Fleet operation systems, autonomous trucks, programs

Abstract

We provide a fleet operation system that prevents congestion within logistics facilities caused by data downloads. [Solution] A fleet operation system for managing and monitoring the operation of autonomous trucks, comprising: a temporary destination information transmission unit that transmits location information of a temporary destination located within a waiting zone provided on the premises of a target logistics facility to an autonomous truck having a driving route generation function and storing a 3D digital map of the target logistics facility; a true destination information receiving unit that receives location information of the true destination within the premises of the target logistics facility from a berth information linkage system, which is a system that supports the operation of autonomous trucks within the target logistics facility; and a true destination information transmission unit that transmits location information of the true destination to the autonomous truck.

Description

Technical Field

[0001] The present disclosure relates to a fleet operation system for operating management / driving monitoring of autonomous trucks, autonomous trucks, and programs.

Background Art

[0002] Towards realizing level 4 autonomous driving for large trucks, various efforts have been made (for example, Non-Patent Document 1). According to Non-Patent Document 1, the section assumed as the level 4 autonomous driving section is the section from entering a highway interchange to exiting the interchange. If in the future, logistics facilities directly connected to or connected by limited general roads to highway interchanges can be connected by level 4 autonomous driving, it is expected that the efficiency of logistics will be dramatically improved.

[0003] There has been no knowledge until now about what behaviors are required of a level 4 autonomous driving truck (Auto Driving Truck, hereinafter also referred to as ADT) after it enters a logistics facility building. Inside the logistics facility building, since radio waves from satellites are difficult to reach, it is difficult to accurately grasp the vehicle's own position with a general GPS. Therefore, it is considered that an in-facility 3D digital map and a driving route are required inside the logistics facility building. Among autonomous driving trucks, there are types that can generate an in-facility driving route by themselves and types that cannot generate an in-facility driving route by themselves.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

[0005] Autonomous trucks that can generate their own routes within a building need to download destination information within the logistics facility, while autonomous trucks that cannot generate their own routes need to download the route to the destination within the logistics facility and a 3D digital map of the logistics facility.

[0006] The daily usage of the logistics facility is constantly fluid due to delays or early arrivals of autonomous trucks, and may not proceed according to the timetable planned from prior reservations. Therefore, the destination within the logistics facility for each autonomous truck may be decided or changed at the last minute. Considering these circumstances, it is assumed that the aforementioned download process will take place within the logistics facility (for example, near the entrance) after each autonomous truck has arrived at the facility.

[0007] Since autonomous trucks cannot move from their current location until the aforementioned download process is complete, if the amount of data to be downloaded is large, the time it takes to download could potentially cause congestion within the logistics facility.

[0008] Therefore, this disclosure aims to provide a Fleet Operation System (hereinafter also referred to as FOS) that prevents congestion within logistics facilities caused by data downloads. [Means for solving the problem]

[0009] The fleet operation system of this disclosure is a system for managing and monitoring the operation of autonomous trucks, and includes a temporary destination information transmission unit, a true destination information reception unit, and a true destination information transmission unit.

[0010] The temporary destination information transmission unit transmits location information of a temporary destination located within a waiting zone established on the premises of the target logistics facility to an autonomous driving truck that has a driving route generation function and stores a 3D digital map of the target logistics facility.

[0011] The true destination information receiving unit receives location information of the true destination within the premises of the target logistics facility from the berth information linkage system, which is a system that manages the operation of autonomous trucks within the target logistics facility.

[0012] The true destination information transmission unit transmits the location information of the true destination to the autonomous truck. [Effects of the Invention]

[0013] The fleet operation system described herein can prevent congestion within logistics facilities caused by data downloads. [Brief explanation of the drawing]

[0014] [Figure 1] A block diagram showing the device configuration of the berth control system in Example 1. [Figure 2] A schematic plan showing an example of road structure around the refuge zone of a target logistics facility. [Figure 3] A block diagram showing the functions of FOS and ADT in Example 1. [Figure 4] A flowchart illustrating the operation of FOS and ADT (first type) in Example 1. [Figure 5] A flowchart illustrating the operation of FOS and ADT (second type) in Example 1. [Figure 6] A block diagram showing the functional configuration of the berth information linkage system in Example 1. [Figure 7] A sequence diagram illustrating berth reservation and the operation of the first type of berth assignment. [Figure 8] A sequence diagram showing berth reservation and a second type of berth designation operation. [Figure 9] A diagram illustrating an example of a computer's functional configuration.

Mode for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present disclosure will be described in detail. Components having the same function are denoted by the same reference numerals, and redundant descriptions are omitted.

Examples

[0016] In the following Example 1, for a predetermined automated driving truck, a situation where there is a driving plan to a target logistics facility (hereinafter also referred to as the target logistics facility), or a situation where a predetermined automated driving truck has started driving towards the target logistics facility, or a situation where a predetermined automated driving truck has already arrived at the target logistics facility but has not yet reached the final destination within the target logistics facility, the description will proceed assuming any of these situations.

