Autonomous driving system

Abstract

To provide an automatic driving system capable of reducing a burden on a user and easily changing to a desired destination.SOLUTION: The autonomous driving system 1 is configured to, based on the position coordinate D1 acquired by the position coordinate acquiring unit 14 and the current self-position P1 acquired by the self-position acquiring unit 15, A calculation unit 16 configured to calculate a length P1 from a current self-position P2 to an initial destination d1, a control unit 17 configured to control the electric vehicle 10 to travel to the destination P based on the length d1, an input device 18 configured to input an offset amount d2, and a post-offset destination setting unit 11 configured to set a post-offset destination d2 based on the offset amount P3, P3 d3 P1 P3, when the post-offset destination P3 is set, the control unit 17 controls the car 10 to travel to the post-offset destination P3.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automated driving system. [Background technology]

[0002] For example, Patent Document 1 discloses an automatic driving device. This automatic driving device includes a determination unit that acquires information indicating the situation around a destination set during automatic driving of a vehicle and determines whether an event requiring a change of destination has occurred based on the acquired information, a search unit that searches for a new destination that satisfies predetermined conditions when the determination unit determines that an event requiring a change of destination has occurred, and a control unit that controls automatic driving of the vehicle so that the vehicle stops at the new destination searched for by the search unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-194455 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, when a vehicle is driven automatically, an autonomous driving system is known that controls the autonomous driving of the vehicle to stop at a new destination when an event occurs that requires the original destination to be changed. In such an autonomous driving system, since the autonomous driving system determines the change of destination, it may be difficult for the user to change the destination to the desired location. Specifically, a wide range of new destinations must be registered in the autonomous driving system in advance, and the new destination is selected from among the registered destinations. Therefore, the degree of freedom in changing the destination is limited, and it may be difficult to change to the desired destination. Furthermore, in the past, when the destination was changed, the autonomous driving system sometimes required the user to perform an approval operation. As a result, for example, if the destination was changed multiple times, the number of approval operations by the user increased, which may place a heavy burden on the user.

[0005] An object of the present invention is to provide an automated driving system that reduces the burden on the user and makes it easy to change to a desired destination. [Means for solving the problem]

[0006] (1) One aspect of the present invention is an automated driving system that automatically drives a vehicle to a destination on a predetermined driving route, the automated driving system including: a position coordinate acquisition unit that acquires position coordinate data indicating the driving route and an initial destination of the vehicle; a self-position acquisition unit that acquires the current self-position of the vehicle; a calculation unit that calculates the distance from the current self-position to the initial destination based on the position coordinate data acquired by the position coordinate acquisition unit and the current self-position of the vehicle acquired by the self-position acquisition unit; a control unit that controls the vehicle to drive to the destination based on the distance from the current self-position to the initial destination calculated by the calculation unit; and an offset value that is a distance by which the vehicle stops at the initial destination. and a post-offset destination setting unit that sets a post-offset destination that is offset by the offset amount from the initial destination on the travel route based on the offset amount input by the input unit, and when the post-offset destination is set by the post-offset destination setting unit, the calculation unit calculates the distance from the current self-position to the post-offset destination based on the position coordinate data, the post-offset destination, and the current self-position of the vehicle, and when the post-offset destination is set by the post-offset destination setting unit, the control unit controls the vehicle to travel to the post-offset destination based on the distance from the current self-position to the post-offset destination.

[0007] In such an autonomous driving system, for example, if an event occurs that requires a change to the vehicle's initial destination, an offset amount corresponding to the initial destination is input via an input unit. Then, based on the input offset amount, an offset destination is set on the driving route, offset from the initial destination by the offset amount. Furthermore, based on position coordinate data indicating the driving route and the vehicle's initial destination, the offset destination, and the vehicle's current position, a distance from the current self-position to the offset destination is calculated. Then, based on the distance from the vehicle's current position to the offset destination, the vehicle is controlled to travel to the offset destination. This eliminates the need to pre-register a wide range of new destinations in the autonomous driving system, thereby reducing the burden on the user. Furthermore, when changing the destination, the user simply inputs an offset amount corresponding to the initial destination via an input unit, making it easier to change to the desired destination. In this case, the change to the destination does not involve proposing a different destination from the original, but merely offsetting the vehicle's stopping position from the initial destination. Therefore, the autonomous driving system does not require the user to approve the change to the destination. This further reduces the burden on the user.

