Lead Mobility

Abstract

To provide highly practical lead mobility solutions. [Solution] The lead mobility vehicle 10 moves autonomously and can control the follower vehicle 20 to follow it via wireless communication. The lead mobility vehicle 10 includes a controller that performs control via wireless communication and an information acquisition device 18 that acquires information transmitted from the center 30. The controller is configured to perform operation control that realizes predetermined operations, namely a swerving operation, a lighting device 16 turning on, and a speaker 17 outputting sound, when emergency information, which represents a specific situation requiring the execution of a predetermined operation, is acquired by the information acquisition device 18.

Description

Technical Field

[0001] The present disclosure relates to lead mobility for electronically towing a vehicle.

Background Art

[0002] Conventionally, for example, a remote control device disclosed in Patent Document 1 is known. The conventional remote control device is mounted on a lead mobility that moves autonomously. And the conventional remote device is configured to guide a following vehicle so that the following vehicle travels along the path traveled by the lead mobility by remote operation. That is, the lead mobility has a function of controlling so as to make the following vehicle follow itself by wireless communication.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in addition to the function of causing a following vehicle to follow and travel by remote operation, that is, the function of electronically towing, the remote control device mounted on the lead mobility can be provided with some other function, thereby improving the practicality of the lead mobility.

[0005] An object of the present disclosure is to provide a highly practical lead mobility.

Means for Solving the Problems

[0006] The lead mobility device described herein is autonomously mobile and capable of controlling a vehicle to follow it via wireless communication, and comprises a controller that performs control via wireless communication and an information acquisition device that acquires information transmitted from an external source, wherein the controller is configured to perform operation control to realize a predetermined operation when specific information representing a specific situation requiring the execution of a predetermined operation set in advance is acquired by the information acquisition device. [Effects of the Invention]

[0007] According to this disclosure, the controller can be controlled to perform a predetermined action on the lead mobility when specific information is acquired. In other words, in addition to making the following vehicle follow it via wireless communication, the lead mobility can perform a predetermined action according to the specific situation represented by the specific information. This can enhance the practicality of the lead mobility. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view illustrating lead mobility. [Figure 2] This is a diagram illustrating the various devices installed in the lead mobility vehicle. [Figure 3] This is a block diagram illustrating the functional configuration of a remote control device. [Figure 4] This is a block diagram illustrating the functional configuration of the traction control device. [Figure 5] This is a diagram illustrating the specific operations of lead mobility. [Figure 6] This diagram illustrates a modified example and explains the specific operation of the lead mobility device. [Modes for carrying out the invention]

[0009] Hereinafter, a lead mobility device 10, which is an embodiment of the present disclosure, will be described in detail with reference to the drawings. In addition to the embodiments described below, the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

[0010] The lead mobility 10 is configured to be autonomously drivable (autonomous), and electronically tows a follower vehicle 20, which acts as a follower vehicle that maintains a specific positional relationship to the lead mobility 10, to its destination via wireless communication, i.e., remote control (see Figure 5). Here, the lead mobility 10 can be a vehicle that travels on the road surface or an aerial vehicle such as a drone, and in this embodiment, the case where the lead mobility 10 is a vehicle will be described.

[0011] The Lead Mobility 10 of this embodiment is equipped with a pair of left and right drive wheels 11 and a driven wheel 12, as shown in Figures 1 and 2, for autonomous driving. Each of the left and right drive wheels 11 is independently driven by a pair of left and right electric motors (not shown) powered by a battery (not shown) mounted on the body of the Lead Mobility 10. As a result, the Lead Mobility 10 can rotate around a rotation axis along the vertical direction by, for example, applying a difference in rotational speed (difference in driving force) between the left and right drive wheels 11. Thus, the Lead Mobility 10 can turn left and right, change direction, and make turns (including pivot turns in place) during autonomous driving, even without being equipped with a separate steering device to steer the left and right drive wheels 11.

