Golf cart

Abstract

We offer a completely new type of golf cart. [Solution] The golf cart 2 is pre-equipped with software components for constructing an automated driving system and a safe driving system, namely a positioning processing unit 28a, an image processing unit 28b, an object detection processing unit 28c, and an AGV processing unit 28d. By adding hardware components for constructing an automated driving system and a safe driving system, namely a GPS module 26a, a camera 26b, a LiDAR 26c, and an AGV sensor 26d, an automated driving system and a safe driving system are constructed. This makes it possible to provide a new type of golf cart unlike any other.

Description

Technical Field

[0001] The present invention relates to a golf cart. In particular, the present invention relates to an improvement for expanding the usage form of a golf cart.

Background Art

[0002] Conventionally, as golf carts used in golf courses, as disclosed in Patent Document 1, there are those that manually travel (travel by the driving operation of a passenger) and those that automatically travel (travel along a cart path while detecting the low-frequency current of a cable buried in the cart path with an AGV sensor: hereinafter, may also be referred to as electromagnetic induction travel).

[0003] Also, in a golf course where no cable is buried in the cart path, a golf cart that can only manually travel is used. Naturally, this type of golf cart does not have hardware such as an AGV sensor for automatic travel or software for processing signals from the AGV sensor. Hereinafter, for convenience, a golf cart that can switch between manual travel and automatic travel will be referred to as a multi-travel golf cart, and a golf cart that can only manually travel will be referred to as a basic golf cart.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, when constructing a new golf course, one option to keep initial investment costs down is to use basic golf carts. Furthermore, it is anticipated that golf carts will be replaced when the golf course is renovated or to meet the demands of golf course users. For example, this could involve replacing basic golf carts with multi-purpose golf carts or with golf carts that have enhanced safety support features.

[0006] In this case, it would be necessary to replace the golf cart (either from a basic golf cart to a multi-purpose golf cart, or to replace it with a golf cart with advanced safety features), which would require a significant investment. Furthermore, if the old golf cart needs to be disposed of, it would have a negative impact on the environment.

[0007] The inventors of this invention considered that a different type of golf cart than those used before was necessary to solve these problems.

[0008] This invention has been made in view of the above points, and its purpose is to provide a new type of golf cart unlike any other. [Means for solving the problem]

[0009] The present invention provides a solution to achieve the aforementioned objectives, based on a golf cart capable of traveling within a predetermined area on a golf course. This golf cart is pre-equipped with only one of the following system elements: hardware and software for processing information from the hardware. The system for automatic driving is constructed by adding the missing system element from the hardware and software.

[0010] Due to this specific requirement, in the case of a golf cart that is pre-equipped only with software as a system element for constructing an autonomous driving system, when constructing an autonomous driving system within the golf cart, hardware to acquire information processed by the software is added (added later). On the other hand, in the case of a golf cart that is pre-equipped only with hardware as a system element for constructing an autonomous driving system, when constructing an autonomous driving system within the golf cart, software to process information from the hardware is added (the software is updated). In other words, an autonomous driving system can be constructed within the golf cart simply by adding the system elements that are missing in the initial state. This makes it possible to provide a new type of golf cart that has never existed before, one that comes pre-equipped with some of the system elements for constructing an autonomous driving system. Furthermore, once an autonomous driving system has been constructed, it is possible to return the golf cart to its original state (equipped with some of the system elements for constructing an autonomous driving system) by removing the hardware or erasing the software as required.

[0011] Furthermore, another solution of the present invention to achieve the above objectives is based on a golf cart that is capable of traveling within a predetermined area on a golf course. This golf cart is characterized in that it is pre-equipped with only one of the following system elements: hardware that constitutes a system related to safe driving (so-called safety support function) and software that processes information from said hardware. The system related to safe driving is constructed by adding the missing system element from the hardware and software.

[0012] In accordance with this specific requirement, in the case of a golf cart that is pre-equipped only with software as a system element for constructing a system related to safe driving, when constructing a system related to safe driving within the golf cart, hardware that acquires information processed by the said software is added. On the other hand, in the case of a golf cart that is pre-equipped only with hardware as a system element for constructing a system related to safe driving, when constructing a system related to safe driving within the golf cart, software that processes information from the said hardware is added. In other words, a system related to safe driving can be constructed within the golf cart simply by adding the system elements that are missing in the initial state. This makes it possible to provide a new type of golf cart that has never existed before, one that comes pre-equipped with some of the system elements for constructing a system related to safe driving. Furthermore, once a system related to safe driving has been constructed, it is possible to return the golf cart to its original state (a state equipped with some of the system elements for constructing a system related to safe driving) by removing the said hardware or erasing the said software as required.

[0013] Specifically, the automated driving system is an AGV system for electromagnetically inducting the cart path within the golf course, the hardware is an AGV sensor, and the software is an AGV processing program that causes the vehicle to perform electromagnetic induction driving based on information received from the AGV sensor.

[0014] This allows a golf cart that was previously unable to perform electromagnetic induction driving to be converted (upgraded) into one capable of electromagnetic induction driving simply by adding the missing system elements from the initial configuration.

[0015] Furthermore, the system related to the automatic driving is an automatic driving system for driving the golf cart automatically within the golf course while recognizing the surrounding environment of the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is an automatic driving processing program that causes the cart to drive automatically based on the information received from the hardware.

[0016] This allows a golf cart that was not capable of autonomous driving to be converted (upgraded) into one capable of autonomous driving simply by adding the missing system elements to the system that enables the golf cart to automatically navigate the golf course while recognizing its surroundings.

[0017] Furthermore, the system related to safe driving is a safe driving system that controls the golf cart within the golf course while recognizing the environment surrounding the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is a safe driving processing program that causes safe driving based on information received from the hardware.