[0008] (2) In the above (1), the post-offset destination setting unit may set a post-offset destination for each of the plurality of vehicles on the travel route relative to the initial destination. In this configuration, the plurality of vehicles travel to a post-offset destination that is offset by an offset amount from the initial destination on the travel route. Therefore, when multiple vehicles travel to a destination, it is easy to change the destination to a desired one.

[0009] (3) In the above (1) or (2), the post-offset destination setting unit may set a post-offset destination for each of the plurality of initial destinations on the travel route. In this configuration, the vehicle travels to post-offset destinations that are offset by an offset amount from each of the plurality of initial destinations on the travel route. Therefore, when the vehicle travels to multiple destinations, it is easy to change the destination to a desired destination.

[0010] (4) In the above (1) to (3), the autonomous driving system may further include a selection unit that enables or disables input of an offset amount by the input unit, and the post-offset destination setting unit may set a post-offset destination on the travel route relative to the initial destination based on the offset amount input by the input unit when the selection unit enables input of the offset amount by the input unit. In this configuration, when offsetting of the initial destination is unnecessary, the selection unit disables input of the offset amount by the input unit, thereby stopping the offset function. This allows for a reduction in the labor required for the autonomous driving system. [Effects of the Invention]

[0011] According to the present invention, the burden on the user is reduced and it becomes easier to change to a desired destination. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram showing a vehicle equipped with an autonomous driving system according to an embodiment of the present invention, together with position coordinate data. [Figure 2] 1 is a block diagram of an autonomous driving system according to an embodiment of the present invention. [Figure 3] FIG. 2 is a schematic diagram showing the vehicle arriving at its initial destination. [Figure 4] FIG. 10 is a schematic diagram showing a state in which the vehicle has reached the destination after offsetting. [Figure 5] 10 is a graph showing a change in the speed of a vehicle when the vehicle stops at an initial destination and a destination after an offset, together with vehicle and position coordinate data. [Figure 6] 3 is a flowchart showing a processing procedure executed by a controller shown in FIG. 2. [Figure 7] FIG. 10 is a schematic diagram showing a modified example of a post-offset destination set behind the initial destination in the traveling direction of the vehicle. [Figure 8]FIG. 10 is a schematic diagram showing another variation of a route having a curve between an initial destination and an offset destination. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and redundant description will be omitted.

[0014] (Embodiment) FIG. 1 is a schematic diagram showing a vehicle 10 equipped with an autonomous driving system 1 according to one embodiment of the present invention, together with position coordinate data D1. FIG. 2 is a block diagram of the autonomous driving system 1 according to one embodiment of the present invention. The autonomous driving system 1 is a system that automatically drives the vehicle 10 to a destination P on a predetermined driving route S. In this embodiment, the vehicle 10 drives, for example, alone. Furthermore, one location is set as the destination P. The destination P is a point where the vehicle 10 should ultimately arrive. The destination P includes an initial destination P2 and an offset destination P3, which will be described later.

[0015] The automatic driving system 1 is mounted on a vehicle 10. The vehicle 10 is also equipped with a drive unit 7. The vehicle 10 is, for example, an industrial vehicle such as a towing tractor, and is a vehicle capable of automatic driving, but is not limited to this. The vehicle 10 travels within a site such as a baggage handling area at an airport.

[0016] The automatic driving system 1 includes an input device 18, a memory unit 12, a selection switch 13, and a controller 5.

[0017] The input device 18 is an input unit through which the user inputs information about the destination P. For example, the user inputs, into the input device 18, an offset amount d2 (see FIG. 4 ), which is a distance by which the stopping position of the vehicle 10 is offset at the initial destination P2. The input information of the input device 18 will be described in detail later. The input device 18 may be mounted on the vehicle 10 or may be portable. The user is, for example, a driver who drives the vehicle 10.

