In-house control system, in-house control method, program

Abstract

This system provides an in-park control system that is less prone to infinite loop conditions caused by head-on interference. [Solution] An in-park control system for controlling the travel route and current position of an autonomous vehicle within a parking area, comprising a departure request receiving unit, a node acquisition unit, and a command transmission unit. The departure request receiving unit receives departure requests from an autonomous vehicle that is a non-priority vehicle, or from a communication terminal corresponding to an autonomous vehicle. The node acquisition unit defines a node as the intersection of the travel directions of a priority vehicle and an autonomous vehicle that is a non-priority vehicle, and acquires the primary node, which is the next node that the autonomous vehicle responding to the departure request is to reach. The command transmission unit refers to distance measurement and speed information received from a radar that measures the distance and speed of the priority vehicle, and transmits a proceed command to the autonomous vehicle responding to the departure request when the relationship between the time required for the priority vehicle to reach the primary node and the time required for the autonomous vehicle responding to the departure request to reach the primary node satisfies a predetermined relationship.

Description

[Technical Field]

[0001] This disclosure relates to an on-site control system, on-site control method, and program for controlling the premises of parking lots, logistics warehouses, and other similar facilities. [Background technology]

[0002] Patent Document 1 is an example of a prior art parking assistance method for supporting an autonomous driving mobility vehicle (hereinafter also referred to as ADM) to perform efficient parking in a parking lot. The parking assistance method of Patent Document 1 includes the steps of setting an exclusive area which is an area where the movement of other vehicles is prohibited in order to secure the area in which a vehicle entering the parking lot moves, and which is uniformly determined according to the position of the parking space; acquiring a parking operation area necessary for the parking operation that is generated by the vehicle when the vehicle starts a parking operation to park in the parking space; and changing the exclusive area based on the parking operation area so as to secure at least the parking operation area. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2024-003597 [Overview of the project] [Problems that the invention aims to solve]

[0004] When an ADM (Assistance Device) travels within a parking lot or logistics warehouse, head-on collisions can occur. In such cases, where two ADMs are in close proximity and their directions of travel interfere with each other, they may continuously detect a "danger detection state," preventing either ADM from moving and potentially leading to an infinite loop in their processing. Setting an exclusive area, as described in Patent Document 1, is considered effective in avoiding this infinite loop. However, the parking assistance method described in Patent Document 1 is merely a method of assistance in the relationship between a vehicle attempting to enter a parking lot and other vehicles, and does not solve the infinite loop situation in general that can occur in various situations within parking lots, logistics warehouses, and other similar locations.

[0005] Therefore, the purpose of this disclosure is to provide an in-park control system that is less prone to infinite loop conditions caused by head-on interference. [Means for solving the problem]

[0006] The in-park control system of this disclosure is an in-park control system for controlling the travel route and current position of an autonomous vehicle within a parking area, and includes a vehicle departure request receiving unit, a node acquisition unit, and a command transmission unit.

[0007] The departure request receiving unit receives departure requests from non-priority vehicles (autonomous vehicles) or from communication terminals corresponding to autonomous vehicles. The node acquisition unit defines a node as the intersection of the directions of travel of a priority vehicle and a non-priority vehicle (autonomous vehicle), and acquires the primary node, which is the next node that the autonomous vehicle responding to the departure request is to reach. The command transmission unit refers to the distance measurement and speed information received from the radar that measures the distance and speed of the priority vehicle, and if the relationship between the time required for the priority vehicle to reach the primary node and the time required for the autonomous vehicle responding to the departure request to reach the primary node satisfies a predetermined relationship, it transmits a proceed command to the autonomous vehicle responding to the departure request. [Effects of the Invention]

[0008] According to the in-park control system disclosed herein, infinite loop conditions caused by head-on collisions are less likely to occur. [Brief explanation of the drawing]

[0009] [Figure 1] Block diagram showing the device configuration of the on-site driving support system of Example 1. [Figure 2] Block diagram showing the functional configuration of the on-site control system of Example 1. [Figure 3] Flowchart showing Process Example 1 at the time of shipment of the on-site control system of Example 1. [Figure 4] Diagram showing the arrangement of devices and nodes used in Process Example 1 at the time of shipment. [Figure 5] Diagram exemplifying the required time from the priority vehicle to the primary node of the autonomous vehicle. [Figure 6] Flowchart showing Process Example 2 at the time of shipment of the on-site control system of Example 1. [Figure 7] Diagram showing the arrangement of devices and nodes used in Process Example 2 at the time of shipment. [Figure 8] Flowchart showing Process Example 1 at the intersection of the on-site control system of Example 1. [Figure 9] Diagram showing the arrangement of devices and nodes used in Process Example 1 at the intersection. [Figure 10] Flowchart showing Process Example 2 at the intersection of the on-site control system of Example 1. [Figure 11] Diagram showing the arrangement of devices and nodes used in Process Example 2 at the intersection. [Figure 12] Flowchart showing Process Example 3 at the intersection of the on-site control system of Example 1. [Figure 13] Diagram showing the arrangement of devices and nodes used in Process Example 3 at the intersection. [Figure 14] Diagram showing an example of the node management range of the on-site control system of Example 1. [Figure 15] Diagram showing an example of the functional configuration of a computer.