[0012] Furthermore, in the Lead Mobility 10, the drive wheels 11 (more specifically, the electric motor for driving) generate regenerative braking force according to the regenerative control by the automatic driving control unit 116 of the remote control device 100, which will be described later. As a result, the Lead Mobility 10 can be stopped by regenerative braking force.

[0013] Furthermore, each drive wheel 11 is fitted with a friction braking device (drum brake device or disc brake device) not shown. As a result, in the Lead Mobility 10, when stationary, the friction braking device generates braking force through friction, thereby functioning as a parking brake. The friction braking device also functions as an electric brake, for example, by using an electric motor to press brake shoes against the drum or brake pads against the disc.

[0014] The driven wheel 12 is positioned behind the drive wheel 11 in the longitudinal direction of the lead mobility 10. In this embodiment, the driven wheel 12 is in the form of a swivel caster and is provided so as to have a single axis of rotation extending vertically in the approximately central part of the vehicle width direction (lateral direction) of the lead mobility 10. As a result, when the lead mobility 10 travels (moves) while making turns, such as right or left turns, due to differences in rotational speed (differences in driving force) of the drive wheel 11, the driven wheel 12 rotates freely around its axis of rotation in accordance with the direction of travel associated with the turns, allowing it to steer freely.

[0015] Furthermore, as shown in Figure 2, the Lead Mobility 10 is equipped with a self-propelled detector 13, a position detector 14, a vehicle detector 15, a lighting device 16, a speaker 17, and an information acquisition device 18, all housed in the upper part 10U of the vehicle body. The self-propelled detector 13 detects the relative positional relationship, specifically the relative distance, between the Lead Mobility 10 and objects such as obstacles (hereinafter sometimes referred to as "detection targets") that are present in the direction of travel when the Lead Mobility 10 is autonomously driving.

[0016] Therefore, in this embodiment, the self-driving detector 13 is configured to include ranging devices such as a LiDAR (Light Detection And Ranging) 13A and a camera 13B. The LiDAR 13A accurately acquires three-dimensional point cloud data indicating the three-dimensional positions of point clouds representing detection targets. The camera 13B can be exemplified by, for example, a stereo camera, a monocular camera, an RGB-D camera (depth camera), etc., and acquires imaging data representing the presence direction, size, etc. of the detection target. Note that instead of using the LiDAR 13A or the camera 13B, for example, a ToF (Time of Flight) sensor or the like can also be used.

[0017] The self-driving detector 13 outputs the acquired data, that is, the three-dimensional point cloud data and the imaging data, to a remote control device 100 described later. And, as will be described later, the remote control device 100 utilizes the acquired three-dimensional point cloud data and imaging data in the simultaneous execution of self-position estimation and environmental map creation (SLAM: Simultaneous Localization and Mapping) for the lead mobility 10 to autonomously drive.

[0018] The position detector 14 has, for example, a receiver of a GNSS (Global Navigation Satellite System), and detects the position of the lead mobility 10 based on the received signal. Here, in this embodiment, for the lead mobility 10, two position detectors 14 are arranged at the left and right positions in the vehicle width direction of the vehicle body upper part 10U, that is, so as to form a pair on the left and right. Note that the number of the position detectors 14 may be arranged only one on the vehicle body upper part 10U, or three or more may be arranged on the vehicle body upper part 10U.

[0019] The vehicle detector 15 is a device for measuring various data used to estimate the relative position of the follower vehicle 20 with respect to the lead mobility 10 (hereinafter, may be referred to as "relative position" in some cases). Here, the relative position includes the relative direction and attitude of the follower vehicle 20 with respect to the lead mobility 10 (hereinafter, may be referred to as "relative attitude" in some cases).

[0020] The vehicle detector 15 uses a LiDAR, which is a distance measuring device that measures the three-dimensional point cloud data of the follower vehicle 20 electronically towed by the lead mobility 10. Here, in the remote control device 100 described later, for example, only the relative position of the follower vehicle 20 detected by the vehicle detector 15 is acquired, and by grasping the temporal change of the follower vehicle 20 based on the continuously acquired relative position, the relative attitude and traveling direction of the follower vehicle 20 may be estimated.