[0017] It is assumed that the target logistics facility is controlled by the berth control system shown in FIG. 1. Hereinafter, the configuration of the berth control system 1 of this embodiment will be described with reference to the same figure. As shown in the figure, the berth control system 1 of this embodiment includes a berth information cooperation system 105, a berth reservation system 110, an entry authentication system 115, a berth occupancy information system 120, a berth sensor group 120-a, b,... FOS 125, a display device 130, an information input terminal 135, N (N is a natural number) automated driving trucks (ADT) 140-1,..., 140-N, an in-facility 3D digital map system 150 with a driving route, an automated driving truck database 155, and a cargo information system 160.

[0018] When describing the common features of the berth sensor group 120-a, b,..., the branch numbers are omitted and it is simply denoted as the berth sensor 120. Similarly, when describing the common features of the automated driving trucks (ADT) 140-1,... 140-N, they are denoted as the automated driving truck 140 or ADT 140. Hereinafter, each system and each term included in the berth control system 1 will be described.

[0019] <Birth Information Linkage System 105> The berth information linkage system 105 is a system that supports the operation of ADT140s within a logistics facility. The berth information linkage system 105 includes functions such as receiving berth reservations from logistics companies that operate trucks based on berth designations made by warehouse tenant companies (hereinafter also referred to as tenants) within the logistics facility, checking whether other ADT140s are already present in the reserved berth in cooperation with the berth occupancy information system 120, and transmitting necessary information to the FOS125 and ADT140s so that the ADT140s can travel to the designated berths. The berth information linkage system 105 can be implemented by a single device or by a group of multiple devices. Similarly, each of the systems described below can be implemented by a single device or by a group of multiple devices.

[0020] <Birth reservation system 110> The berth reservation system 110 is typically used by tenants and logistics companies when reserving berths. The berth reservation system 110 is also used to modify berth reservations. The berth reservation system 110 has the function of sending completion notifications to the berth information linkage system 105 to notify the completion of operations such as unloading, loading, refueling, charging, and refueling with hydrogen or other power sources.

[0021] <Entry Authentication System 115> The entry authentication system 115 is a system that verifies vehicles that are permitted to enter and prompts the vehicle to determine its destination berth number. The entry authentication system 115 determines whether the entering vehicle is registered with the tenant. Registration is performed in advance at an information input terminal 135 connected to the berth information linkage system 105. The entry authentication system 115 performs vehicle identification using the vehicle number, ETC onboard unit information, etc. The entry authentication system 115 also determines the type of ADT 140 (described later). If the entry authentication result indicates that the vehicle is registered, the entry authentication system 115 permits the vehicle to enter.

[0022] <berth occupancy information system 120> The berth occupancy information system 120 determines whether trucks or other vehicles are present at each berth located on each floor of the logistics facility, generates berth occupancy information indicating the occupancy / empty status of each berth, and transmits it to the berth information linkage system 105 in real time. Preferably, the berth occupancy information can be managed separately for each tenant's usage area, as set out by the contract between each tenant and the system administrator. The berth occupancy information system 120 is linked with the berth sensor group 120-a,b,...

[0023] <Birth Sensor 120> The berth sensor 120 can be implemented using, for example, conventional ultrasonic sensors or cameras. In the case of image recognition using a camera, it may be possible to identify luggage or vehicles within the berth and treat them as "in-place".

[0024] <fos125> FOS125 is a system that manages and monitors the operation of ADT140s owned by autonomous trucking companies. FOS125 is a system that allows remote control of the ADT140s and manages departure time, current location information, estimated arrival time (ETA) after passing a specific location for each ADT140 ID.

[0025] <Display device 130> For example, if a logistics facility operates with a mix of ADT140 and manned trucks, the system needs to notify manned trucks of designated berths, etc. The display device 130 is installed near the entrance of the logistics facility and on each floor, and has the function of displaying the system-designated berths, etc., to manned trucks that have passed authentication upon entry and to trucks that have completed their work.

[0026] <Information input terminal 135> The information input terminal 135 is a terminal that can input information to the berth information linkage system 105. Typically, the information input terminal 135 is operated by the administrator of the berth information linkage system 105, for example, when the administrator of the berth information linkage system 105 changes reservation information and specifies and inputs new reservation information. In some cases, a tenant may also operate the information input terminal 135 to input reservation information. In this figure, the berth information linkage system 105 and the information input terminal 135 are shown separately, but the information input terminal 135 can be considered as being included within the berth information linkage system 105.

[0027] <Autonomous Driving Truck (ADT) 140> In this disclosure, the Autonomous Driving Truck (ADT) 140 refers to a truck that travels autonomously between and within logistics facilities, and enters logistics facilities for tasks such as unloading and loading. This disclosure assumes that the ADT 140 is unmanned. There are two types of ADT 140 (Type 1 and Type 2).

[0028] <Type 1> The first type is one that holds a 3D digital map of the inside of a logistics facility building and has a function to generate driving routes.