Modes for Carrying Out the Invention

[0010] The embodiments of this disclosure will be described in detail below. Components having the same function will be numbered the same, and redundant explanations will be omitted. [Examples]

[0011] The configuration of the in-park driving support system 1 of Embodiment 1 will be described below with reference to Figure 1. As shown in the figure, the in-park driving support system 1 of this embodiment includes a vehicle passage sensor 3, a millimeter-wave radar 4, a priority vehicle 5, an automated driving motor (ADM) 6, an MMS (Mobility Management System) 6A, a vehicle presence information system 8, N vehicle presence sensors 8A-1, ..., 8A-N, an in-park 3D map system 9, a communication terminal 10, an in-park control system 11, and an ETC / license plate number reading system 12, with each device being connected for communication. In addition, the in-park driving support system 1 may include various display devices for human drivers. The following outlines the structure of the facility, the terminology used in this specification, the system, and each device.

[0012] <Inside the venue> The area within a facility managed by this system is simply referred to as "the premises." A facility refers to, for example, a parking lot, a logistics facility, or an automobile factory.

[0013] <Priority road, non-priority road> Within the facility grounds, there shall be designated priority lanes where priority driving is permitted and non-priority lanes where priority driving is not permitted.

[0014] <Priority vehicles, non-priority vehicles> Vehicles traveling on priority lanes (regardless of whether they are autonomous or manually driven) are referred to as priority vehicles, and vehicles traveling on non-priority lanes (regardless of whether they are autonomous or manually driven) are referred to as non-priority vehicles. Vehicles attempting to exit a parking space (or truck berth, etc.) are treated as non-priority vehicles. Priority vehicles are numbered in this specification and referred to as priority vehicle 5. Autonomous vehicles among non-priority vehicles are referred to as autonomous vehicle 6 (or ADM6) in this specification. In this embodiment, autonomous vehicle 6 may be an autonomous passenger car or an autonomous truck. If the facility dealt with in this embodiment is a parking facility, it is assumed that most of the autonomous vehicle 6 are autonomous passenger cars. On the other hand, if the facility dealt with in this embodiment is a logistics facility, it is assumed that most of the autonomous vehicle 6 are autonomous trucks.

[0015] <node> A node represents the intersection of the directions of travel of a priority vehicle and a non-priority vehicle, such as the autonomous vehicle 6. Typically, nodes appear in a lane in front of the passenger compartment or within an intersection where a priority lane and a non-priority lane intersect. In this specification, they are numbered and referred to as node 7.

[0016] <stop line> The stop line is located within a non-priority lane, for example, before an intersection where a priority lane and a non-priority lane intersect (hereinafter also referred to as a priority-non-priority intersection). Rules can be imposed on autonomous vehicles 6 merging from a non-priority lane onto a priority lane or crossing a priority lane to slow down or stop at the stop line. In this specification, it is numbered and referred to as stop line 2. Stop line 2 may be a white line actually displayed within the premises, a virtual object on a 3D map of the premises distributed to autonomous vehicles 6, or data in the form of a command indicating a stop at a predetermined location, without taking the form of an object on the 3D map. In this specification, "stop line 2" may refer to the actual stop line displayed within the premises, the data on the 3D map of the premises, or both.

[0017] ≪On-site driving support system 1≫ The on-site driving support system 1 provides driving support for the autonomous vehicle 6 operating within the facility grounds. Driving support includes instructing the autonomous vehicle 6 on its destination and route within the grounds, and imposing special restrictions on the autonomous vehicle 6's operation in accordance with the grounds' driving rules. The on-site driving support system 1 may also include functions to present and provide necessary information to the driver of a manually driven vehicle.

[0018] ≪Vehicle Passage Sensor 3≫ The vehicle passage sensor 3 is installed at a predetermined point on the non-priority lane before a priority-non-priority intersection, and is positioned to detect the passage of a vehicle traveling on the non-priority lane and heading towards the priority-non-priority intersection. Detection by the vehicle passage sensor 3 triggers the commencement of control over the autonomous vehicle 6 traveling near the priority-non-priority intersection (details will be described later).

[0019] ≪Millimeter-wave radar 4≫ The millimeter-wave radar 4 is primarily positioned to measure the distance and speed of priority vehicles 5 traveling on priority lanes.

[0020] ≪MMS(Mobility Management System)6A≫ MMS6A is a system for managing and monitoring the operation of autonomous vehicles. MMS6A is a system for remotely controlling autonomous vehicles and manages departure time, current location information, estimated time of arrival (ETA) after passing a specific location for each autonomous vehicle ID. In this embodiment, MMS6A is not a mandatory configuration requirement. As mentioned above, if the facility handled in this embodiment is a logistics facility, many of the autonomous vehicles 6 are autonomous trucks, and their control may be performed via MMS6A.

[0021] ≪Air Presence Information System 8≫ The occupancy information system 8 determines whether a vehicle is present in each vehicle bay (which may be interpreted as each truck berth in the case of a logistics facility) located within the facility, generates occupancy information indicating the occupancy / empty status of each vehicle bay, and transmits it to the on-site control system 11 in real time. The occupancy information system 8 acquires sensor information from N (where N is an integer of 1 or more) occupancy sensors 8A-1, ..., 8A-N at regular intervals.