[0018] The input device 18 may be, for example, a touch panel display, a keyboard, or a mouse. The input device 18 may also be a terminal such as a personal computer or a smartphone. The input device 18 may input the initial destination P2 in addition to the offset amount d2.

[0019] There is no particular restriction on the timing of inputting the offset amount d2 using the input device 18. The offset amount d2 may be input before the vehicle 10 departs, after the vehicle 10 departs, or simultaneously with the setting of the initial destination P2. Therefore, the offset amount d2 may be set while the vehicle 10 is on its way to the initial destination P2, or may be changed thereafter.

[0020] The offset amount d2 input by the input device 18 may be erased. That is, an instruction to erase the offset amount d2 may be input by the input device 18. The timing of erasing the offset amount d2 by the input device 18 is not particularly important. The offset amount d2 may be erased before the vehicle 10 departs or after the vehicle 10 departs.

[0021] The storage unit 12 stores the offset amount d2 input by the input device 18. The storage unit 12 has a storage medium. The storage medium may be, but is not limited to, a magnetic medium such as a hard disk drive (HDD), a semiconductor memory such as a solid state drive (SSD), or an optical medium such as a Blu-ray (registered trademark) disc. The storage medium may also be, for example, cloud storage.

[0022] The offset amount d2 is stored in a storage medium included in the storage unit 12. The timing of storing the offset amount d2 is not particularly important. For example, the offset amount d2 may be stored in the storage unit 12 immediately after it is input, or may be stored in the storage unit 12 after a certain time has elapsed since it was input.

[0023] The selection switch 13 is a selection unit that enables or disables input of the offset amount d2 by the input device 18. In other words, the selection switch 13 enables or disables the input function of the offset amount d2. The setting of enabling or disabling input of the offset amount d2 by the selection switch 13 is performed by the user.

[0024] The controller 5 is configured with a CPU, RAM, ROM, an input / output interface, etc. The controller 5 has a function of storing the offset amount d2 inputted by the input device 18 in the storage unit 12 (as described above).

[0025] The controller 5 also has a position coordinate acquisition unit 14, a self-position acquisition unit 15, a calculation unit 16, a control unit 17, a post-offset destination setting unit 11, an offset determination unit 19, and an arrival determination unit 20.

[0026] 3, the position coordinate acquisition unit 14 acquires position coordinate data D1 indicating a travel route S and an initial destination P2 of the vehicle 10. The initial destination P2 is an initial destination P of the vehicle 10. The initial destination P2 may be set by the user.

[0027] The travel route S is the route along which the vehicle 10 travels. The travel route S is a continuous route along which the vehicle 10 arrives at the destination P. The travel route S includes, for example, multiple position coordinates indicating intermediate points. The position coordinates are expressed as two-dimensional coordinates (XY coordinates) as horizontal positions. The travel route S is expressed, for example, by a combination of straight lines (line segments) that connect the multiple position coordinates by the shortest distance. Therefore, in this embodiment, the travel route S is a straight line or a polygonal line.

[0028] The initial destination P2 is a position coordinate on the travel route S and is the end point of the travel route S. The position coordinate data D1 includes the initial destination P2, which is the arrival point of the vehicle 10, and the travel route S until the vehicle 10 arrives at the initial destination P2.

[0029] The position coordinate data D1 may include information about the road along which the vehicle 10 travels, such as information about the shape and structure of the road, such as intersections, curved sections, and straight sections. Therefore, the position coordinate data D1 may be a map including geographical information.

[0030] The position coordinate data D1 may include information required for the vehicle 10 to travel. That is, the position coordinate data D1 may include position coordinates on the travel route S. The position coordinates may be expressed as three-dimensional coordinates (XYZ coordinates) including a position in the vertical direction, for example.

[0031] The vehicle position acquisition unit 15 acquires the current vehicle position P1 (see FIG. 1) of the vehicle 10. The current vehicle position P1 is the position where the vehicle 10 is currently traveling.