[0018] This allows for the creation (upgrade) of a golf cart capable of safe driving simply by adding the system elements that were missing in the initial state. [Effects of the Invention]

[0019] In this invention, a golf cart is pre-equipped with only one of the system elements—hardware or software—as a system element for constructing an automated or safe driving system. By adding the missing system element, an automated or safe driving system can be constructed. This makes it possible to provide a novel golf cart unlike any other. [Brief explanation of the drawing]

[0020] [Figure 1] It is a side view showing the appearance of a golf cart according to an embodiment. [Figure 2] It is a block diagram showing an example of the schematic configuration of a control system before the version upgrade of a golf cart according to an embodiment. [Figure 3] It is a block diagram showing an example of the schematic configuration of a control system after the version upgrade of a golf cart according to an embodiment. [Figure 4] It is a diagram showing the schematic configuration of a golf cart operation management system in which a golf cart according to an embodiment is used. [Figure 5] It is a block diagram showing the schematic configuration of a terminal device in a golf cart operation management system in which a golf cart according to an embodiment is used. [Figure 6] It is a diagram for explaining each area partitioned in the range from the cart storage to the vicinity of the 1st hole in a golf course to which a golf cart operation management system according to an embodiment is applied. [Figure 7] It is a block diagram showing an example of the schematic configuration of a control system before the version upgrade of a golf cart according to a modification example.

MODE FOR CARRYING OUT THE INVENTION

[0021] Hereinafter, embodiments of the present invention will be described based on the drawings. This embodiment will describe the case where the present invention is applied to an electric golf cart. Note that the present invention is not limited to an electric golf cart and can also be applied to an engine-driven golf cart. Further, this embodiment will be described by taking as an example the case where only software is prepared in advance among the hardware as system elements for constructing a system related to autonomous driving and a system related to safe driving and the software for processing information from the hardware. Note that the case where only the hardware among the hardware and the software as system elements for constructing a system related to autonomous driving and a system related to safe driving is prepared in advance will be described later in a modification example.

[0022] -Golf cart description- The appearance of the golf cart according to this embodiment will now be described. Although a golf course is equipped with multiple golf carts, one golf cart will be described as representative here.

[0023] Figure 1 is a side view showing the external appearance of the golf cart 2 according to this embodiment. Figure 2 is a block diagram showing an example of the schematic configuration of the control system of the golf cart 2 according to this embodiment. Figure 2 shows the state of the golf cart 2 before the version upgrade described later.

[0024] As shown in Figure 1, the golf cart 2 has a body 21, a pair of front wheels 22a, and a pair of rear wheels 22b. The body 21 comprises a lower body 21a, pillars 21b, 21b, ... and a roof section 21c. The pillars 21b, 21b, ... are provided so as to extend upward from the four corners of the lower body 21a, and the roof section 21c is attached across the upper ends of the pillars 21b, 21b, .... The pair of front wheels 22a and the pair of rear wheels 22b are rotatably mounted at the front and rear ends, respectively, of the lower body 21a to support the body 21. The golf cart 2 according to this embodiment employs a four-wheel independent suspension system to improve ride comfort.

[0025] A front seat 21d is provided approximately in the center of the lower body 21a, and a rear seat 21e is provided at the rear of the lower body 21a. This configuration allows for the seating of 4 to 5 people. The golf cart 2 is not limited to this configuration; it may also have only a front seat 21d, allowing for seating of only 2 people. The golf cart 2 described in this embodiment is a specific specification, and various golf carts 2, such as those with or without various equipment, those with only standard equipment, or those with various options, are applicable to the present invention. Each seat 21d and 21e is equipped with a seat heater to ensure comfort in winter. A steering wheel 21f is provided in front of the front seat 21d. When driving manually (for example, when driving on the fairway in the fairway manual mode or in full manual mode, as described later), the occupant seated in the front seat 21d operates the steering wheel 21f to steer the front wheels 22a. A carrier 21g for carrying golf bags and the like is provided at the rear end of the lower body 21a.

[0026] As shown in Figure 2, the golf cart 2 mainly comprises a control device 23, a battery 24a, a drive motor 24b, a braking device 24c, a steering device 24d, an accelerator pedal 25a, a brake pedal 25b, and the steering wheel 21f. Furthermore, the golf cart 2 is equipped with a communication device 27 for communicating with external devices. These external devices will be described later. Each of these will be explained below.

[0027] The control device 23 controls the operation of each part of the golf cart 2. This control device 23 is a generally known ECU (Electronic Control Unit) and is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and backup RAM, etc. As will be described in more detail later, the control device 23 is a collection of functional units built by a program, and includes an automatic driving function unit 23A and a driving mode switching function unit 23B.

[0028] The 24a battery uses a lithium-ion battery. However, other types of batteries such as lead-acid batteries, nickel-metal hydride batteries, or nickel-cadmium batteries can also be used.

[0029] The drive motor 24b is connected to the drive shaft of the rear wheel 22b via the transmission. When the drive motor 24b is activated, its rotational force is transmitted to the rear wheel 22b via the transmission and drive shaft, causing the rear wheel 22b to rotate. In manual driving mode, the drive motor 24b is activated by the driver's operation of pressing the accelerator pedal 25a. The output torque of this drive motor 24b increases with the amount the accelerator pedal 25a is pressed. In addition, in automatic driving mode (for example, when driving on a cart path in the cart path full auto mode described later, or when driving on a fairway in fairway auto mode), the output torque of the drive motor 24b is automatically controlled according to the conditions for starting and acceleration.

[0030] Brake devices 24c are provided on both the front wheels 22a and the rear wheels 22b. These brake devices 24c are composed of, for example, disc brakes or regenerative braking devices. During manual driving, the brake devices 24c are activated by the driver's operation of pressing the brake pedal 25b, applying braking force to both the front wheels 22a and the rear wheels 22b. During automatic driving, when braking conditions are met, the brake devices 24c are activated, automatically applying braking force to both the front wheels 22a and the rear wheels 22b, or to the rear wheels 22b alone. Furthermore, when the golf cart 2 is braked, the drive motor 24b becomes driven, and the drive motor 24b functions as a generator and electric brake (regenerative brake), converting the rotational force of the rear wheels 22b into electricity and simultaneously exerting braking force. This electricity (regenerative power) is supplied to the battery 24a, and the battery 24a is charged.

[0031] The steering device 24d is connected to the front wheels 22a of the golf cart 2 and steers the front wheels 22a. During manual driving, the steering device 24d operates in response to the driver's operation of the steering wheel 21f, steering the front wheels 22a. During automatic driving, the steering device 24d operates when the steering conditions are met, and the front wheels 22a are automatically steered. In this embodiment, a steering clutch is used to switch between steering linked to the operation of the steering wheel 21f and automatic steering by the steering device 24d. In other words, during manual driving, the steering clutch is engaged, and the steering device 24d operates in response to the driver's operation of the steering wheel 21f, while during automatic driving, the steering clutch is released, and the front wheels 22a are automatically steered by the steering device 24d.