[0022] ≪Occupancy Sensors 8A-1, ..., 8A-N≫ Occupancy sensors 8A-1, ..., 8A-N are sensors that monitor the occupancy of each vehicle compartment. Occupancy sensors 8A-1, ..., 8A-N can be implemented using, for example, conventional ultrasonic sensors or cameras. In the case of image recognition using a camera, the vehicle or luggage inside the compartment can be identified and treated as "occupied".

[0023] ≪Venue 3D Map System 9≫ The on-site 3D map system 9 consists of an on-site 3D map system database (not shown) and a map configuration system (not shown) that picks up maps from the database that include routes from the entrance to designated parking spaces, creates a driving route, and generates an on-site 3D map with a driving route.

[0024] <<Communication terminal 10>> The communication terminal 10 is a communication terminal that corresponds to the autonomous vehicle 6, which is a non-priority vehicle as described above. The communication terminal 10 may be a smartphone, for example. When the corresponding autonomous vehicle 6 is ready to depart, the communication terminal 10 sends a departure request to the on-site control system 11. For example, the departure request may be sent by an operator manually operating the communication terminal 10. If the autonomous vehicle 6 can communicate with the on-site control system 11 itself, the communication terminal 10 may be omitted.

[0025] ≪In-house control system 11≫ The track control system 11 is a system that primarily controls non-priority vehicles, such as automated driving motors (ADMs) 6, in accordance with the rules of the track. The track control system 11 is assumed to store the track driving rules, which consist of all nodes, stop lines, priority lanes, non-priority lanes, etc. The track control system 11 may consist of multiple computers or a single computer. A detailed example of the functional configuration within the track control system 11 will be described later.

[0026] ≪ETC / License Plate Recognition System 12≫ The ETC / license plate number reading system 12 is installed at a designated location within the facility (for example, near the entrance or exit) and reads ETC information or license plate number information of vehicles (regardless of whether they are autonomous or manually driven vehicles) traveling within the facility. Since ETC information and license plate number information are used for various purposes, it can be determined according to the design requirements whether the system reads ETC information, license plate number information, or both.

[0027] ≪Functional Configuration of the In-House Control System 11≫ The functional configuration of the in-park control system 11 will be explained below with reference to Figure 2. As shown in the figure, the in-park control system 11 includes an exit request receiving unit 111, an ETC / vehicle number information reference unit 112, a node acquisition unit 113, a distance measurement / speed information reference unit 114, a command transmission unit 115, and a sensor information receiving unit 116.

[0028] ≪Example of processing upon shipment 1≫ The following describes an example of the process after receiving a departure request from an autonomous vehicle 6 parked in a vehicle bay (truck berth), or from a communication terminal 10 corresponding to the autonomous vehicle 6, with reference to Figures 3 and 4.

[0029] First, the departure request receiving unit 111 receives a departure request from the autonomous vehicle 6, which is a non-priority vehicle, or from the communication terminal 10 corresponding to the autonomous vehicle 6 (S111).

[0030] The ETC / vehicle number information reference unit 112 references the ETC information or vehicle number information of the priority vehicle 5 (S112). As shown in Figure 4, the ETC / vehicle number reading system 12 is preferably installed near the vehicle compartment (truck berth).

[0031] If the ETC information or vehicle number information indicates that there is no priority vehicle 5 (priority vehicle present → N), the command transmission unit 115 transmits a proceed command to the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal 10 that sent the departure request) (S115A).

[0032] If the ETC information or vehicle number information indicates that a priority vehicle 5 exists (priority vehicle present → Y), the node acquisition unit 113 acquires the primary node, which is the next node that the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal 10 that sent the departure request) is trying to reach (S113).

[0033] For example, in the example shown in Figure 4, autonomous vehicle 6-1 is parked in the leftmost parking space (referred to as parking space 1), autonomous vehicle 6-4 is parked in the fourth parking space from the left (parking space 4), autonomous vehicle 6-5 is parked in parking space 5, autonomous vehicle 6-8 is parked in parking space 8, and autonomous vehicle 6-10 is parked in parking space 10. Each parking space is equipped with occupancy sensors 8A-1, 8A-2, ... For example, if an exit request is sent from autonomous vehicle 6-1 (or its corresponding communication terminal) parked in parking space 1, the node acquisition unit 113 acquires node 7-1, which is the next node that autonomous vehicle 6-1 will reach (i.e., the node directly in front of parking space 1), as the primary node.

[0034] When an exit request is sent from the autonomous vehicle 6-4 (or its corresponding communication terminal), the node acquisition unit 113 acquires node 7-4, which is the next node that the autonomous vehicle 6-4 will reach (i.e., the node directly in front of the vehicle compartment 4), as the primary node. Similarly, when an exit request is sent from the autonomous vehicle 6-x (or its corresponding communication terminal), the node acquisition unit 113 acquires node 7-x as the primary node (where x is a natural number). In the following explanation, we will assume that an exit request has been sent from the autonomous vehicle 6-1 (or its corresponding communication terminal), and will continue the explanation with node 7-1 as the primary node.