[0032] The self-position acquiring unit 15 acquires the current self-position P1 by, for example, GPS. However, the method of acquiring the current self-position P1 by the self-position acquiring unit 15 is not limited to this. For example, the self-position acquiring unit 15 may acquire the current self-position P1 by external communication, or may acquire the current self-position P1 by a magnetic tape installed on the road surface on which the vehicle 10 is traveling.

[0033] The self-position acquisition unit 15 acquires position information by locating the current self-position P1 of the vehicle 10. The position information includes, for example, latitude, longitude, and altitude. At this time, the autonomous driving system 1 may check whether the vehicle 10 is traveling while following the correct position coordinates on the traveling route S, and may adjust the traveling route S as necessary.

[0034] The calculation unit 16 calculates the distance d1 (see Figure 5) from the current self-position P1 to the initial destination P2 based on the position coordinate data D1 acquired by the position coordinate acquisition unit 14 and the current self-position P1 of the vehicle 10 acquired by the self-position acquisition unit 15.

[0035] Specifically, the calculation unit 16 calculates the distance d1 from the current self-position P1 to the initial destination P2 by summing up the straight-line distances between multiple position coordinates indicating intermediate points on the driving route S, based on the position coordinate data D1. The calculation unit 16 may calculate the shortest distance, the fastest route, or the optimal route depending on the conditions of the driving route from the current self-position P1 to the initial destination P2. The calculation unit 16 may always calculate the distance d1 from the current self-position P1 to the initial destination P2.

[0036] The control unit 17 controls the vehicle 10 to travel to the destination P based on the distance d1 from the current self-position P1 to the initial destination P2 calculated by the calculation unit 16. The control unit 17 may control the vehicle 10 while making adjustments such as changing the travel route S depending on external factors such as road conditions and weather.

[0037] Specifically, the control unit 17 controls the drive unit 7 of the vehicle 10 to accelerate, decelerate, and steer the vehicle 10 based on the calculation results of the calculation unit 16. The drive unit 7 has a travel motor that drives the vehicle 10 and a steering motor that steers the vehicle 10, although not shown.

[0038] In this case, the control unit 17 controls the drive unit 7 so that the vehicle 10 travels at an appropriate speed at appropriate position coordinates on the travel route S. Furthermore, when the control unit 17 causes the vehicle 10 to travel to the initial destination P2, the control unit 17 controls the drive unit 7 so that the vehicle 10 decelerates as the vehicle 10 approaches the initial destination P2 and stops accurately at the initial destination P2 (so that the speed of the vehicle 10 becomes 0 km / h) (see the straight line L2 in FIG. 5).

[0039] 4, the post-offset destination setting unit 11 sets a post-offset destination P3 that is offset from the initial destination P2 by the offset amount d2 on the travel route S, based on the offset amount d2 input by the input device 18. The offset amount d2 is a distance by which the stopping position of the vehicle 10 is offset at the initial destination P2.

[0040] Specifically, the offset amount d2 is a distance indicating how far the vehicle 10 should be shifted from the position coordinates of the initial destination P2 in a specific direction, such as forward or backward in the traveling direction of the vehicle 10, to stop the vehicle 10. For example, if the vehicle 10 is to be stopped 5 m before the position coordinates of the initial destination P2, the offset amount d2 is set to 5 m forward.

[0041] The post-offset destination P3 is a new destination that has been changed based on the offset amount d2 input by the input device 18. The post-offset destination P3 is set, for example, in front of the initial destination P2 in the traveling direction of the vehicle 10.

[0042] The post-offset destination setting unit 11 sets, for example, for one vehicle 10, a post-offset destination P3 that is offset by an offset amount d2 from the initial destination P2 on the travel route S. Furthermore, the post-offset destination setting unit 11 sets, for example, one post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S.

[0043] Position coordinate data D2 is obtained by adding the offset destination P3 to the position coordinate data D1 acquired by the position coordinate acquisition unit 14. That is, the position coordinate data D2 includes the initial destination P2, the offset destination P3, and a driving route S to arrive at the initial destination P2 and the offset destination P3. In this embodiment, a straight line is formed between the initial destination P2 and the offset destination P3.