[0032] The accelerator pedal 25a and brake pedal 25b are located in front of the front seat 21d and are operated by the driver seated in the front seat 21d. The amount of depression of the accelerator pedal 25a is detected by the accelerator position sensor. In manual driving mode, the drive motor 24b operates according to the value detected by this accelerator position sensor. The amount of depression of the brake pedal 25b is detected by the brake pedal sensor. In manual driving mode, the brake system 24c operates according to the value detected by this brake pedal sensor.

[0033] As mentioned above, the steering wheel 21f is located in front of the front seat 21d and is rotated by the driver seated in the front seat 21d. During manual driving, as mentioned above, the steering clutch is engaged and the front wheels 22a are steered according to the amount of steering wheel 21f is operated.

[0034] The communication device 27 communicates with external devices to send and receive various types of information (including communication with terminal devices 3 and system management devices 4 via the communication network 5 described later). The various types of information received by the communication device 27 are output to the control device 23.

[0035] -Golf cart version upgrade- Next, we will describe the upgrade of the golf cart 2, which is a feature of this embodiment.

[0036] As mentioned earlier, when renovating a golf course or replacing basic golf carts with multi-purpose golf carts to meet the demands of golf course users, conventional technology lacked compatibility between basic and multi-purpose golf carts, requiring the purchase of new carts. This not only required significant capital investment but also had a negative impact on the environment if basic golf carts had to be disposed of.

[0037] In view of this point, this embodiment provides only the software (of which hardware and software for processing information from the hardware are pre-installed) as system elements for constructing an automatic driving system, and adds the hardware as system elements for constructing an automatic driving system, thereby enabling the construction of a multi-driving golf cart using the basic golf cart body 21 as is.

[0038] The golf cart 2, configured for the purposes described above, includes pre-installed software (the automatic driving function unit 23A provided in the control device 23) such as a positioning processing unit (positioning processing program) 28a, an image processing unit (image processing program) 28b, an object detection processing unit (object detection program) 28c, and an AGV processing unit (AGV processing program) 28d. The positioning processing unit 28a, the image processing unit 28b, and the object detection processing unit 28c correspond to the automatic driving processing program (an automatic driving processing program that enables automatic driving different from electromagnetic induction driving) and the safety driving processing program that constructs the safety driving system described later, as referred to in the present invention.

[0039] The positioning processing unit 28a is used to receive GPS signals from the GPS module 26a (see Figure 3) when the GPS module 26a is added as hardware, which is a system element, in order to determine the position of the golf cart 2. This determined position information of the golf cart 2 will be used for setting the driving route when the golf cart 2 is automatically driven.

[0040] The image processing unit 28b is used to process surrounding image information captured by the camera 26b when the camera 26b is added as a hardware component of the system, in order to recognize surrounding objects. This recognized information about objects around the golf cart 2 will be used for control purposes such as collision avoidance with objects and prevention of deviation from the driving route when the golf cart 2 is driving automatically or manually.

[0041] The object detection processing unit 28c receives information from the LiDAR 26c when the LiDAR 26c is added as hardware, which is a system element, and generates information about the object (such as the size of the object and the distance to the object). This generated information about objects around the golf cart 2 will also be used for control purposes such as collision avoidance with objects and prevention of deviation from the driving route when the golf cart 2 is driving automatically or manually.

[0042] The AGV processing unit 28d receives information from the AGV sensor 26d (magnetic information from electromagnetic induction lines embedded in the cart path) when the AGV sensor 26d is added as hardware, which is a system element, and is used to drive the cart along the cart path by electromagnetic induction.

[0043] Furthermore, the hardware components that make up the system related to autonomous driving include the aforementioned GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d. Figure 3 is a block diagram showing an example of the schematic configuration of the control system of the golf cart 2, which has been upgraded by the addition of each of these components: GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d. In other words, the control device 23 not only includes the aforementioned positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d, but also has interfaces to which signal lines extending from each of the aforementioned hardware components (GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d) are connected, and each of the aforementioned hardware components can be connected to these interfaces via signal lines.

[0044] The GPS module 26a receives GPS signals transmitted from three or more (preferably four or more) satellites orbiting above the golf cart 2 and determines the position of the golf cart 2. The position information of the golf cart 2 determined by the GPS module 26a is output to the control device 23 (more specifically, the positioning processing unit 28a).

[0045] Camera 26b captures images of the area around the golf cart 2. This camera 26b can be, for example, a stereo camera or a monocular camera, and can be a digital camera with an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). The surrounding image information captured by this camera 26b is output to the control device 23 (more specifically, the image processing unit 28b).

[0046] The LiDAR26c is an active sensor that uses light to detect objects around the golf cart 2. It emits detection light around the golf cart 2 and detects objects by receiving the light reflected from objects around the golf cart 2. The information about the object detected by the LiDAR26c (such as the size of the object and the distance to the object) is output to the control device 23 (more specifically, the object detection processing unit 28c).

[0047] The AGV sensor 26d detects low-frequency currents in cables embedded in cart paths, etc. (such as cart paths, the area between the clubhouse and the hole (described later), and the area between the clubhouse and the cart storage area), and acquires information for electromagnetically inducting the golf cart 2 along the cart paths, etc. In other words, electromagnetic induction lines (not shown) for guiding the golf cart 2 are embedded in the cart paths, etc., and these electromagnetic induction lines are magnetically detected by the AGV sensor 26d, and a detection signal is output from the AGV sensor 26d to the AGV processing unit 28d of the control device 23. When driving along cart paths, etc. in automatic driving mode, the AGV processing unit 28d controls the steering device 24d based on the detection signal from the AGV sensor 26d. This makes it possible to drive the golf cart 2 without deviating from the cart path.

[0048] The aforementioned sensing devices, such as the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d, are preferably installed in positions on the vehicle body 21 where there is a low risk of damage, soiling, or other malfunctions, provided that each sensing device is in a position where it can function effectively, in order to avoid damage from contact with the ground when driving on the fairway.

[0049] In this way, by adding the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d, golf cart 2 is upgraded from a basic golf cart to a multi-mode golf cart. In other words, it becomes a golf cart 2 that is capable of not only manual driving but also automatic driving using GPS signals, image information and object information, and electromagnetic induction driving using magnetic information detected by the AGV sensor 26d (with an AGV system built in).