[0029] <Type 2> The second type is one that does not have a route generation function.

[0030] <3D digital map system with driving route information for the premises 150> The 3D digital map system 150 with driving routes consists of a 3D digital map system database (not shown) and a map configuration system (not shown) that creates a 3D digital map with driving routes by picking maps from the database that include routes from the entrance to designated berths and creating driving routes. When the 3D digital map system 150 detects a second type ADT 140, it transmits the generated 3D digital map with driving routes to the berth information linkage system 105.

[0031] <Autonomous Driving Truck Database 155> The autonomous driving truck database 155 is a database that stores the ID of the ADT140, vehicle inspection information for each ADT140 ID, maintenance information, etc.

[0032] <id> The ID is an identifier for the ADT140, and is typically a vehicle number, ETC onboard unit information, etc. The ADT140 ID is used for berth reservations and work completion notifications by the berth reservation system 110, truck management in FOS125, entry authentication by the entry authentication system 115, truck management by the automated driving truck database 155, and cargo management by the cargo information system 160.

[0033] <Cargo Information System 160> The cargo information system 160 is a system that manages packing lists, the final destination of the cargo, and tenant information at the arrival facility for each ADT140 ID.

[0034] <Road structure of passing zones and surrounding areas> The road structure of the refuge zone and its surroundings will be described below with reference to Figure 2. For example, it is preferable to provide the road structure shown in the figure near the entrance to the building of the logistics facility (mainly indoors) or near the entrance to the site of the logistics facility (mainly outdoors). For example, it is preferable to place the aforementioned entry authentication system 115 near the entrance to the building of the logistics facility or the entrance to the site of the logistics facility and perform entry authentication for ADTs 140 attempting to enter the building or site.

[0035] In the example shown in the figure, the entrance road 51 extends from the location of the entry authentication system 115 in the direction toward the logistics facility. The entrance road 51 branches at branching point 52, with one branch becoming a straight path 54 and the other branch becoming a waiting zone 55. The gate 53 may be located between branching point 52 and the straight path 54, or between branching point 52 and the entrance road 51.

[0036] The straight-ahead route 54 is the primary access route to any area within the logistics facility, such as the logistics area 57, the swapping area 58, and the waiting area 59 (described later).

[0037] Since the straight-ahead route 54 is the main access route into the logistics facility, congestion on the straight-ahead route 54 could reduce the overall logistics efficiency of the facility. However, this congestion can be prevented by effectively using the passing zone 55 (the method of using the passing zone 55 will be described later).

[0038] The passing zone 55 may be a one-lane road, a road with two or more lanes, a parking lot, or a road with parallel parking spaces along its side. As shown in the figure, the passing zone 55 may merge with the straight route 54 at a merging point 56 ahead of the branching point 52.

[0039] A temporary destination 50 is set within the evacuation zone 55. Since the temporary destination 50 is a coordinate used for system processing, no specific structure is required within the actual evacuation zone 55 to serve as the temporary destination 50. The temporary destination 50 will be explained later.

[0040] Gate 53 is primarily intended for manned trucks and ADT140s that are near the branching point 52 and intend to proceed along the straight-ahead route 54. It is installed to enable safe and smooth merging at the merging point 56. For example, when an ADT140 is about to merge onto the straight-ahead route 54 from the waiting zone 55, closing Gate 53 and having manned trucks wait at branching point 52 can prevent collisions, near misses, and other incidents at the merging point 56.

[0041] Similar to gate 53, gate 5a may be placed before the junction point 56 within the refuge zone 55 to control the ADT 140 within the refuge zone 55. Since the ADT 140 can recognize virtual objects and coordinates, gate 5a may be used as a virtual gate and the physical gate may be omitted.

[0042] The logistics area 57 is an area with logistics functions, including warehouses and berths connected to the warehouses, and is mainly used for unloading and loading. The swapping area 58 is an area with a vehicle swapping function, and is used for operations such as separating the cargo bed from the truck head or chassis, replacing the cargo bed with another truck head or chassis, and the driver getting on and off the ADT and switching between manned and unmanned operations.

[0043] The waiting area 59 is an area with a waiting function for waiting to enter the logistics area 57 or the swapping area 58, and is mainly used for the ADT140 to wait when the designated berth numbers of the originally reserved logistics area 57 or swapping area 58 are occupied due to delays in operations, etc. The berth of the waiting area 59 may also be designated as an alternative berth number as described later.

[0044] In this embodiment, it is assumed that the parking positions of the logistics area 57, the swapping area 58, and the waiting area 59 are partitioned by berths, and berth numbers are assigned to the berths in any of these areas.

[0045] A true destination 60 is set in any of the logistics area 57, the swapping area 58, and the waiting area 59 as compared with the aforementioned temporary destination 50. The true destination 60 will be described later.