[0044] When the post-offset destination P3 is set by the post-offset destination setting unit 11, the calculation unit 16 calculates the distance d3 (see Figure 5) from the current self-position P1 to the post-offset destination P3 based on the position coordinate data D2 including the post-offset destination P3 and the current self-position P1 of the vehicle 10.

[0045] In other words, when the post-offset destination P3 is set by the post-offset destination setting unit 11, the calculation unit 16 calculates the distance d3 from the current self-position P1 to the post-offset destination P3 based on the position coordinate data D1, the post-offset destination P3, and the current self-position P1 of the vehicle 10.

[0046] At this time, the calculation unit 16 applies the input offset amount d2 to the position coordinates of the initial destination P2 to calculate the position coordinates of the post-offset destination P3. The calculation unit 16 calculates the position coordinates of the post-offset destination P3 by adding or subtracting the offset amount d2 to or from the already calculated position coordinates of the initial destination P2.

[0047] When the post-offset destination P3 is set by the post-offset destination setting unit 11, the control unit 17 controls the drive unit 7 to drive the vehicle 10 to the post-offset destination P3 based on the distance d3 from the current self-position P1 to the post-offset destination P3.

[0048] 5, the control unit 17 controls the drive unit 7 based on the position coordinates of the post-offset destination P3 so that the vehicle 10 decelerates toward the post-offset destination P3 and stops accurately at the post-offset destination P3 (see the line L1 in the figure). The line L1 represents the speed of the vehicle 10 relative to the distance to the post-offset destination P3 when the absolute value of the offset amount d2 is greater than 0 m. The line L2 represents the speed of the vehicle 10 relative to the distance to the initial destination P2 when the offset amount d2 is 0 m.

[0049] The offset determination unit 19 determines whether or not the offset amount d2 has been input by the input unit 18. When the offset amount d2 has been input by the input unit 18, the offset determination unit 19 also determines whether or not the input of the offset amount d2 has been enabled by the selection switch 13.

[0050] When the offset determination unit 19 determines that the input of the offset amount d2 by the input device 18 is enabled, the offset destination setting unit 11 sets a post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S based on the offset amount d2 input by the input device 18.

[0051] When the offset determination unit 19 determines that the input of the offset amount d2 by the input unit 18 has been invalidated, the control unit 17 controls the drive unit 7 so that the vehicle 10 stops at the initial destination P2 ignoring the offset amount d2. That is, the input of the offset amount d2 is invalidated, for example, in a situation where it is desired to stop the vehicle 10 at the initial destination P2.

[0052] The controller 5 may have a flag for enabling or disabling the function of inputting the offset amount d2 by the input device 18. The flag is an index or parameter for controlling whether the function of inputting the offset amount d2 is enabled or disabled. Specifically, the flag means a setting value or variable used for switching between enabling and disabling the function of inputting the offset amount d2 by the input device 18. The input device 18 may also enable or disable the function of inputting the offset amount d2 by changing the flag.

[0053] However, the method of stopping the vehicle 10 at the initial destination P2 is not limited to the above. For example, the input function of the offset amount d2 by the input device 18 may be enabled, and the input function of the offset amount d2 may be substantially disabled by setting the offset amount d2 to 0 m.

[0054] The arrival determination unit 20 determines whether the vehicle 10 has arrived at the initial destination P2 based on the current self-position P1 and the position coordinates of the initial destination P2 acquired by the self-position acquisition unit 15. When the arrival determination unit 20 determines that the vehicle 10 has arrived at the initial destination P2, the automatic driving of the vehicle 10 ends. When the arrival determination unit 20 determines that the vehicle 10 has not arrived at the initial destination P2, the vehicle 10 continues to travel toward the initial destination P2, acquiring the current self-position P1 until it arrives at the initial destination P2, and the arrival determination unit 20 makes the above determination again.