[0050] Furthermore, the hardware components that make up the system for autonomous driving do not necessarily need to include all of these features; they can be selectively installed as needed. In addition, sonar and target sensors (sensing devices when using known target line painting technology) may be provided instead of or in addition to this hardware. In this case, software for processing information from the sonar and target sensors is provided in advance as a functional unit of the control device 23.

[0051] -Golf cart operation management system- Next, we will describe a golf cart operation management system that utilizes the golf cart 2 configured as described above. It should be noted that the golf cart 2 according to the present invention is not limited to use at golf courses equipped with the golf cart operation management system described later, but can also be used at general golf courses.

[0052] Figure 4 shows a schematic configuration of the golf cart operation management system 1. As shown in Figure 4, the golf cart operation management system 1 consists of multiple golf carts 2,2,..., a terminal device (e.g., a personal computer) 3 owned by the golf course operator, and a system management device 4 owned by the system manufacturer that provides the golf cart operation management system 1 and the golf carts 2,2,.... Although Figure 4 shows only four golf carts 2,2,..., actual golf courses are equipped with dozens of golf carts 2,2,.... Communication between the golf carts 2,2,..., the terminal device 3, and the system management device 4 is possible using a predetermined communication network 5. This communication network 5 can be a mobile phone network with multiple base stations, an internet network, or a dedicated communication network. The golf cart operation management system 1 is not limited to what is shown in Figure 4, and may consist of multiple golf carts 2,2,... and a terminal device 3 (without the system management device 4), or it may consist of multiple golf carts 2,2,... and a system management device 4 (without the terminal device 3). Furthermore, a golf cart operation management system 1 may be established for each of the multiple golf carts 2, 2, ... (without requiring terminal devices 3 or system management devices 4).

[0053] -Terminal device configuration- Next, I will describe the terminal device 3 owned by the golf course operator. This terminal device 3 is installed, for example, in the master's room of the golf course.

[0054] Figure 5 is a block diagram showing the schematic configuration of terminal device 3 used in the golf cart operation management system 1. Terminal device 3 is composed of a general-purpose personal computer. Alternatively, terminal device 3 may be a tablet, smartphone, dedicated device, etc.

[0055] As shown in Figure 5, the terminal device 3 comprises, as its functional units, an input unit 31, a master information storage unit 32, a master information modification unit 33, a transmission information selection unit 34, and a transmission unit 35.

[0056] The input unit 31 acquires information from keyboards, pointing devices, communication networks, etc., which are operated by the golf course operator.

[0057] The information acquired by this input unit 31 includes the operation pattern information described later (for example, information extracted from golf cart 2 (a single golf cart 2 that travels around the golf course and acquires various information during system installation)). This information is stored as master information in the master information storage unit 32. This master information is transmitted to each golf cart 2,2,... (for example, when the system is installed), and is stored in the operation pattern storage unit 23a of each golf cart 2,2,... (details of the operation pattern information stored in golf cart 2 will be described later).

[0058] Furthermore, the information acquired by the input unit 31 also includes information for modifying various types of information stored in the master information storage unit 32. When this information is acquired, the master information modification unit 33 will rewrite the master information (the information stored in the master information storage unit 32). Situations in which this master information is modified include, for example, when the grass on some holes is being maintained and golf carts 2 are not to be driven into those grass areas, when some cart paths are under repair and unusable, or when it is necessary to change the settings for hazard areas on the course or change the settings for the driving speed of golf carts 2 in each area. In such cases, the master information is modified by inputting information from a keyboard or pointing device operated by the golf course operator.

[0059] Furthermore, the information acquired by the input unit 31 also includes status information received from each golf cart 2,2,... via the communication network 5.

[0060] The information transmission selection unit 34 is a functional unit that selects information for selecting an operating pattern for each golf cart 2,2,... (for example, information for selecting an operating pattern in rainy weather). In other words, it selects information corresponding to the information entered by the golf course operator as transmission information and outputs it to the transmission unit 35.

[0061] The transmission unit 35 has the function of transmitting information from the master information storage unit 32 and the transmission information selection unit 34 to each golf cart 2,2,… Specifically, it has the function of transmitting master information collected from golf cart 2 and stored in the master information storage unit 32 to each golf cart 2,2,…, transmitting master information modified in the master information modification unit 33 to each golf cart 2,2,…, and transmitting information selected in the transmission information selection unit 34 (for example, information for selecting an operating pattern in rainy weather) to each golf cart 2,2,… to allow each golf cart 2,2,… to select an operating pattern.

[0062] - Function section for switching driving modes - As mentioned above, the control device 23 of the golf cart 2 is equipped with a driving mode switching function unit 23B. This driving mode switching function unit 23B includes a driving pattern storage unit 23a, a receiving unit 23b, a driving pattern extraction unit 23c, a driving mode switching unit 23d, a control command signal generation unit 23e, and an output unit 23f.

[0063] The operation pattern memory unit 23a stores multiple operation patterns, each of which is an operation pattern in which a driving mode is assigned to one of several pre-defined areas within the golf course. In other words, the operation pattern memory unit 23a stores multiple operation patterns that have been arbitrarily created in advance. Specifically, the pre-defined areas within the golf course include holes, joint areas (paths connecting each hole), the area between the clubhouse and the hole, the area between the clubhouse and the cart storage area, and the area inside the cart storage area. Furthermore, even within a hole, it is divided into multiple areas, such as the fairway and the cart path (a cart path laid along the side of the hole from the teeing ground to the green).

[0064] Figure 6 is a diagram illustrating the areas demarcated within the golf course where the Golf Cart Operation Management System 1 is applied, from the cart storage area CS to the area around the 1st hole H1. In Figure 6, each area is shown enclosed by a dashed line. As shown in Figure 6, the multiple areas within the golf course that are pre-demarcated include the area HA within the hole (1st hole H1), the joint area JA, the area A1 between the clubhouse CH and the hole (1st hole H1), the area A2 between the clubhouse CH and the cart storage area CS, and the area A3 within the cart storage area CS. Furthermore, the area HA within the hole (1st hole H1) is also divided into multiple areas, for example, the fairway FW and the cart path CP. Figure 6 shows the areas demarcated in the 1st hole H1, but similar areas are demarcated in other holes as well. Note that not all of these areas are necessarily required to demarcate the golf course; areas are demarcated as needed. In addition, other areas may be demarcated in place of or in addition to these areas.