[0021] The lighting device 16 is arranged at the highest position in the upper part 10U of the vehicle body of the lead mobility 10 so that, for example, it can illuminate the periphery of the lead mobility 10 and the visibility from surrounding vehicles and people is improved. As will be described later, as a predetermined operation when specific information is acquired, the lighting device 16 illuminates the periphery of the lead mobility 10 by emitting light, notifies an abnormality by changing the emission color, or guides vehicles and people passing by in the surroundings by emitting light. Incidentally, as the lighting device 16, for example, an LED with a high luminance and capable of changing the emission color can be exemplified. Also, the lighting device 16 is lit by power supply from a battery (not shown) mounted on the lead mobility 10.

[0022] The speaker 17 is arranged in the upper part 10U of the vehicle body of the lead mobility 10 so as to emit (output) sound forward in the traveling direction of the lead mobility 10, for example. As will be described later, as a predetermined operation when specific information is acquired, the speaker 17 notifies an abnormality by outputting sound or guides vehicles and people passing by in the surroundings by outputting sound. Incidentally, the speaker 17 may be arranged not only in front of the lead mobility 10 but also to emit (output) sound in the rear or left and right directions.

[0023] The information acquisition device 18 acquires specific information transmitted to the lead mobility 10. Specifically, the information acquisition device 18 includes a wireless communication device that receives specific information, such as emergency information and guidance information, supplied wirelessly from the center 30 (see Figure 5). The information acquisition device 18 also includes a microphone device that collects siren sounds, which are specific information emitted by emergency vehicles approaching the lead mobility 10.

[0024] Furthermore, the lead mobility 10 is equipped with a remote control device 100 for remotely controlling the follower vehicle 20. The remote control device 100 remotely controls the follower vehicle 20 to maintain a specific positional relationship with the lead mobility 10.

[0025] As shown in Figure 3, the remote control device 100 includes a CPU 110, a storage device 120, an interface circuit 130, and a remote communication device 140. The CPU 110, storage device 120, and interface circuit 130 are connected via an internal bus to enable bidirectional communication. The interface circuit 130 is connected to a self-propelled detector 13 (LiDAR 13A and camera 13B), a position detector 14, a vehicle detector 15, a lighting device 16, a speaker 17, an information acquisition device 18, and the remote communication device 140. The remote communication device 140 performs wireless communication with the follower vehicle 20 via a network or the like.

[0026] The CPU 110 executes a computer program stored in the storage device 120 to implement at least some of the functions provided in this embodiment. By executing this computer program, the CPU 110 functions as a remote control unit 111, a point cloud data acquisition unit 112, a position determination unit 113, a relative position estimation unit 114, a SLAM unit 115, an automatic driving control unit 116, and a special control unit 117, as shown in Figure 3. However, some or all of these functions can also be configured by hardware circuits.

[0027] The remote control unit 111 generates control commands for remote control and transmits them wirelessly to the follower vehicle 20 so that the follower vehicle 20 maintains a specific positional relationship with the lead mobility 10 and follows the lead mobility 10, that is, so that the lead mobility 10 is towing the follower vehicle 20 as if it were being pulled by a rope. In the following description, the state in which the remote control unit 111 of the remote control device 100 mounted on the lead mobility 10 controls the follower vehicle 20 as if it were being towed by a rope by wireless communication will be referred to as "electronic towing".

[0028] Here, the remote control unit 111 can generate a control command as a command including, for example, a driving force or braking force and a steering angle. Alternatively, the remote control unit 111 can generate a control command as a command including at least one of the position and orientation of the follower vehicle 20 and the future driving route. As a result, the follower vehicle 20 can automatically drive by receiving a control command for remote control, as will be described later.

[0029] The point cloud data acquisition unit 112 acquires three-dimensional point cloud data measured by the vehicle detector 15. The position determination unit 113 determines the starting position for starting the matching of the vehicle point cloud data VP with the three-dimensional point cloud data acquired by the point cloud data acquisition unit 112.