[0035] The distance measurement and speed information receiving unit 114 receives distance measurement and speed information from the millimeter-wave radar 4 that measures the distance and speed of the priority vehicle 5 (S114). The installation position of the millimeter-wave radar 4 is arbitrary, but its relative position to other structures is assumed to be known. For example, in the example in Figure 4, the millimeter-wave radar 4 is located at a distance D from node 7-1 in the opposite direction of travel of the priority road (towards the entrance). B It is positioned in an advanced location, and the ranging information from millimeter-wave radar 4 is D. A Therefore, D A +D B =D can be defined as the distance between priority vehicle 5 and node 7-1. If the distance between the vehicle compartments is d, then the distance between priority vehicle 5 and node 7-2 is D+d. Similarly, the distance between priority vehicle 5 and node 7-x can be found as D+(x-1)d.

[0036] Since the millimeter-wave radar 4 also acquires the speed information v1 of the priority vehicle 5, the time t1 required for the priority vehicle 5 shown in Figure 5 to reach the primary node 7-1 can be calculated as t1 = D / v1. On the other hand, the time t2 required for the autonomous vehicle 6-1 that sent the departure request (or the autonomous vehicle 6-1 corresponding to the communication terminal that sent the departure request) to reach the primary node 7-1 can be set as a constant, for example. t2 is the time required for the autonomous vehicle, which is stopped in the vehicle compartment, to start moving according to the normal autonomous driving process and reach a predetermined coordinate (primary node) located, for example, 1 to 5 m ahead, and this can be set to, for example, about 3 to 5 seconds.

[0037] The command transmission unit 115, referring to the distance measurement and speed information received from the millimeter-wave radar 4, sends a proceed command to the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal that sent the departure request) if the relationship between the time t1 required for the priority vehicle 5 to reach the primary node 7-1 and the time t2 required for the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal that sent the departure request) to reach the primary node 7-1 satisfies a predetermined relationship (S115A). If the relationship between t1 and t2 does not satisfy the predetermined relationship, the command transmission unit 115 sends a wait command to the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal that sent the departure request) (S115B), and the process returns to step S114. The above process is then repeated.

[0038] Here, the phrase "satisfying a predetermined relationship" can be considered, for example, as the case where |t1-t2|≧T, where T is a predetermined threshold. The above inequality is satisfied when there is a sufficient difference between t1 and t2. There are two possible scenarios for when there is a sufficient difference between t1 and t2: when t1 is sufficiently smaller than t2, and when t2 is sufficiently smaller than t1.

[0039] For example, if a predetermined threshold T = 3 seconds, and t1 = 10 seconds and t2 = 5 seconds, then |10-5| ≥ 3, thus satisfying the above inequality. In this case, it is considered that priority vehicle 5 is located at a sufficiently far distance from primary node 7-1 and therefore does not interfere with the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal that sent the departure request).

[0040] For example, if a predetermined threshold T = 3 seconds, and t1 = 1 second and t2 = 5 seconds, then |1-5| ≥ 3, thus satisfying the above inequality. In this case, since priority vehicle 5 is located in a position quite close to primary node 7-1, it is assumed that priority vehicle 5 passes primary node 7-1 well before the autonomous vehicle 6 that sent the departure request (or the autonomous vehicle 6 corresponding to the communication terminal that sent the departure request) starts moving, and therefore it is assumed that the two do not interfere with each other.

[0041] ≪Example of processing upon shipment 2≫ Below, we will explain the second example of the process when an autonomous vehicle 6 parked in a vehicle compartment (or truck berth, etc.) has been released (or when an autonomous vehicle 6 parked in a vehicle compartment has been released from a communication terminal corresponding to the autonomous vehicle 6 that is parked in a vehicle compartment), with reference to Figures 6 and 7.

[0042] Processing Example 2 is almost identical to Processing Example 1, but the ETC / vehicle number reading system 12 is omitted, which omits the branching for determining whether there is a priority vehicle (Y / N) in step S112.

[0043] Processing Example 2 is a processing example that is suitable for use on floors other than the entrance floor (floors where the ETC / license plate number reading system 12 does not exist) or in areas far from the installation location of the ETC / license plate number reading system 12 (truck berths), when the target facility is typically a multi-story parking garage or a logistics facility consisting of multiple floors.

[0044] In the case of processing example 2, after the dispatch request reception processing (S111) is executed, the node acquisition processing (S113) is executed, and after the distance measurement / speed information reception processing (S114) is executed, a determination is made as to whether t1 and t2 satisfy a predetermined relationship (for example, |t1-t2|≧T Y / N), and based on the result of the determination, the transmission processing of a proceed command or a standby command is executed (S115A / A115B).

[0045] ≪Example of intersection handling 1≫ The following describes an example of how to handle a situation where an autonomous vehicle 6 traveling on a non-priority lane attempts to enter a priority-non-priority intersection, referring to Figures 8 and 9. In the example in Figure 9, both the non-priority lane and the priority lane are assumed to be single lanes (examples with multiple lanes will be discussed later).

[0046] First, the sensor information receiving unit 116 receives sensor information from the vehicle passage sensor 3 (S116). Here, the vehicle passage sensor 3 transmits sensor information to the on-site control system 11 only when it detects the passage of a vehicle.