[0055] Furthermore, the arrival determination unit 20 determines whether the vehicle 10 has arrived at the post-offset destination P3 based on the current self-position P1 and the position coordinates of the post-offset destination P3 acquired by the self-position acquisition unit 15. When the arrival determination unit 20 determines that the vehicle 10 has arrived at the post-offset destination P3, the automatic driving of the vehicle 10 ends. When the arrival determination unit 20 determines that the vehicle 10 has not arrived at the post-offset destination P3, the vehicle 10 continues to travel toward the post-offset destination P3, and acquires the current self-position P1 until it arrives at the post-offset destination P3, and the arrival determination unit 20 makes the above determination again.

[0056] 6 is a flowchart showing the procedure of the process executed by the controller 5 shown in FIG. 2. This process is executed when an instruction to start traveling toward the destination P is issued.

[0057] 6, first, the position coordinate acquisition unit 14 acquires position coordinate data D1 indicating the travel route S and the initial destination P2 (step S101). Then, the self-position acquisition unit 15 acquires the current self-position P1 of the vehicle 10 (step S102).

[0058] Next, the calculation unit 16 calculates the distance d1 from the current self-position P1 to the initial destination P2 based on the position coordinate data D1 acquired by the position coordinate acquisition unit 14 and the current self-position P1 of the vehicle 10 acquired by the self-position acquisition unit 15 (step S103).

[0059] Thereafter, the offset determination unit 19 determines whether or not an offset amount d2, which is a distance by which the stopping position of the vehicle 10 at the initial destination P2 is input by the input unit 18 (step S104). The offset determination unit 19 makes this determination by reading out the offset amount d2 stored in the memory unit 12. When the offset determination unit 19 determines that the offset amount d2 has been input by the input unit 18 (the offset amount d2 is stored in the memory unit 12), the offset determination unit 19 further determines whether or not the input of the offset amount d2 by the input unit 18 has been validated by the selection switch 13 (step S105).

[0060] When the selection switch 13 determines that the input of the offset amount d2 by the input device 18 is enabled, the post-offset destination setting unit 11 sets a post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S based on the offset amount d2 stored in the memory unit 12 (step S106).

[0061] Then, the calculation unit 16 calculates a distance d3 from the current self-position P1 to the post-offset destination P3 based on the position coordinate data D2 including the post-offset destination P3 and the current self-position P1 of the vehicle 10 (step S107). At this time, the calculation unit 16 applies the input offset amount d2 to the position coordinates of the initial destination P2 to calculate the position coordinates of the post-offset destination P3.

[0062] Then, the control unit 17 controls the drive unit 7 to drive the vehicle 10 to the post-offset destination P3 based on the distance d3 from the current self-position P1 to the post-offset destination P3 (step S108). At this time, the control unit 17 controls the drive unit 7 to gradually decelerate the vehicle 10 and stop it at the post-offset destination P3 (see the straight line L1 in FIG. 5).

[0063] Next, the self-position acquisition unit 15 again acquires the current self-position P1 of the vehicle 10 (step S109). Thereafter, the arrival determination unit 20 determines whether the vehicle 10 has arrived at the post-offset destination P3 based on the current self-position P1 acquired in step S109 and the position coordinates of the post-offset destination P3 (step S110). If the arrival determination unit 20 determines that the vehicle 10 has not arrived at the post-offset destination P3, it executes step S108 again. If the arrival determination unit 20 determines that the vehicle 10 has arrived at the post-offset destination P3, it ends this process.

[0064] When it is determined in step S104 that the offset amount d2 has not been input by the input device 18, or when it is determined in step S105 that the input of the offset amount d2 by the input device 18 has been disabled by the selection switch 13, the control unit 17 controls the drive unit 7 to drive the vehicle 10 to the initial destination P2 based on the distance d1 from the current self-position P1 to the initial destination P2 (step S111). At this time, the control unit 17 controls the drive unit 7 to gradually decelerate the vehicle 10 and stop it at the initial destination P2 (see the line L2 in FIG. 5).