[0030] Here, the vehicle point cloud data VP functions as a template point cloud for estimating at least one of the position and orientation (attitude) of the follower vehicle 20. The vehicle point cloud data VP can include information for identifying the orientation (attitude) of the follower vehicle 20. As a result, the position determination unit 113 and the relative position estimation unit 114 can estimate the position and orientation (attitude) of the follower vehicle 20 in the three-dimensional point cloud data with high accuracy by template matching using the vehicle point cloud data VP.

[0031] In this embodiment, the position determination unit 113 determines the starting position of template matching using information relating to the position of the follower vehicle 20 in the three-dimensional point cloud data (hereinafter sometimes referred to as "position-related information"). Here, the position-related information is data used to estimate the position of the follower vehicle 20 in the three-dimensional point cloud data, and / or the position next to the follower vehicle 20.

[0032] The relative position estimation unit 114 estimates the relative position of the follower vehicle 20, including its relative orientation (attitude) relative to the lead mobility 10, in the acquired three-dimensional point cloud data. Here, the relative position can be exemplified by the relative distance to the follower vehicle 20 in the direction of travel, the deviation of the follower vehicle 20 in the vehicle width direction relative to the movement trajectory of the lead mobility 10, and the relative turning attitude (right or left turning attitude) of the follower vehicle 20 relative to the lead mobility 10, based on the position and attitude of the lead mobility 10.

[0033] In this embodiment, the relative position estimation unit 114 estimates the relative position, including the relative attitude, of the follower vehicle 20 in the three-dimensional point cloud data by performing template matching using vehicle point cloud data VP on the three-dimensional point cloud data. For the template matching of vehicle point cloud data VP on the three-dimensional point cloud data performed by the position determination unit 113 and the relative position estimation unit 114, for example, well-known ICP (Interactive Closest Point) algorithms or well-known NDT (Normal Distribution Transform) algorithms can be used.

[0034] The SLAM unit 115 performs SLAM using data (image data and three-dimensional point cloud data) detected by the self-propelled detector 13 to generate a map that the lead mobility 10 will use for autonomous driving. The automatic driving control unit 116 controls the operation of actuators 150, such as the electric motors that drive the drive wheels 11 mounted on the lead mobility 10 and the electric motors that constitute the friction braking system, thereby enabling the lead mobility 10 to drive autonomously. Specifically, by controlling the operation of the actuators 150, the automatic driving control unit 116 uses the map generated by the SLAM unit 115 to, for example, enable the lead mobility 10 to drive autonomously along the lead vehicle route GR to a set destination TP, and detects the position of the lead mobility 10 based on the GNSS signal received by the position detector 14.

[0035] The special control unit 117 performs operation control so that the lead mobility 10 performs a predetermined operation when specific information is acquired by the information acquisition device 18. Examples of specific information include emergency information, which is information issued by the government or public institutions after a disaster has occurred or when a disaster is predicted to occur; identification information, which identifies the sound emitted from the sirens of emergency vehicles that are dispatched in response to disasters, medical emergencies, fires, and crimes (specifically, it identifies the frequency of the sound and the pattern in which the sound is emitted); and guidance information, which is used to guide multiple participants at an event venue. Examples of predetermined operations include moving the lead mobility 10 or the follower vehicle 20, which is the lead mobility 10 and the vehicle being driven, to the edge of the lane in the width direction (narrowing operation); turning on the lights using the lighting device 16 (lighting operation); and emitting guidance voice from the speaker 17 (guidance operation).

[0036] The storage device 120 can be exemplified by RAM, ROM, HDD, and SSD, among others. The read / write area of ​​the storage device 120 stores vehicle point cloud data VP, read vehicle route GR, destination TP, actuator drive history AC, and previous matching position BM.