[0046] Wireless communication devices 5b are arranged around the access road 51, the branch point 52, the avoidance zone 55, and in the logistics area 57, the swapping area 58, and the waiting area 59. The berth information cooperation system 105 and the FOS125 can transmit data to the ADT140 via the wireless communication devices 5b, and the ADT140 can download the data. The wireless communication device 5b may be, for example, a wireless LAN router or the like.

[0047] <Functional configurations of the FOS125 and the ADT140> The functional configurations of FOS125 and ADT140 will be described below with reference to FIG. 3. As shown in the figure, FOS125 includes a temporary destination information transmission unit 1250, an actual destination information reception unit 1251, and an actual destination information transmission unit 1252. Depending on the processing variations, the actual destination information reception unit 1251 and the actual destination information transmission unit 1252 may be omitted.

[0048] In addition, ADT140 includes a temporary destination information reception unit 141, a travel route generation unit 142, a travel control unit 143, an actual destination information reception unit 144, and a 3D map storage unit 145.

[0049] Note that the travel route generation unit 142 is required for the aforementioned first type of ADT140, but may be omitted in the second type of ADT140.

[0050] Also, in the case of the first type of ADT140, a 3D digital map of the target logistics facility is pre-stored in the 3D map storage unit 145. However, in the case of the second type of ADT140, a 3D digital map of the target logistics facility may not be pre-stored in the 3D map storage unit 145.

[0051] <Operations of FOS125 and the First Type of ADT140> The operations of FOS125 and the first type of ADT140 will be described below with reference to FIG. 4. The temporary destination information transmission unit 1250 of FOS125 transmits the position information of the temporary destination 50 to the first type of ADT140 (S1250).

[0052] The temporary destination information reception unit 141 of ADT140 receives the position information of the temporary destination 50 from FOS125 (S141).

[0053] Next, the travel route generation unit 142 of ADT140 generates a travel route to the temporary destination 50 based on the received position information of the temporary destination 50 and the 3D digital map of the target logistics facility stored in the 3D map storage unit 145 (S142-1).

[0054] The driving control unit 143 performs automatic driving according to the driving route to the provisional destination 50 and the 3D digital map (S143-1).

[0055] The processing timing for step S1250 is preferably, for example, before the ADT140 begins its journey to the destination logistics facility. Typically, step S1250 is performed simultaneously when the destination logistics facility is set as the next destination.

[0056] By performing step S1250 at this point, the ADT140, upon arriving at the target logistics facility, can travel within the facility's building (or premises) according to the route to the provisional destination 50, even before receiving further instructions from the logistics facility (for example, instructions specifying the true destination 60, which will be described later).

[0057] When ADT140 arrives at the temporary destination 50, it will wait there if it has not yet received further instructions. However, since the temporary destination 50 is located within the waiting zone 55, it will not obstruct traffic on the straight route 54. Furthermore, even if it takes time to download the next instructions for ADT140 (for example, instructions specifying the true destination 60), ADT140 will wait at or near the temporary destination 50 within the waiting zone 55 for the download, thus not obstructing traffic on the straight route 54 and not contributing to a decrease in logistics efficiency.

[0058] Next, if the berth information linkage system 105 is configured to always communicate with the ADT 140 via the FOS 125, the berth information linkage system 105 transmits the location information of the true destination 60 to the FOS 125 (S1055). As mentioned above, in this embodiment, the true destination 60 is a berth number within the logistics area 57, swapping area 58, or waiting area 59, and is the destination of the ADT 140 derived by the berth information linkage system 105 from prior reservation information and the current berth availability status (details will be described later).

[0059] In this case, the true destination information receiving unit 1251 of FOS125 receives the position information of the true destination 60 (S1251). The true destination information transmitting unit 1252 of FOS125 transmits the position information of the true destination 60 received by ADT140 (S1252). The true destination information receiving unit 144 of ADT140 receives the position information of the true destination 60 from FOS125 (S144).

[0060] In the case of a specification where the birth information cooperation system 105 communicates directly with ADT140 without going through FOS125, the aforementioned steps S1251 and S1252 are omitted. In this case, the true destination information receiving unit 144 of ADT140 receives the position information of the true destination 60 from the birth information cooperation system 105 (S144).

[0061] If the download of the position information of the true destination 60 is not completed (Download completed? → N), the automatic driving to the temporary destination 50 is continued, and after arriving at the temporary destination 50, a temporary stop and waiting at the temporary destination 50 are executed (S143-1).

[0062] If the download of the position information of the true destination 60 is completed (Download completed? → Y), the travel route generation unit 142 of ADT140 generates a travel route to the true destination 60 based on the received position information of the true destination 60 and the 3D digital map (S142-2). The travel control unit 143 executes automatic driving according to the travel route to the true destination 60 and the 3D digital map (S143-2).

[0063] <Operations of FOS125 and the Second-Type ADT140> The operation of the FOS125 and the second type ADT140 will be explained below with reference to Figure 5. The temporary destination information transmission unit 1250 of the FOS125 transmits to the second type ADT140 the driving route to the temporary destination 50 and the 3D digital map of the rest area 55, which is a 3D digital map of the rest area 55 (S1250a). If the rest area 55 is located outdoors, the 3D digital map of the rest area may be omitted because it is within the effective range of GPS. Also, if the rest area 55 is located outdoors, the driving route to the temporary destination 50 may be omitted, and the temporary destination information transmission unit 1250 may instead transmit the location information of the temporary destination 50.