[0065] Here, we will explain the operation of setting the operation pattern when introducing the golf cart operation management system 1 to a golf course. First, using one golf cart 2, the system is driven along the cart paths and checkpoints on the golf course in conjunction with GPS location information to identify and memorize the driving area and section. Then, a driving mode is assigned to each driving area and section, and the operation pattern (usually two types: OK / NOT for entering the fairway) is set by the combination of these modes. The master information created in this way is collected by the terminal device 3 and stored in the master information storage unit 32, and this master information is simultaneously transmitted to the other golf carts 2,2,..., and each golf cart 2,2,... downloads it and stores it in the operation pattern storage unit 23a. Note that the method for identifying and memorizing the driving area and section is not limited to the above-mentioned method, and may include methods such as identifying the boundary of the area and section by recognizing signs using a camera, or identifying the boundary using electromagnetic induction line detection / non-detection information.

[0066] Next, we will explain a specific example of an operating pattern in which a driving mode is assigned to each of the pre-defined areas.

[0067] The driving modes defined for each operating pattern include cart path full auto mode, fairway auto mode, fairway manual mode, and full manual mode. One of these driving modes is selected and individually assigned to each area to create the operating pattern. In other words, each operating pattern is stored in the operating pattern storage unit 23a of the golf cart 2 as information on which driving modes are assigned to multiple areas within the golf course.

[0068] The following is an overview of each driving mode.

[0069] The Cart Path Full Auto Mode is a mode that automatically drives the golf cart (manual driving is prohibited) by setting a driving route on the cart paths and paved areas within each pre-defined area, preventing the cart from deviating from the designated route. This Cart Path Full Auto Mode is a driving mode designed to protect the turf in cases of rain the day before or early in the morning on the day of play. When driving on the cart paths in this Cart Path Full Auto Mode, the start and stop of the golf cart 2 are controlled by operating switches (start switch and stop switch) equipped on the golf cart 2 or by operating a remote control carried by the golfer.

[0070] The Fairway Auto mode is a mode in which the golf cart automatically drives along a predetermined route on the fairway FW in each designated area. Cart path In this Fairway Auto mode, the destination point (stopping position of the golf cart 2) when automatically driving along the fairway FW can be the point where the fairway driving ends (entry point to the cart path CP or joint area JA) or the position of the golfer or caddy holding the remote control on a predetermined path (a predetermined distance before the remote control position). It is also possible to set any position as the destination point by operating the remote control. In this Fairway Auto mode, in order to make it easier for the GPS module 26a to receive GPS signals, it is preferable to drive along the center of the fairway FW. In other words, as shown in Figure 5, if trees TR are planted on the side of the fairway FW, it is expected that it will be difficult to receive GPS signals around these trees TR even on the fairway FW, so it is preferable to drive along the center of the fairway FW. However, if multiple golf carts 2,2,... travel continuously along the same route in the center of the fairway, there is a concern that the grass along that route may be damaged. Therefore, it is preferable to have each golf cart 2,2,... travel with a slightly different route. As mentioned above, even on the fairway, there are areas where GPS signals are difficult to receive, and these areas differ from golf course to golf course and from hole to hole. Therefore, it is preferable to pre-set the area to be considered the fairway, taking into account the existence of these areas where GPS signals are difficult to receive. In addition, to anticipate areas where GPS signals are difficult to receive or where the signal is interrupted, a camera, LIDAR, IMU ( I nertial M easure U It is preferable to integrate technologies such as NIT (Inertial Measurement Device) to create a system that does not rely solely on GPS. In this fairway auto mode, when the golf cart 2 is traveling along the cart path CP, it is started and stopped according to the operation of switches (start switch and stop switch) equipped on the golf cart 2 or the operation of a remote control carried by the golfer.

[0071] The Fairway Manual Mode allows golfers to freely drive the golf cart manually within pre-defined fairway areas, excluding no-driving zones and hazard areas. However, if the cart enters a cart path (CP) within the designated area, it automatically switches to automatic driving, disabling manual driving. This Fairway Manual Mode is selected when weather conditions allow for driving onto the fairway and when golfers want to enjoy manual driving on the fairway. Furthermore, this mode offers significant advantages to golfers, as it allows them to drive the golf cart closer to the ball, greatly reducing the distance they have to walk.

[0072] Full manual mode is a mode in which all areas of the golf course, including the fairways (FW), cart paths (CP), and other paved areas, are subject to manual driving. This full manual mode is selected when the weather is fine and driving onto the fairways (FW) is permitted, allowing golfers to enjoy manual driving, and only in areas where there are no dangerous spots on the cart paths (CP) or joint areas (JA) within the pre-defined areas.

[0073] In the aforementioned driving modes, manual and automatic driving are defined mainly for certain areas (such as the fairway FW, cart path CP, and joint area JA), but manual and automatic driving may also be defined for each of the other areas (area A1 between the clubhouse CH and the 1st hole H1, area A2 between the clubhouse CH and the cart storage area CS, and area A3 inside the cart storage area).

[0074] Furthermore, in any of the aforementioned driving modes, a safety support function can be added that controls the braking system 24c and steering system 24d based on information received from the camera 26b, LiDAR 26c, etc. (for example, information on the presence or absence of obstacles ahead). For example, in both the automatic driving mode and the manual driving mode, when an obstacle (person, other golf cart 2, golf course maintenance vehicle, tree, etc.) is present in front of the golf cart 2 and the distance to the obstacle falls below a predetermined value, the braking system 24c activates to apply braking force to the front wheels 22a and rear wheels 22b, or to the rear wheels 22b (collision prevention function). Before activating the braking system 24c, a warning may be displayed on the monitor screen mounted on the golf cart 2 (for example, the golf cart navigation screen), or a warning sound may be emitted to the occupants. In addition, if contact with an obstacle can be avoided by steering and there is no problem even if the driving path is changed by steering, the steering system 24d activates and the front wheels 22a are steered. Other safety support features may include not only collision avoidance but also rollover prevention and hazard area entry prevention. For rollover prevention, the golf cart 2 may be equipped with an angle sensor (a sensor that detects the tilt of the vehicle body 21). Based on the detection signal from this angle sensor and the driving speed of the golf cart 2, the possibility of rollover is determined, and if there is a possibility of rollover, the cart automatically slows down. Furthermore, hazard area entry prevention features may include slowing down or stopping before areas such as teeing grounds, greens, sand hazards, areas under turf maintenance, trees, cliffs, ponds, steep slopes, and rough surfaces.

