired vehicle current position information.

5. the route information is shared by the plurality of autonomously driven work vehicles; The vehicle movement system according to claim 3, characterized in that each of the plurality of autonomously driven work vehicles controls the suspension and resumption of its own vehicle movement in accordance with the priority assignment rule by using the acquired vehicle current position information.

6. The vehicle movement system described in claim 4, characterized in that the movement route of the remaining autonomous work vehicle, which is not the autonomous work vehicle that departed first for the next field, of the two autonomous work vehicles in which the route interference point exists can be changed by the center device.

7. a first route search is performed to change the travel route of the remaining autonomous work vehicle so that there are no route interference points with all other autonomous work vehicles excluding the remaining autonomous work vehicle; If the first route search is successful, the travel routes of the remaining autonomously driven work vehicles are changed according to the results of the successful first route search; If the first route search fails, a second route search is performed to change the travel route of the remaining autonomously driven work vehicle so that there is no point of route interference with an autonomously driven work vehicle that has already departed for the next field among all of the other autonomously driven work vehicles; If the second route search is successful, the travel routes of the remaining autonomously driven work vehicles are changed according to the results of the successful second route search; 7. The vehicle movement system according to claim 6, wherein if the second route search fails, the movement routes of the remaining autonomously driven work vehicles are not changed.

8. The vehicle further includes a manually operated vehicle equipped with an information terminal device, The current vehicle position information of the manually driven vehicle acquired by the information terminal device is uploaded to the center device together with the travel route of the manually driven vehicle stored in the information terminal device; 8. The vehicle movement system according to claim 7, wherein the center device controls the suspension and resumption of the vehicle movement of each of the plurality of automatically driven work vehicles by utilizing the uploaded vehicle current position information of the manually driven vehicle.

9. the prioritization rules are extended to assign a higher priority to the manually operated vehicle than the priority of each of the plurality of automatically operated work vehicles; 9. The vehicle movement system according to claim 8, wherein the center device controls the suspension and resumption of the vehicle movement of each of the plurality of autonomously driven work vehicles in accordance with the extended prioritization rule.

10. 10. The vehicle movement system according to claim 9, wherein when the vehicle movement of the manually driven vehicle interferes with the vehicle movement of the automatically driven work vehicle, the manually driven vehicle manually avoids the automatically driven work vehicle.

Images