[0064] The temporary destination information receiving unit 141 of the ADT140 receives the driving route from the FOS125 to the temporary destination 50 and a 3D digital map of the passing zone (S141a).

[0065] The 3D digital map of the evacuation zone only needs to be a partial 3D map that reflects only the building structure around the evacuation zone 55, and does not need to be a 3D map of the entire logistics facility. By making the 3D digital map of the evacuation zone a partial 3D map, the data capacity is reduced, and steps S1250a and S141a can be executed at high speed. If the evacuation zone 55 is located outdoors, the 3D digital map of the evacuation zone may be omitted because it is within the effective range of GPS. Also, if the evacuation zone 55 is located outdoors, the driving route to the temporary destination 50 may be omitted, and the temporary destination information receiving unit 141 may instead receive location information of the temporary destination 50.

[0066] Next, the ADT140's driving control unit 143 performs automatic driving according to the driving route to the temporary destination 50 and the 3D digital map of the passing zone (S143-1). If the passing zone 55 is outdoors, the driving control unit 143 performs automatic driving according to the location information of the temporary destination 50.

[0067] As mentioned above, the processing timing of step S1250a is preferably, for example, before the ADT140 starts traveling to the target logistics facility. Typically, step S1250a is executed simultaneously when the target logistics facility is set as the next destination.

[0068] In the second type of ADT140, the amount of download data associated with the true destination 60 is expected to be large, making it highly likely that there will be a waiting time at the temporary destination 50. In this case, the ADT140 will wait at the temporary destination 50 until the download is complete, but this waiting time will not disrupt traffic on the straight route 54, and thus will not reduce logistics efficiency.

[0069] Next, if the berth information linkage system 105 is configured to always communicate with the ADT 140 via the FOS 125, the berth information linkage system 105 transmits to the FOS 125 the travel route to the true destination 60 and the in-house 3D digital map, which is a 3D digital map of the logistics facility (S105a). As mentioned above, in this embodiment, the true destination 60 is a berth number within the logistics area 57, swapping area 58, or waiting area 59. The in-house 3D digital map is preferably a 3D map that covers all or only the necessary parts of the area in the logistics facility where the ADT 140 travels.

[0070] In this case, the true destination information receiving unit 1251 of FOS125 receives the driving route to the true destination 60 and the in-park 3D digital map (S125a). The true destination information transmitting unit 1252 of FOS125 transmits the received driving route to the true destination 60 and the in-park 3D digital map to ADT140 (S125b). The true destination information receiving unit 144 of ADT140 receives the driving route to the true destination 60 and the in-park 3D digital map from FOS125 (S144a).

[0071] When the birth information cooperation system 105 communicates directly with the ADT 140 without going through the FOS 125, the aforementioned steps S125a and S125b are omitted. In this case, the true destination information receiving unit 144 of the ADT 140 receives the driving route to the true destination 60 and the in-site 3D digital map from the birth information cooperation system 105 (S144a).

[0072] If the download of the driving route to the true destination 60 and the in-site 3D digital map is not completed (Download completed? → N), the automatic driving to the temporary destination 50 continues, and after arriving at the temporary destination 50, a temporary stop and waiting at the temporary destination 50 are executed (S143-1).

[0073] If the download of the driving route to the true destination 60 and the in-site 3D digital map is completed (Download completed? → Y), the driving control unit 143 executes automatic driving according to the driving route to the true destination 60 and the in-site 3D digital map (S143-2).

[0074] <When the ADT 140 does not pass through the parking bay 55> As shown in FIG. 2, there are cases where the wireless communication device 5b is arranged in front of the branch point 52 such as the access road 51. By performing wireless communication using these wireless communication devices 5b, the download of the data related to the true destination 60 may be completed before the ADT 140 reaches the branch point 52.

[0075] In this case, since the ADT 140 executes step S143-2 and immediately starts automatic driving to the true destination 60, it may go straight along the straight-ahead route 54 without passing through the parking bay 55. In this case, as a result, there is no waiting for data download, so the traffic on the straight-ahead route 54 is not obstructed, and there is an advantage that the logistics efficiency does not decrease.

[0076] <Birth information cooperation system 105> The functional configuration of the berth information linkage system 105 related to setting the true destination will be described below with reference to Figure 6. As shown in the figure, the berth information linkage system 105 includes a reservation information receiving unit 1050, a reservation information storage unit 105z, an authentication information receiving unit 1051, an occupancy information request transmission unit 1052, an occupancy information receiving unit 1053, an occupancy reservation matching unit 1054, a berth number transmission unit 1055, a notification transmission unit 1056, an alternative berth receiving unit 1057, an alternative berth automatic assignment unit 1058, and an in-park 3D digital map transmission unit 105a. Note that the alternative berth automatic assignment unit 1058 may be omitted in some cases.