[0075] Furthermore, this safety support function does not necessarily need to be included in all driving modes. For example, the safety support function could be included in the automatic driving mode, while the presence or absence of the safety support function could be selected in the manual driving mode. For instance, in the fairway manual mode, the safety support function is activated to prevent accidents such as collisions, rollovers, and falls during manual driving. Also, in the full manual mode, it is possible to select whether or not to include the safety support function. Alternatively, the safety support function could be included in all holes, or it could be included in long and medium holes, but not in short holes.

[0076] The system that provides the safety support functions described above is the system related to safe driving as referred to in the present invention, and is constructed by the aforementioned software and hardware. In other words, the software (positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d) is provided in advance as a system element for providing safety support functions, and the system related to safe driving is constructed by adding the hardware (GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d). In other words, by adding the hardware, the golf cart 2 is upgraded from a basic golf cart to a golf cart with advanced safety support functions.

[0077] Furthermore, in Cart Path Full Auto mode and Fairway Auto mode, the golfer can switch the start and stop of Golf Cart 2 using a remote control they carry. Additionally, the driver can stop and start Golf Cart 2 at their desired location by operating the switches (start switch and stop switch) equipped on the Golf Cart 2.

[0078] Furthermore, in cart path full auto mode and fairway auto mode, a follow function is activated to track the preceding golf cart 2. This follow function automatically stops the vehicle when the collision prevention sensor detects an obstacle (person, object, or other golf cart) a certain distance ahead on the road during automatic driving, and then automatically restarts the vehicle once the obstacle has been removed.

[0079] As described above, each driving mode is defined, and the following are examples of operating patterns that are generated by assigning a driving mode to each area.

[0080] <Operation Pattern A> Operating pattern A is the operating pattern used when the weather and turf conditions are good and driving on the fairway is possible. In operating pattern A, for example, the driving mode for area HA (including both the fairway FW and cart path CP) within each hole is assigned to the fairway auto mode, and the driving mode for joint area JA is assigned to the cart path full auto mode. In addition, the driving modes for area A1 between the clubhouse CH and the hole, area A2 between the clubhouse CH and the cart storage CS, and area A3 within the cart storage CS can be arbitrarily assigned, but in this embodiment, an automatic driving mode is assigned.

[0081] <Operation Pattern B> Operation Pattern B is for situations where the weather and turf conditions are poor and driving on the fairway is not possible. In other words, Operation Pattern B prohibits driving Golf Cart 2 onto the fairway in order to protect the turf on the fairway.

[0082] Specifically, in this operation pattern B, for example, the cart path fully automatic mode is assigned as the driving mode for the cart path CP, and the cart path fully automatic mode is also assigned as the driving mode for the joint area JA. Furthermore, the driving modes for area A1 between the clubhouse CH and the hole, area A2 between the clubhouse CH and the cart storage CS, and area A3 within the cart storage CS can be arbitrarily assigned, but in this embodiment, an automatic driving mode is assigned.

[0083] <Operation Pattern C> In addition, the following operating pattern C can be given as an example of another operating pattern. Similar to operating pattern A, this operating pattern C is an operating pattern for when the weather and turf conditions are good and driving on the fairway is possible. In this operating pattern C, for example, the driving mode for area HA (including both the fairway FW and cart path CP) within each hole is assigned to the fairway manual mode, and the driving mode for joint area JA is assigned to the cart path full auto mode. Furthermore, the driving modes for area A1 between the clubhouse CH and the hole, area A2 between the clubhouse CH and the cart storage CS, and area A3 within the cart storage CS can be arbitrarily assigned, but in this embodiment, an automatic driving mode is assigned.

[0084] In addition, while the aforementioned operating patterns used a common driving mode for each hole, it is also possible to assign different driving modes to each hole. For example, one could assign the Fairway Auto mode to long and medium holes, while assigning the Fairway Manual mode or Cart Path Full Auto mode to short holes.

[0085] The receiving unit 23b of the golf cart 2 receives information (information for selecting the operation pattern) transmitted from the transmitting unit 35 of the terminal device 3 via the communication device 27. In addition, the receiving unit 23b of the golf cart 2 can also receive other information, such as master information at the time of system installation, master information if the master information is rewritten, and command information corresponding to any trouble that occurs (for example, power off information or remote operation command information).

[0086] The operation pattern extraction unit 23c extracts operation pattern information from among the operation patterns stored in the operation pattern storage unit 32 that corresponds to the information received by the receiving unit 23b (information input by the golf course operator: weather information, etc.). For example, if the receiving unit 23b acquires information that extracts operation pattern A (for example, information such as a pattern in which the cart manually drives through each hole and automatically drives through the joint sections in sunny weather), it extracts operation pattern A from among the operation patterns stored in the operation pattern storage unit 32 and defines the driving modes assigned to each area in operation pattern A as the driving modes for each golf cart 2,2,...

[0087] The driving mode switching unit 23d recognizes the driving mode corresponding to the area in which the golf cart 2 is currently driving, in accordance with the information received by the receiving unit 23b. If the current driving mode of the golf cart 2 differs from the driving mode in light of the received information, it outputs a signal to automatically switch to the driving mode corresponding to the received information.

[0088] The control command signal generation unit 23e generates command signals to be output to the drive motor 24b, brake device 24c, and steering device 24d, respectively, based on signals from the driving mode switching unit 23d. Specifically, if the driving mode corresponding to the currently driven area is the automatic driving mode, it generates a command signal for automatic driving. On the other hand, if the driving mode corresponding to the currently driven area is the manual driving mode, it generates command signals corresponding to the amount of operation of the accelerator pedal 25a, brake pedal 25b, and steering wheel 21f.

[0089] The output unit 23f receives the control command signal output by the control command signal generation unit 23e and outputs the control command signal to the drive motor 24b, the brake device 24c, and the steering device 24d, respectively. As a result, the drive motor 24b starts and drives the golf cart 2, the brake device 24c applies braking force, and the steering device 24d steers the front wheels 22a.