[0047] When the command transmission unit 115 receives sensor information, it commands the autonomous vehicle 6 corresponding to the sensor information to decelerate and stop at the stop line 2 corresponding to a predetermined point (S115C). As mentioned above, the stop line 2 may be a white line or the like actually shown in the park, a virtual object on a 3D map of the park distributed to the autonomous vehicle 6, or it may not take the form of an object but may be data in the form of a command instructing to stop at a predetermined position.

[0048] Next, the node acquisition unit 113 acquires the primary node, which is the node that the autonomous vehicle 6, which has been instructed to stop, will next attempt to reach (i.e., a node within the priority × non-priority intersection) (S113). In the example in Figure 9, this corresponds to the primary node 7-q, which is a node within the priority × non-priority intersection.

[0049] The distance measurement and speed information receiving unit 114 receives distance measurement and speed information from the millimeter-wave radar 4 that measures the distance and speed of the priority vehicle 5 (S114). The installation position of the millimeter-wave radar 4 is arbitrary, but it is assumed to be located in a position where distance measurement and speed information of the priority vehicle 5 on the priority road can be acquired, and the relative position of the millimeter-wave radar 4 and other structures is known.

[0050] The command transmission unit 115, referring to the received distance measurement and speed information, transmits a proceed command to the automated vehicle 6 that has been commanded to stop if the relationship between the time required for the priority vehicle 5 to reach the primary node and the time required for the automated vehicle 6 that has been commanded to stop to reach the primary node satisfies a predetermined relationship (S115A).

[0051] If the relationship between the two required times does not satisfy a predetermined relationship, the command transmission unit 115 sends a standby command to the automated driving vehicle 6 that has been commanded to pause (S115B), and the process returns to step S114. Then, the above process is repeatedly executed.

[0052] Here, the phrase "satisfying the predetermined relationship" refers, for example, to the time t1 required for priority vehicle 5 to reach primary node 7-q, as shown in Figure 9, and the time t1 required for the automated vehicle 6, which has been instructed to stop, to reach stop line 2. 20 Let w be the pause time at stop line 2, and t be the time required to reach the primary node 7-q from stop line 2. 21 Let T be the predetermined threshold, and for the "satisfying the predetermined relationship" mentioned above, for example, |t1-(t 20 +w+t 21 It can also be considered as the case where |≧T is satisfied. Note that it is also possible to set w=0, in which case deceleration towards stop line 2 will always occur, but the temporary stop at stop line 2 may be omitted.

[0053] ≪Example of intersection handling 2≫ The following describes example 2 of the process when an autonomous vehicle 6 traveling on a non-priority lane attempts to enter an intersection with a two-lane one-way priority lane (priority x non-priority intersection), with reference to Figures 10 and 11. In the example in Figure 11, the priority lane is assumed to be a two-lane one-way lane in the left-turn direction from the perspective of the non-priority lane.

[0054] The sensor information reception processing (S116) and the deceleration and temporary stopping processing at the stop line (S115C) are performed in the same way as in "Intersection Processing Example 1". Next, the node acquisition unit 113 acquires the primary node 7-r and secondary node 7-s, which are the first and second nodes that the autonomous vehicle 6, which has been commanded to stop, will attempt to reach when crossing the priority lane, and are nodes within the intersection (S113A). In the example in Figure 11, the primary node 7-r is the node corresponding to the left lane of the priority lane, and the secondary node 7-s is the node corresponding to the right lane of the priority lane.

[0055] Next, when the self-driving vehicle 6 instructed to stop temporarily is a left-turn vehicle, if the relationship between the time required for the priority vehicle 5 to reach the first node 7-r and the time required for the self-driving vehicle 6 instructed to stop temporarily to reach the first node 7-r satisfies a predetermined relationship, the command transmission unit 115 transmits a travel command to the self-driving vehicle 6 instructed to stop temporarily (S115A).

[0056] On the other hand, when the self-driving vehicle 6 instructed to stop temporarily is a left-turn vehicle and does not satisfy the above-mentioned predetermined relationship, the command transmission unit 115 transmits a standby command to the self-driving vehicle 6 instructed to stop temporarily (S115B).

[0057] Further, when the self-driving vehicle 6 instructed to stop temporarily is a straight-ahead vehicle and crosses the priority vehicle lane, if the relationship between the time required for all priority vehicles 5 to reach the first node 7-r and the second node 7-s and the time required for the self-driving vehicle 6 instructed to stop temporarily to reach the first node 7-r and the second node 7-s satisfies a predetermined relationship at both the first node 7-r and the second node 7-s, the command transmission unit 115 transmits a travel command to the self-driving vehicle 6 instructed to stop temporarily (S115A).

[0058] On the other hand, when the self-driving vehicle 6 instructed to stop temporarily is a straight-ahead vehicle and does not satisfy the predetermined relationship at either the first node 7-r or the second node 7-s, the command transmission unit 115 transmits a standby command to the self-driving vehicle 6 instructed to stop temporarily (S115B).

[0059] [[ID=1[]6]]Here, regarding the above-mentioned "satisfying the predetermined relationship", when the self-driving vehicle 6 is a left-turn vehicle, for example, as shown in FIG. 11, the time required for the priority vehicle 5-1 to reach the first node 7-r is t 11 Let the time required for the self-driving vehicle 6 instructed to stop temporarily to reach the stop line 2 be t 20 Let the temporary stop time at the stop line 2 be w, and the time required to reach the first node 7-r from the stop line 2 be t 21 Let the predetermined threshold be T. For example, |t 11 -(t 20 +w+t 21You can also consider this as the case where |≧T is satisfied.