[0077] <Operation of related berth control system 1> The following describes the operation of berth control system 1 in relation to setting the true destination. First, with reference to Figure 7, we will describe berth reservation and the operation of the first type of berth designation.

[0078] <Birth reservation operation> The following describes the berth reservation operation of the berth control system 1. First, the tenant uses the berth reservation system 110 to enter the berth number and purpose of the reservation. The logistics company enters the ID of the ADT140 to be used, the start time, the end time, etc. The information linked to the ADT140 ID, berth number, start time, end time, purpose, etc. is called the reservation information. The berth reservation system 110 retrieves the entered reservation information (S1101) and transmits the reservation information to the berth information linkage system 105 (S1102).

[0079] The reservation information receiving unit 1050 of the berth information linkage system 105 receives reservation information (S1050). The reservation information storage unit 105z of the berth information linkage system 105 stores the received reservation information (S105z).

[0080] Note that the reservation information may be automatically generated when the birth information linkage system 105 and the birth reservation system 110 are linked. In this case, the reservation information input operation of the tenant or the logistics company is omitted, and the reservation information acquisition operation in step S1101, the reservation information transmission operation in step S1102, the reservation information reception operation in step S1050, the reservation information storage operation in step S105z, etc. are automatically executed.

[0081] <Birth designation operation when ADT140 is of the first type> The following describes the birth designation operation of the birth control system 1 when ADT140 is of the first type. When the first type of ADT140 approaches the entrance of the logistics facility, the entry authentication is started. As described above, the entry authentication may be started immediately after ADT140 enters the entrance of the site where the logistics facility is located.

[0082] The entry authentication system 115 executes the entry authentication of ADT140 entering the logistics facility (entering the site) (S1151). The entry authentication system 115 receives the authentication information including the ID and type from the ADT140, and transmits the received authentication information to the birth information linkage system 105 (S1152).

[0083] The authentication information reception unit 1051 of the birth information linkage system 105 receives the authentication information (S1051). The in-air information request transmission unit 1052 of the birth information linkage system 105 transmits an in-air information request to the birth in-air information system 120 (S1052). The in-air information request is a command to request the birth in-air information indicating the in-vehicle / empty vehicle state of each birth in the current logistics facility.

[0084] The birth in-air information system 120 receives the in-air information request (S1201). When the birth in-air information system 120 receives the in-air information request, it generates the birth in-air information and transmits it to the birth information linkage system 105 (S1202).

[0085] The berth information sharing system 105's berth occupancy information receiving unit 1053 receives berth occupancy information (S1053). The occupancy reservation matching unit 1054 compares the received berth occupancy information with the berth number reserved in accordance with the ADT140 ID obtained when the authentication information was received, and checks whether the reserved berth number is currently empty or occupied (occupied by other trucks, cargo, lifts, etc.) (S1054).

[0086] ≪If the reserved berth number is unavailable≫ If the reserved berth number is vacant, and the berth information linkage system 105 is configured to always communicate with the ADT 140 via the FOS 125, the berth number transmission unit 1055 of the berth information linkage system 105 transmits the reserved berth number associated with the ID to the FOS 125 (S1055). This reserved berth number is the location information of the true destination 60 mentioned above.

[0087] FOS125 receives the berth number (S1251). FOS125 transmits the berth number to ADT140 and commands ADT140 to proceed to the received berth number (S1252). ADT140 receives the berth number from FOS125 (S144). After receiving the destination berth number, ADT140 generates a travel route using the 3D digital map of the site stored in the 3D map storage unit 145 within ADT140 (S142-2, see Figure 4), and then starts traveling (S143-2, see Figure 4). FOS125 remotely monitors and controls the corresponding ADT140.

[0088] If the berth information sharing system 105 is configured to communicate directly with the ADT 140 without going through the FOS 125, the berth number transmission unit 1055 of the berth information sharing system 105 transmits the reserved berth number to the ADT 140 (S1055). The ADT 140 receives the berth number (S144). The subsequent operation of the ADT 140 is as described above.

[0089] ≪If the reserved berth number is occupied≫ If the reserved berth number is occupied, the notification transmission unit 1056 sends a notification to the berth reservation system 110 indicating that the reserved berth is currently unavailable (S1056). The berth reservation system 110 receives the notification (S1103). Subsequently, an alternative berth (also called a substitute berth) is designated, and there are several possible methods for this designation. A typical example is that the administrator of the berth information linkage system 105 operates the information input terminal 135 to input the berth number of the substitute berth, and the information input terminal 135 transmits the berth number of the substitute berth to the berth information linkage system 105 (S1351). The substitute berth receiving unit 1057 of the berth information linkage system 105 receives the berth number of the substitute berth (S1057).