[0090] -Operation example- Next, we will describe an example of operation of the golf cart operation management system 1 configured as described above. Here, in order to facilitate understanding of the invention, we will describe an example of operation in both cases where fairway driving is possible and when it is not. In other words, we will describe the case in which the operation pattern storage unit 23a stores both the operation pattern when fairway driving is possible and the operation pattern when fairway driving is not possible.

[0091] First, if fairway driving is permitted, early in the morning (before the golf course opens), the golf course operator operates terminal device 3 located in the master room to select a driving pattern that allows fairway driving. This information is then transmitted from transmission unit 35 to all golf carts 2,2,…. Upon receiving this information, the golf carts 2,2,… use the driving pattern extraction unit 23c to extract a driving pattern corresponding to sunny weather from the various driving patterns stored in the driving pattern storage unit 23a. Then, according to the operation of the driving mode switching unit 23d and the control command signal generation unit 23e, the driving is controlled by switching to the appropriate driving mode for each area. For example, if the aforementioned driving pattern A is selected, the driving mode for area HA (including both the fairway FW and cart path CP) within each hole will be set to fairway auto mode, and the driving mode for joint area JA will be set to cart path full auto mode. When the driving mode is automatically switched in this way, it is necessary to notify the driver of golf cart 2. For this reason, the current driving mode is displayed on the monitor screen installed in golf cart 2. The display on this monitor screen may show whether the vehicle is currently in manual or automatic driving mode, or it may show which of the aforementioned driving modes (cart path full auto mode, fairway auto mode, fairway manual mode, and full manual mode) the vehicle is in. In this case, since it is possible that the driver may not be familiar with the details of each driving mode, it is preferable to display on the monitor screen the areas where manual driving is possible and the areas where automatic driving is performed in the current driving mode to help the driver understand.

[0092] On the other hand, if fairway driving is not permitted, the golf course operator operates terminal device 3 early in the morning of the day to select a driving pattern that does not allow fairway driving, and this information is transmitted from transmission unit 35 to all golf carts 2,2,... Upon receiving this information, the golf carts 2,2,... use the driving pattern extraction unit 23c to extract a driving pattern that does not allow fairway driving from among the driving patterns stored in the driving pattern storage unit 23a. Then, according to the operation of the driving mode switching unit 23d and the control command signal generation unit 23e, the driving is controlled by switching to the appropriate driving mode for each area. For example, if the aforementioned driving pattern B is selected, the driving mode for area HA within each hole will be set to cart path full auto mode, and driving onto the fairway FW will be prohibited. The driving mode for joint area JA will also be set to cart path full auto mode. In this case as well, the current driving mode is displayed on the monitor screen mounted on golf cart 2.

[0093] -Effects of the embodiment- As described above, in this embodiment, the golf cart 2 is pre-equipped with only software (at least one of the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d) as system elements for constructing the automatic driving system and the safe driving system. The automatic driving system and the safe driving system are constructed by adding hardware (at least one of the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d that corresponds to the software) as system elements that are not provided. For this reason, for example, when constructing a new golf course, golf carts without automatic driving functions or high safety support functions can be adopted to reduce initial investment. When renovating the golf course or to meet the demands of golf course users, the same golf cart 2 can be upgraded to a golf cart 2 that is capable of automatic driving or a golf cart 2 that has high safety support functions, eliminating the need to replace the golf carts. Therefore, large amounts of capital are not required, and there is no need to discard the golf carts from when the golf course was first constructed, thus avoiding negative environmental impacts. Furthermore, the golf cart 2 (the golf cart 2 according to the embodiment, with the upgraded version) can be transferred to other golf courses that require a golf cart 2 capable of autonomous driving or a golf cart 2 equipped with advanced safety support functions. In addition, it is possible to return the golf cart 2 to its original state (a state in which some of the system elements that constitute the autonomous driving system and the safe driving system are installed) by removing the hardware or deleting (uninstalling) the software as requested. This makes it possible to provide a new type of golf cart 2 that has never existed before.

[0094] -Variations- Next, a modified example will be described. In the embodiment described above, the example was given in which only the software among the hardware and software for processing information from the hardware is provided in advance as a system element for constructing the system for autonomous driving and the system for safe driving. In this modified example, instead, only the hardware among the hardware and software among the system elements for constructing the system for autonomous driving and the system for safe driving is provided in advance.

[0095] Figure 7 is a block diagram showing an example of the schematic configuration of the control system of the golf cart 2 according to this modified example before the version upgrade. As shown in Figure 7, the golf cart 2 according to this modified example is equipped with a GPS module 26a, a camera 26b, a LiDAR 26c, and an AGV sensor 26d as hardware system elements that make up the system related to automatic driving and the system related to safe driving before the version upgrade. Since these hardware components have been described above, their explanation will be omitted here.

[0096] In this modified example, the software components that make up the system related to automatic driving and the system related to safe driving include the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d mentioned above. Figure 3 shows the state in which each software is added to the golf cart 2 equipped with the control system shown in Figure 7. Means for adding this software include installing the software into the RAM of each golf cart 2,2,... from a terminal device 3 or system management device 4 via a communication network 5, connecting a computer to the control device 23 of the golf cart 2 and installing the software into the RAM, or connecting a storage medium (SD card, USB memory, etc.) containing the software to the control device 23 of the golf cart 2.

[0097] In this way, by adding the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d, the golf cart 2 is upgraded from a basic golf cart to a multi-driving golf cart. In other words, the golf cart 2 will be configured to be capable of not only manual driving, but also automatic driving using GPS signals, image information, and object information, as well as electromagnetic induction driving using magnetic information detected by the AGV sensor 26d. Furthermore, the golf cart 2 will be upgraded from a basic golf cart to a golf cart 2 with enhanced safety support functions.

[0098] Furthermore, even in this modified example, the hardware components that make up the autonomous driving system and the safe driving system do not necessarily need to include all of these features; they can be selectively installed as needed. Alternatively, sonar, target sensors, etc., may be included instead of or in addition to this hardware. In this case, new software for processing information from the sonar and target sensors will be added.

[0099] In this modified example, as in the embodiment described above, the golf cart 2 is pre-equipped with only the hardware components that constitute the system elements for constructing the automated driving system and the safe driving system. The automated driving system and the safe driving system are constructed by adding the software components that are not present. This makes it possible to provide a new golf cart 2 that has not been seen before.