[0065] Next, the self-position acquisition unit 15 again acquires the current self-position P1 of the vehicle 10 (step S112). Thereafter, the arrival determination unit 20 determines whether the vehicle 10 has arrived at the initial destination P2 based on the current self-position P1 acquired in step S112 and the position coordinates of the initial destination P2 (step S113). If the arrival determination unit 20 determines that the vehicle 10 has not arrived at the initial destination P2, it executes step S111 again. If the arrival determination unit 20 determines that the vehicle 10 has arrived at the initial destination P2, it ends this process.

[0066] As described above, in this embodiment, if an event occurs that requires the initial destination P2 to be changed, for example, an offset amount d2 corresponding to the initial destination P2 is input via the input device 18. Events that require the initial destination P2 to be changed include, but are not limited to, when an obstacle is present on the travel route S or when the initial destination P2 is under construction. Based on the input offset amount d2, an offset destination P3 is set on the travel route S, offset from the initial destination P2 by the offset amount d2. Then, based on the travel route S, the position coordinate data D1 indicating the initial destination P2 of the vehicle 10, the offset destination P3, and the current vehicle position P1 of the vehicle 10, a distance d3 from the current vehicle position P1 to the offset destination P3 is calculated. Then, based on the distance d3 from the current vehicle position P1 of the vehicle 10 to the offset destination P3, the vehicle 10 is controlled to travel to the offset destination P3. This eliminates the need to previously register new destinations over a wide area in the autonomous driving system 1. That is, it is sufficient to set a single initial destination P2, and the offset destination P3 can then be flexibly set. This reduces the burden on the user. In addition, it eliminates the need for the vendor to change the system. Furthermore, when changing the destination P, the user simply inputs the offset amount d2 corresponding to the initial destination P2 using the input device 18, making it easier to change to the desired destination P. In this case, even a user who is not familiar with the control of the vehicle 10 can easily change to the desired destination P.

[0067] Conventionally, when changing the destination P, an autonomous driving system may require the user to perform an approval operation. The approval operation is, for example, an operation in which the user presses a button such as "approval" on a notification screen displayed on a touch panel display of the input device 18 or the like. For example, if the vehicle 10 makes multiple round trips along the travel route S, the approval operation may be required multiple times. Here, for example, if another vehicle is already parked at the destination P, the destination P needs to be changed. In this embodiment, the change in destination P does not involve proposing a destination P different from the initial destination P, but merely offsetting the stopping position of the vehicle 10 from the initial destination P2. Therefore, the autonomous driving system 1 does not need to require the user to perform an approval operation for the change in destination P. This further reduces the burden on the user.

[0068] In this embodiment, the autonomous driving system 1 further includes a selection switch 13 that enables or disables input of the offset amount d2 by the input device 18. In this configuration, when an offset for the initial destination P2 is not required, the offset function is stopped by disabling input of the offset amount d2 by the input device 18 using the selection switch 13. This allows the autonomous driving system 1 to be more energy-efficient.

[0069] The present invention is not limited to the above embodiment. For example, in the above embodiment, the post-offset destination setting unit 11 sets a post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S for one vehicle 10, but the present invention is not particularly limited to such an embodiment. For example, the post-offset destination setting unit 11 may set a post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S for each of multiple vehicles 10.

[0070] For example, the post-offset destination setting unit 11 may set a post-offset destination P3 500 m ahead for the first vehicle 10, a post-offset destination P3 200 m ahead for the second vehicle 10, and a post-offset destination P3 300 m ahead for the third vehicle 10. In this case, for example, a management system may control all of the multiple vehicles 10. In such a configuration, the multiple vehicles 10 each travel to a post-offset destination P3 that is offset by an offset amount d2 from the initial destination P2 on the travel route S. Therefore, when multiple vehicles 10 are traveling to the destination P, it is easy to change the destination P to a desired destination.

[0071] In the above embodiment, the post-offset destination setting unit 11 sets a post-offset destination P3 that is offset by the offset amount d2 from one initial destination P2 on the travel route S, but the present invention is not limited to such an embodiment. For example, the post-offset destination setting unit 11 may set a post-offset destination P3 that is offset by the offset amount d2 from the initial destination P2 on the travel route S for each of a plurality of initial destinations P2.