[0060] Furthermore, regarding the "satisfying the predetermined relationship" mentioned above, if the autonomous vehicle 6 is traveling straight and crossing a priority lane, for example, as shown in Figure 11, the time required for the priority vehicle 5-2 to reach the secondary node 7-s is t 12 The time required for the autonomous vehicle 6, which has been instructed to stop, to reach the secondary node 7-s from the stop line 2 is t. 22 Let T be a predetermined threshold, for example, |t 12 -(t 20 +w+t 22 )|≧T satisfies the above |t 11 -(t 20 +w+t 21 You can also consider this as the case where |≧T is satisfied.

[0061] In the above example of "Intersection Processing Example 2," we considered an example of a one-way, two-lane priority road, but this processing can be extended to a one-way, M-lane priority road (where M is an integer greater than or equal to 2). In this case, the node acquisition unit 113 acquires the m-th node, which is the node that the automated driving vehicle 6, which has been instructed to stop, will attempt to reach when crossing the priority road, and is a node within the intersection.

[0062] When an automated vehicle 6 that has been ordered to stop crosses a priority lane, the command transmission unit 115 transmits a proceed command to the automated vehicle 6 that has been ordered to stop if the relationship between the time it takes for the priority vehicle 5 to reach the m-th node and the time it takes for the automated vehicle 6 that has been ordered to stop to reach the m-th node satisfies a predetermined relationship in all cases of m=1,...,M.

[0063] The command transmission unit 115 transmits a standby command to the automated driving vehicle 6 that has been commanded to temporarily stop if the predetermined relationship is not met in any of the cases m=1, ..., M.

[0064] Meanwhile, the autonomous vehicle 6, which was instructed to stop, c Next node (m cWhen merging onto a priority lane at m = 1, ..., M), the command transmission unit 115 determines that the relationship between the time required for priority vehicle 5 to reach the m-th node and the time required for the automated driving vehicle 6, which has been commanded to stop, to reach the m-th node is such that m = 1, ..., m c If the predetermined relationship is met in all cases, a proceed command is sent to the automated vehicle 6 that has been instructed to stop, m=1,…,m c If the predetermined relationship is not met in any of the cases, a standby command is sent to the autonomous vehicle 6 that has been ordered to stop.

[0065] ≪Example of intersection handling 3≫ The following describes example 3 of the process when an autonomous vehicle 6 traveling on a non-priority lane attempts to enter an intersection with a two-lane priority lane (priority x non-priority intersection) with a two-lane, two-way priority lane. Please refer to Figures 12 and 13.

[0066] The sensor information reception processing (S116) and the deceleration and temporary stopping processing at the stop line (S115C) are performed in the same way as in "Intersection Processing Example 1". Next, the node acquisition unit 113 acquires the primary node 7-r and secondary node 7-s, which are the first and second nodes that the autonomous vehicle 6, which has been commanded to stop, will try to reach when crossing the priority lane, and are nodes within the intersection (S113B). In the example in Figure 13, the primary node 7-r is the node corresponding to the left lane of the priority lane, and the secondary node 7-s is the node corresponding to the right lane of the priority lane.

[0067] If the autonomous vehicle 6 that has been instructed to stop is a vehicle making a left turn, the command transmission unit 115 transmits a proceed command and a wait command to the autonomous vehicle 6 in the same manner as in <Intersection Processing Example 2> (S115A, S115B).

[0068] If the autonomous vehicle 6 that has been instructed to stop is either going straight or turning right, the command transmission unit 115 transmits a proceed command or a wait command to the autonomous vehicle 6, similar to the example of a vehicle going straight in "Intersection Processing Example 2" (S115A, S115B).

[0069] Here, the "satisfying the predetermined relationship" mentioned above refers, for example, if the autonomous vehicle 6 is a left-turning vehicle, then |t 11 -(t 20 +w+t 21 You can also consider this as the case where |≧T is satisfied.

[0070] Furthermore, regarding the "satisfying the predetermined relationship" mentioned above, if the autonomous vehicle 6 is going straight or turning right, for example, |t 11 -(t 20 +w+t 21 )|≧T and |t 12 -(t 20 +w+t 22 You can also consider this as the case where both conditions |≧T are satisfied.

[0071] In the above example of "Intersection Processing Example 3," we considered an example of a two-lane priority road with two-way traffic. However, this processing can be extended to a priority road that is a left-turn L lane (where L is an integer of 1 or more) and a right-turn R lane (where R is an integer of 1 or more) as viewed from a non-priority road. In this case, the node acquisition unit 113 acquires the l-th node (l=1,...,L) that the automated driving vehicle 6, which has been commanded to stop, will attempt to reach when crossing the priority road, and which is a node within the intersection, and the L+r-th node (r=1,...,R) that the vehicle will attempt to reach, and which is a node within the intersection.