[0100] -Other Embodiments- Furthermore, the present invention is not limited to the embodiments and modifications described above, and all modifications and applications covered within the scope of the claims and equivalents thereof are possible.

[0101] For example, in the above embodiment, the golf cart 2 is upgraded by adding only the hardware to a golf cart 2 that is pre-equipped with each software, and in the above modified example, the golf cart 2 is upgraded by adding only the software to a golf cart 2 that is pre-equipped with each hardware. The present invention is not limited to these, and the golf cart 2 may be upgraded by adding hardware corresponding to the partial software and software corresponding to the partial hardware to a golf cart 2 that is pre-equipped with only some of the aforementioned software and only some of the aforementioned hardware. For example, the golf cart 2 is upgraded by adding a GPS module 26a and a camera 26b as hardware and object detection processing unit 28c and AGV processing unit 28d as software to a golf cart 2 that is pre-equipped with positioning processing unit 28a and image processing unit 28b as software and LiDAR 26c and AGV sensor 26d as hardware.

[0102] Furthermore, the above embodiments and modifications were described using as an example a case in which a golf cart operation management system 1 is constructed using multiple golf carts 2,2,... and an operation management device (terminal device 3 and system management device 4). The present invention is not limited to this, and a golf cart operation management system 1 may be constructed for each of the multiple golf carts 2,2,... (without requiring an operation management device). In this case, the information for which the operation pattern extraction unit 23c extracts an operation pattern will be directly input to each golf cart 2,2,... Specifically, this could involve connecting a terminal device to each golf cart 2,2,... to input information, or providing each golf cart 2,2,... with an operation unit for inputting information.

[0103] Furthermore, in the above embodiments and modifications, the operation pattern storage unit 23a, operation pattern extraction unit 23c, driving mode switching unit 23d, and control command signal generation unit 23e were each provided in the golf cart 2. The present invention is not limited to this, and the operation pattern storage unit 23a and operation pattern extraction unit 23c may be provided in the terminal device 3, or the operation pattern storage unit 23a, operation pattern extraction unit 23c, driving mode switching unit 23d, and control command signal generation unit 23e may each be provided in the terminal device 3.

[0104] Furthermore, in the above embodiments and modifications, the selectable driving modes were exemplified as fairway manual mode, full manual mode, cart path full auto mode, and fairway auto mode. The present invention is not limited to these, and other modes may be applied in place of or in addition to these driving modes.

[0105] Furthermore, in the above embodiment and its modifications, the golf course operator transmitted information (such as weather information) for selecting a driving pattern to each golf cart 2,2,... by operating the terminal device 3. The present invention is not limited to this, and the system manufacturer's administrator may transmit information for selecting a driving pattern to each golf cart 2,2,... by operating the system management device 4. Moreover, information for selecting a driving pattern may be transmitted to each golf cart 2,2,... from either the terminal device 3 or the system management device 4. In this case, it is preferable to decide in advance which of the information from the terminal device 3 and the information from the system management device 4 will be given priority.

[0106] Furthermore, the embodiments and other matters disclosed herein can also be understood as the technical concepts described in the following appendix.

[0107] (Note 1) In a golf cart that is permitted to travel within a designated area on a golf course, A golf cart characterized in that only one of the system elements—hardware and software for processing information from said hardware—is pre-installed, and the system for autonomous driving is constructed by adding the missing system element from the hardware and software.

[0108] (Note 2) In a golf cart that is permitted to travel within a designated area on a golf course, A golf cart characterized in that only one of the system elements—hardware and software for processing information from said hardware—is pre-installed, and the system for safe driving is constructed by adding the missing system element from the hardware and software.

[0109] (Note 3) In the golf cart described in Appendix 1, The aforementioned automated driving system is an AGV system for driving a golf cart along a cart path on a golf course using electromagnetic induction, the hardware is an AGV sensor, and the software is an AGV processing program that causes the cart to drive using electromagnetic induction based on information received from the AGV sensor.

[0110] (Note 4) In the golf cart described in Appendix 1, The aforementioned automatic driving system is an automatic driving system for driving a golf cart automatically within a golf course while recognizing the surrounding environment of the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is an automatic driving processing program that causes the golf cart to drive automatically based on information received from the hardware.

[0111] (Note 5) In the golf cart described in Appendix 2, The aforementioned safe driving system is a safe driving system that controls the golf cart within the golf course while recognizing the environment surrounding the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is a safe driving processing program that causes the golf cart to drive safely based on information received from the hardware. [Industrial applicability]

[0112] This invention is applicable to golf carts that allow for system upgrades related to autonomous driving and safe driving. [Explanation of Symbols]

[0113] 2 golf carts 26a GPS module (hardware) 26b Camera (Hardware) 26c LiDAR (hardware) 26d AGV sensor (hardware) 28a Positioning Processing Unit (Software) 28b Image Processing Unit (Software) 28c Object detection processing unit (software) 28d AGV Processing Unit (Software)

Claims

1. In a golf cart that is permitted to travel within a designated area on a golf course, A golf cart characterized in that only one of the system elements—hardware and software for processing information from said hardware—is pre-installed, and the system for autonomous driving is constructed by adding the missing system element from the hardware and software.

2. In a golf cart that is permitted to travel within a designated area on a golf course, A golf cart characterized in that only one of the system elements—hardware and software for processing information from said hardware—is pre-installed, and the system for safe driving is constructed by adding the missing system element from the hardware and software.

3. In the golf cart according to claim 1, The aforementioned automated driving system is an AGV system for driving a golf cart along a cart path within the golf course using electromagnetic induction, the hardware is an AGV sensor, and the software is an AGV processing program that causes the golf cart to perform the electromagnetic induction driving based on information received from the AGV sensor.

4. In the golf cart according to claim 1, The aforementioned automatic driving system is an automatic driving system for driving the golf cart automatically within the golf course while recognizing the surrounding environment of the golf cart, the hardware includes at least one of a GPS module, a camera, and LiDAR, and the software is an automatic driving processing program that causes the golf cart to drive automatically based on information received from the hardware.

5. In the golf cart according to claim 2, The golf cart is characterized in that the system for safe driving is a safe driving system that controls the golf cart within the golf course while recognizing the environment surrounding the golf cart, the hardware includes at least one of a GPS module, a camera, and LiDAR, and the software is a safe driving processing program that causes safe driving based on information received from the hardware.

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