[0072] For example, the post-offset destination setting unit 11 may set a post-offset destination P3 500 m before the first initial destination P2, a post-offset destination P3 200 m before the second initial destination P2, and a post-offset destination P3 300 m before the third initial destination P2. In this case, for example, a management system may manage multiple initial destinations P2. In such a configuration, the vehicle 10 travels to post-offset destinations P3 on the travel route S, each of which is offset by an offset amount d2 from multiple initial destinations P2. Therefore, when the vehicle 10 travels to multiple destinations P, it is easy to change to a desired destination P.

[0073] In the above embodiment, the storage unit 12, the position coordinate acquisition unit 14, the calculation unit 16, the post-offset destination setting unit 11, the offset determination unit 19, and the arrival determination unit 20 are provided in the vehicle 10, but are not limited to this particular form. For example, these functions may be provided in a management system that grasps the current self-position P1 of the vehicle 10 and manages the traveling of the vehicle 10 based on the current self-position P1.

[0074] In the above embodiment, the post-offset destination P3 is set in front of the initial destination P2 in the traveling direction of the vehicle 10, but this is not a particular limitation. For example, the post-offset destination P3 may be set behind the initial destination P2 in the traveling direction of the vehicle 10, as shown in FIG.

[0075] In the above embodiment, the route between the initial destination P2 and the offset destination P3 is a straight line, but the present invention is not limited to such a straight line. For example, the route between the initial destination P2 and the offset destination P3 may have a curve, as shown in FIG.

[0076] In the above embodiment, the travel route S is linear, but is not limited to this form. For example, the travel route S may be circular. [Explanation of symbols]

[0077] 1...Autonomous driving system, 10...Vehicle, 11...Post-offset destination setting unit, 13...Selection switch (selection unit), 14...Position coordinate acquisition unit, 15...Self-position acquisition unit, 16...Calculation unit, 17...Control unit, 18...Input device (input unit), D1, D2...Position coordinate data, S...Driving route, P1...Current self-position, P...Destination, P2...Initial destination, P3...Post-offset destination, d1, d3...Distance, d2...Offset amount.

Claims

1. An automated driving system that automatically drives a vehicle to a destination on a predetermined driving route, a position coordinate acquisition unit that acquires position coordinate data indicating the travel route and an initial destination of the vehicle; a self-position acquisition unit that acquires a current self-position of the vehicle; a calculation unit that calculates a distance from the current self-position to the initial destination based on the position coordinate data acquired by the position coordinate acquisition unit and the current self-position of the vehicle acquired by the self-position acquisition unit; a control unit that controls the vehicle to travel to the destination based on the distance from the current self-position to the initial destination calculated by the calculation unit; an input unit for inputting an offset amount, which is a distance by which the stopping position of the vehicle is offset at the initial destination; an offset destination setting unit that sets an offset destination on the travel route that is offset from the initial destination by the offset amount based on the offset amount input by the input unit, when the post-offset destination is set by the post-offset destination setting unit, the calculation unit calculates a distance from the current self-position to the post-offset destination based on the position coordinate data, the post-offset destination, and the current self-position of the vehicle; When the post-offset destination is set by the post-offset destination setting unit, the control unit controls the vehicle to travel to the post-offset destination based on the distance from the current self-position to the post-offset destination.

2. The automated driving system according to claim 1 , wherein the post-offset destination setting unit sets a post-offset destination on the driving route for each of the plurality of vehicles, the post-offset destination being offset by the offset amount from the initial destination.

3. The automated driving system according to claim 1 , wherein the post-offset destination setting unit sets the post-offset destination relative to the initial destination on the driving route for each of the plurality of initial destinations.

4. a selection unit that enables or disables input of the offset amount by the input unit, 2. The autonomous driving system according to claim 1, wherein the post-offset destination setting unit sets the post-offset destination relative to the initial destination on the driving route based on the offset amount input by the input unit when the input of the offset amount by the input unit is enabled by the selection unit.

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