[0072] When an automated vehicle 6 that has been ordered to stop crosses a priority lane, the command transmission unit 115 transmits a proceed command to the automated vehicle 6 that has been ordered to stop if the relationship between the time it takes for the priority vehicle 5 to reach the l-th node and the time it takes for the automated vehicle 6 that has been ordered to stop to reach the l-th node, and the relationship between the time it takes for the priority vehicle 5 to reach the L+r-th node and the time it takes for the automated vehicle 6 that has been ordered to stop to reach the L+r-th node satisfies a predetermined relationship in all cases of l=1,...,L and r=1,...,R.

[0073] The command transmission unit 115 transmits a standby command to the automated driving vehicle 6 that has been commanded to stop if the predetermined relationship is not met in any of the cases where l=1,...,L and r=1,...,R.

[0074] Meanwhile, autonomous vehicle 6, which was instructed to stop, c Next node (l c When merging onto a priority lane at (1, ..., L), the command transmission unit 115 determines that the relationship between the time required for the priority vehicle 5 to reach the l-th node and the time required for the automated driving vehicle 6, which has been commanded to stop, to reach the l-th node is such that l = 1, ..., L c If the predetermined relationship is met in all cases, a proceed command is sent to the automated vehicle 6 that has been instructed to stop, and l=1,...,l c If the predetermined relationship is not met in any of the cases, a standby command is sent to the autonomous vehicle 6 that has been ordered to stop.

[0075] Also, the autonomous vehicle 6 that was instructed to stop r c Next node (r c When merging onto a priority lane at l=1,...,R), the command transmission unit 115 ensures that the above predetermined relationship is satisfied at l=1,...,L, and that the relationship between the time required for the priority vehicle 5 to reach node r and the time required for the automated driving vehicle 6, which has been commanded to stop, to reach node r is such that r=1,...,R c If the predetermined relationship is satisfied in all cases, a proceed command is sent to the automated vehicle 6 that has been instructed to stop, and if the predetermined relationship is not satisfied in any of l=1,...,L, or if r=1,...,r c If the predetermined relationship is not met in any of the cases, a standby command is sent to the autonomous vehicle 6 that has been ordered to stop.

[0076] ≪Node Management Scope of the In-House Control System 11≫ Regarding node management of the in-park control system 11, it is preferable to manage the section from the next stop line to the second stop line for the managed autonomous vehicle 6, as this avoids increasing the processing cost of the in-park control system 11.

[0077] For example, as illustrated in Figure 14, for the autonomous vehicle 6 shown in the figure, processing costs can be reduced by only determining the relationship with the relevant priority vehicle 5 in the section from stop line 2-1 to stop line 2-2.

[0078] <Note> The functions realized by the components described herein may be implemented in a circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), CPUs (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to realize the functions described herein. A processor includes transistors and other circuits and is considered a circuitry or processing circuitry. A processor may be a programmed processor that executes a program stored in memory.

[0079] In this specification, circuitry, unit, and means are hardware programmed to perform or execute the functions described herein. Such hardware may be any hardware disclosed herein, or any hardware known to be programmed to perform or execute the functions described herein.

[0080] If the hardware is a processor that is considered to be a type of circuitry, then the circuitry, means, or unit is a combination of hardware and software used to constitute the hardware and / or processor.

[0081] The various processes described above can be carried out by loading a program that executes each step of the above method into the recording unit 10020 of the computer shown in Figure 15, and then causing the control unit 10010, input unit 10030, output unit 10040, etc. to operate.

[0082] The program describing this process can be recorded on a computer-readable recording medium. Any computer-readable recording medium can be used, such as a magnetic recording device, optical disc, magneto-optical recording medium, or semiconductor memory.

[0083] Furthermore, this program may be distributed, for example, by selling, transferring, or lending portable recording media such as DVDs or CD-ROMs on which the program is recorded. Alternatively, the program may be stored in the storage device of a server computer and distributed by transferring the program from the server computer to other computers via a network.

[0084] A computer executing such a program may, for example, first store the program recorded on a portable storage medium or a program transferred from a server computer in its own storage device. Then, when processing is to be executed, the computer reads the program stored on its own storage medium and executes the processing according to the read program. Alternatively, the computer may directly read the program from the portable storage medium and execute the processing according to that program, or it may sequentially execute the processing according to the received program each time a program is transferred to it from a server computer. Furthermore, the processing may be executed by a so-called ASP (Application Service Provider) type service, where the processing function is realized only by execution instructions and result acquisition, without transferring the program from the server computer to this computer. Furthermore, the processing may be executed using a so-called SaaS (Software as a Service) type service, where a part of the server computer is made available to the user along with the program. In this form, the program includes information used for processing by an electronic computer that is equivalent to a program (data that is not a direct instruction to the computer but has the property of defining the computer's processing).

[0085] Furthermore, in this configuration, the device is configured by executing a predetermined program on a computer, but at least a part of these processes may be implemented in hardware.

Claims

1. An in-park control system that controls the route and current position of an autonomous vehicle within a parking area, A dispatch request receiving unit that receives dispatch requests from the autonomous vehicle, which is a non-priority vehicle, or from a communication terminal corresponding to the autonomous vehicle, A node is defined as the intersection of the directions of travel of the priority vehicle and the non-priority vehicle, the autonomous vehicle, and the node acquisition unit acquires the primary node, which is the next node that the autonomous vehicle responding to the departure request will attempt to reach. The system includes a command transmission unit that, when it refers to distance and speed information received from a radar that measures the distance and speed of the priority vehicle, determines that the relationship between the time required for the priority vehicle to reach the primary node and the time required for the automated vehicle responding to the dispatch request to reach the primary node satisfies a predetermined relationship, it transmits a dispatch command to the automated vehicle responding to the dispatch request. On-site control system.