[0090] Alternatively, the tenant may operate the berth reservation system 110 to enter new reservation information specifying an alternative berth, and the berth reservation system 110 may acquire the new reservation information (S1101) and transmit it to the berth information linkage system 105 (S1102).

[0091] The berth information linkage system 105 does not need to obtain the berth number of the alternative berth or new reservation information specifying the alternative berth from the information input terminal 135 or the berth reservation system 110. For example, the alternative berth automatic assignment unit 1058, which is an optional functional configuration, may automatically assign one of the currently available berths from the berth occupancy information as an alternative berth (S1058).

[0092] When obtaining information on alternative berths from the information input terminal 135 or the berth reservation system 110, the automatic alternative berth assignment unit 1058 can be omitted.

[0093] If the berth information sharing system 105 is configured to always communicate with the ADT 140 via the FOS 125, the berth number transmission unit 1055 of the berth information sharing system 105 transmits the berth number of the newly received or automatically assigned alternative berth to the FOS 125 (S1055). This berth number of the alternative berth is the location information of the true destination 60 mentioned above.

[0094] FOS125 receives a birth number (S1251). FOS125 sends the birth number to ADT140 and commands ADT140 to head towards the received birth number (S1252). ADT140 receives the birth number from FOS125 (S144). After generating a travel route using the in-site 3D digital map held in the 3D map storage unit 145 within ADT140 (S142-2, see Figure 4) upon receiving the destination birth number, ADT140 starts traveling (S143-2, see Figure 4). FOS125 remotely monitors / controls the corresponding ADT140.

[0095] In the case where the birth information cooperation system 105 communicates directly with ADT140 without going through FOS125, the birth number transmitter 1055 of the birth information cooperation system 105 sends the birth number of the alternative birth to ADT140 (S1055). ADT140 receives the birth number (S144). The subsequent operations of ADT140 are as described above.

[0096] <Birth Designation Operation When ADT140 is of the Second Type> Hereinafter, the birth designation operation when ADT140 is of the second type will be described with reference to Figure 8. Even when ADT140 is of the second type, the reservation of the birth (S1101, S1102, S1050, S105z), acquisition of authentication information (S1151, S1152, S1051), acquisition of birth occupancy information (S1052, S1201, S1202, S1053), and verification of the birth occupancy information and the reserved birth number (S1054) are executed in the same manner as in Figure 7.

[0097] ≪When the Reserved Birth Number is for an Empty Vehicle≫ When the reserved birth number is for an empty vehicle, the in-site 3D digital map transmitter 105a of the birth information cooperation system 105 sends the in-site 3D digital map of the logistics facility with the travel route to the reserved birth number (true destination 60) associated with the ID to FOS125 or the corresponding ADT140 (S105a).

[0098] The FOS125 or its corresponding ADT140 receives a 3D digital map of the site with the travel route (S125a, S144a). The subsequent operations are as described above.

[0099] ≪If the reserved berth number is occupied≫ If the reserved berth number is occupied, the berth reservation system 110 is notified (S1056, S1103) and the berth number of an alternative berth is obtained (S1351+S1057, or S1101+S1102+S1057, or S1058), similar to the operation in the first type.

[0100] The berth information linkage system 105's in-house 3D digital map transmission unit 105a transmits an in-house 3D digital map with a travel route to a newly received or automatically assigned berth number to the FOS 125 or the corresponding ADT 140 (S105a).

[0101] The FOS125 or its corresponding ADT140 receives a 3D digital map of the site with the travel route (S125a, S144a). The subsequent operations are as described above.

[0102] <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.

[0103] 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.

[0104] 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.

[0105] 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 9, and then causing the control unit 10010, input unit 10030, output unit 10040, etc. to operate.

[0106] 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.

[0107] 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.

[0108] 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. Moreover, 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).

[0109] 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.< / id>

Claims

1. A fleet operation system that manages and monitors the operation of autonomous trucks, An autonomous driving truck having a driving route generation function, which stores a 3D digital map of a target logistics facility, and a temporary destination information transmission unit that transmits location information of a temporary destination located within a waiting zone provided on the premises of the target logistics facility, A true destination information receiving unit receives true destination location information within the premises of the target logistics facility from a berth information linkage system, which is a system that supports the operation of autonomous trucks within the target logistics facility. Includes a true destination information transmission unit that transmits the location information of the true destination to the autonomous truck. Fleet operating system.

2. A fleet operation system that manages and monitors the operation of autonomous trucks, A temporary destination information transmission unit transmits to an autonomous truck that does not have a driving route generation function a driving route to a temporary destination located within a temporary waiting zone on the premises of the target logistics facility, and a 3D digital map of the waiting zone, which is a 3D digital map of the area around the temporary waiting zone. A true destination information receiving unit receives the driving route to the true destination within the site of the target logistics facility and a 3D digital map of the logistics facility from a berth information linkage system, which is a system that supports the operation of autonomous trucks within the target logistics facility. The unit includes a true destination information transmission unit that transmits the driving route to the true destination and the 3D digital map of the site to the autonomous truck. Fleet operating system.

3. A fleet operation system that manages and monitors the operation of autonomous trucks, A temporary destination information transmission unit transmits location information of a temporary destination located within an outdoor waiting zone on the premises of a target logistics facility to an autonomous driving truck that does not have a driving route generation function, A true destination information receiving unit receives the driving route to the true destination within the site of the target logistics facility and a 3D digital map of the logistics facility from a berth information linkage system, which is a system that supports the operation of autonomous trucks within the target logistics facility. The unit includes a true destination information transmission unit that transmits the driving route to the true destination and the 3D digital map of the site to the autonomous truck. Fleet operating system.

4. An autonomous truck connected via a communication network to a fleet operation system, which is a system for managing and monitoring the operation of autonomous trucks, A temporary destination information receiving unit receives location information of a temporary destination located within a refuge zone established on the premises of the target logistics facility, which is the target logistics facility, from the aforementioned fleet operation system. A 3D digital map storage unit that stores a 3D digital map of the aforementioned target logistics facility, A route generation unit generates a route to the provisional destination based on the received location information of the provisional destination and the 3D digital map, A driving control unit that performs automatic driving according to the driving route to the aforementioned provisional destination and the aforementioned 3D digital map, The system includes a true destination information receiving unit that receives true destination location information within the premises of the target logistics facility from the fleet operation system or a berth information linkage system which is a system that supports the operation of autonomous trucks within the target logistics facility, Once the download of the location information of the true destination is complete, The aforementioned travel path generation unit, Based on the received location information of the true destination and the 3D digital map, a driving route to the true destination is generated. The aforementioned driving control unit, The system performs automated driving according to the driving route to the true destination and the 3D digital map. Self-driving truck.

5. An autonomous truck connected via a communication network to a fleet operation system, which is a system for managing and monitoring the operation of autonomous trucks, A temporary destination information receiving unit receives a driving route from the aforementioned fleet operation system to a temporary destination located within a temporary waiting zone on the premises of the target logistics facility, and a 3D digital map of the area around the temporary waiting zone, which is a temporary waiting zone 3D digital map. A driving control unit that performs automatic driving according to the driving route to the aforementioned provisional destination and the aforementioned 3D digital map of the waiting zone, The system includes a true destination information receiving unit that receives the driving route to the true destination within the site of the target logistics facility and a 3D digital map of the logistics facility, which is a 3D digital map of the logistics facility, from the fleet operation system or a berth information linkage system, which is a system that supports the operation of autonomous trucks within the target logistics facility. Once the download of the driving route to the true destination and the 3D digital map of the site is complete, The aforementioned driving control unit, The system will perform automatic driving according to the driving route to the true destination and the 3D digital map of the site. Self-driving truck.

6. An autonomous truck connected via a communication network to a fleet operation system, which is a system for managing and monitoring the operation of autonomous trucks, A temporary destination information receiving unit receives location information of a temporary destination located within a temporary refuge zone set up outdoors on the premises of the target logistics facility, which is the target logistics facility, from the aforementioned fleet operation system. A driving control unit that performs automatic driving according to the location information of the aforementioned provisional destination, The system includes a true destination information receiving unit that receives the driving route to the true destination within the premises of the target logistics facility and a 3D digital map of the logistics facility, which is a 3D digital map of the logistics facility, from the fleet operation system or a berth information linkage system which is a system for managing the operation of autonomous trucks within the target logistics facility. Once the download of the driving route to the true destination and the 3D digital map of the site is complete, The aforementioned driving control unit, The system will perform automatic driving according to the driving route to the true destination and the 3D digital map of the site. Self-driving truck.

7. A fleet operation system according to any one of claims 1 to 3, The true destination is, A berth number within a logistics area having logistics functions, a swapping area having vehicle swapping functions, or a waiting area having a waiting function for vehicles to enter the logistics area or the swapping area, which is determined by the berth information linkage system. Fleet operating system.

8. An autonomous driving truck according to any one of claims 4 to 6, The true destination is, A berth number within a logistics area having logistics functions, a swapping area having vehicle swapping functions, or a waiting area having a waiting function for vehicles to enter the logistics area or the swapping area, which is determined by the berth information linkage system. Self-driving truck.

9. A fleet operation system according to any one of claims 1 to 3, The aforementioned refuge zone is, A branch road provided near the entrance to the building of the aforementioned logistics facility, or near the entrance to the site of the aforementioned logistics facility, which is a straight path that is an access route to any area within the aforementioned logistics facility. Fleet operating system.

10. An autonomous driving truck according to any one of claims 4 to 6, The aforementioned refuge zone is, A branch road provided near the entrance to the building of the aforementioned logistics facility, or near the entrance to the site of the aforementioned logistics facility, which is a straight path that is an access route to any area within the aforementioned logistics facility. Self-driving truck.

11. A program that causes a computer to function as a fleet operation system according to any one of claims 1 to 3.

12. A program that causes a computer to function as a system installed in an autonomous driving truck as described in any of claims 4 to 6.

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