2. The in-park control system according to claim 1, The time required for the aforementioned priority vehicle to reach the primary node is t. １ The time required for the autonomous vehicle to reach the primary node is t. ２ Let T be a predetermined threshold, and the case where the predetermined relationship is satisfied is |t １ -t ２ This is the case where |≧T| is satisfied. On-site control system.

3. The in-park control system according to claim 1, It includes an ETC / vehicle number information reference unit that references ETC information or vehicle number information obtained from an ETC / vehicle number reading system that reads ETC information or vehicle number information of the aforementioned priority vehicle, The command transmission unit, If the ETC information or the vehicle number information indicates that the priority vehicle does not exist, a proceed command is transmitted to the automated vehicle responding to the departure request. On-site control system.

4. An in-park control system that controls the route and current position of an autonomous vehicle within a parking area, A sensor information receiving unit receives sensor information from a vehicle passage sensor indicating that the autonomous vehicle, which is traveling on a non-priority lane and heading towards an intersection with a priority lane, has passed a predetermined point on the non-priority lane. A command transmission unit that, upon receiving the aforementioned sensor information, commands the autonomous vehicle corresponding to the sensor information to temporarily stop at the stop line corresponding to the predetermined point, The node is defined as the intersection of the directions of travel of a priority vehicle and a non-priority vehicle (an autonomous vehicle), and the system includes a node acquisition unit that acquires the primary node, which is the next node that the autonomous vehicle, which has been instructed to stop, is to reach. The command transmission unit, When the relationship between the time required for the priority vehicle to reach the primary node and the time required for the autonomous vehicle that has been ordered to stop to reach the primary node, based on the distance and speed information received from the radar that measures the distance and speed of the priority vehicle, satisfies a predetermined relationship, a command to proceed is transmitted to the autonomous vehicle that has been ordered to stop. On-site control system.

5. The in-park control system according to claim 4, Let the time required for the priority vehicle to reach the primary node be \(t\). １ Let the time required for the automated driving vehicle that has been commanded to stop temporarily to reach the stop line be \(t\). ２０ Let the temporary stop time be \(w\), and the time required to reach the primary node from the stop line be \(t\). ２１ Let a predetermined threshold be \(T\). The case where the predetermined relationship is satisfied means that \(|t\). １ −(t ２０ + w + t ２１ )|≥T is satisfied. On-site control system.

6. The in-park control system according to claim 4, When the aforementioned priority lane has an M lane (where M is an integer of 2 or more), The node acquisition unit, When the autonomous vehicle that has been instructed to stop crosses the priority lane, the mth node (m=1, ..., M) that it intends to reach is obtained, which is a node within the intersection. The command transmission unit, When the autonomous vehicle that has been ordered to stop crosses the priority lane, if the relationship between the time it takes for the priority vehicle to reach the m-th node and the time it takes for the autonomous vehicle that has been ordered to stop to reach the m-th node satisfies a predetermined relationship in all cases of m = 1, ..., M, then a command to proceed will be transmitted to the autonomous vehicle that has been ordered to stop. On-site control system.

7. The in-park control system according to claim 4, When the priority lane has a left-turn L lane (where L is an integer of 1 or more) and a right-turn R lane (where R is an integer of 1 or more) as viewed from the non-priority lane, The node acquisition unit, When the autonomous vehicle that has been commanded to stop crosses the priority lane, the l-th node (l=1, ..., L) that it attempts to reach is a node within the intersection, and the L+r-th node (r=1, ..., R) that it attempts to reach is a node within the intersection, is obtained. The command transmission unit, When the autonomous vehicle that has been ordered to stop crosses the priority lane, if the relationship between the time it takes for the priority vehicle to reach the l-th node and the time it takes for the autonomous vehicle ordered to stop to reach the l-th node, and the relationship between the time it takes for the priority vehicle to reach the L+r-th node and the time it takes for the autonomous vehicle ordered to stop to reach the L+r-th node satisfies a predetermined relationship in all cases of l=1,...,L and r=1,...,R, then a proceed command will be transmitted to the autonomous vehicle that has been ordered to stop. On-site control system.

8. An on-site control method performed by an on-site control system that controls the route and current position of an autonomous vehicle within a site, The steps include receiving a dispatch request from the autonomous vehicle, which is a non-priority vehicle, or from a communication terminal corresponding to the autonomous vehicle, The node is defined as the intersection of the directions of travel of the priority vehicle and the non-priority vehicle, the autonomous vehicle, and the step of obtaining the primary node, which is the next node that the autonomous vehicle responding to the departure request will attempt to reach, The process includes the step of referring to distance and speed information received from a radar that measures the distance and speed of the priority vehicle, and if the relationship between the time required for the priority vehicle to reach the primary node and the time required for the automated vehicle responding to the dispatch request to reach the primary node satisfies a predetermined relationship, then transmitting a proceed command to the automated vehicle responding to the dispatch request. In-park control procedures.

9. A program that causes a computer to execute the in-park control method described in claim 8.

Images