[0037] Here, the lead vehicle route GR is a target route that can be set for the lead mobility 10 to travel. The destination TP is the destination of the lead mobility 10, which can be arbitrarily set. However, when the automatic driving control unit 116 uses the map generated by the SLAM unit 115 based on the data output from the self-driving detector 13 to make the lead mobility 10 autonomously drive (move autonomously), the lead vehicle route GR can be omitted. However, in this case, the automatic driving control unit 116 generates a driving route to the set destination TP, for example, and makes the lead mobility 10 drive (move) along the generated driving route.

[0038] The actuator drive history AC is a history of input and output values ​​for each actuator 230 of the follower vehicle 20, as described later. The actuator drive history AC is, for example, a history of control command values ​​transmitted from the remote control device 100 to the follower vehicle 20. The actuator drive history AC may also be measured values ​​detected by the detectors of the follower vehicle 20, such as the vehicle speed, steering angle, braking force, and rotation angle of the follower vehicle 20. The previous matching position BM is the coordinate value of the position where template matching between the three-dimensional point cloud data and the vehicle point cloud data VP, which was previously performed by the relative position estimation unit 114 of the remote control device 100, was completed.

[0039] The follower vehicle 20 can be exemplified by passenger cars, trucks, buses, construction vehicles, motorcycles, etc. (see Figure 5). In this embodiment, the example given is that the follower vehicle 20 is an electric vehicle (Battery Electric Vehicle: BEV) which is a passenger car. It goes without saying that the passenger car is not limited to electric vehicles, and may also be, for example, a vehicle powered by an internal combustion engine, a hybrid vehicle (HEV) or plug-in hybrid vehicle (PHEV) powered by an internal combustion engine and an electric motor, or a vehicle having a fuel cell and an electric motor (FCEV).

[0040] As shown in Figure 4, the follower vehicle 20 is equipped with a driving control device 200. The driving control device 200 is equipped with an ECU (Electronic Control Unit) 210. The ECU 210 is a microcomputer whose main components are a CPU 211, a memory 212, and an interface circuit 213. The CPU 211, memory 212, and interface circuit 213 are connected via an internal bus to enable bidirectional communication. A vehicle communication device 220 and an actuator 230 are connected to the interface circuit 213. The vehicle communication device 220 communicates wirelessly with the remote communication device 140 of the remote control device 100 mounted on the lead mobility 10 via a network or the like.

[0041] The CPU 211 implements the function of driving control of the follower vehicle 20 by executing a computer program stored in the read / write area of ​​memory 212. Here, driving control refers to various controls for driving the actuators 230 that perform the functions of "driving," "turning," and "stopping" of the follower vehicle 20, such as adjusting the acceleration, deceleration, speed, and steering angle of the follower vehicle 20.

[0042] In this embodiment, the actuator 230 may include, although not shown in the figures, an actuator including a traction motor that constitutes a drive system for accelerating or decelerating the follower vehicle 20, an actuator including an electric motor that constitutes a braking system for decelerating the follower vehicle 20, and an actuator including a steering motor (electric motor) that constitutes a steering system for changing the direction of travel of the follower vehicle 20. The actuator 230 is driven by power supplied from a battery (not shown) mounted on the follower vehicle 20.

[0043] The CPU 211 can drive the follower vehicle 20 by controlling the operation of the actuator 230 in response to the driver's input, if a driver is in the follower vehicle 20. Regardless of whether a driver is in the follower vehicle 20 or not, the CPU 211 can drive the follower vehicle 20 following the lead mobility 10 while maintaining a specific positional relationship with it by controlling the operation of the actuator 230 in response to control commands transmitted from the remote control device 100 (see Figure 5).

[0044] Next, the operation control by the special control unit 117 of the remote control device 100 will be described. As described above, when the special control unit 117 acquires specific information while the lead mobility device 10 is electronically towing the follower vehicle 20, it performs operation control so that the lead mobility device 10 can perform a predetermined operation. Specifically, as shown in Figure 5, the lead mobility device 10 is configured to communicate with the center 30 that transmits specific information via a network. As a result, the lead mobility device 10 acquires the specific information transmitted from the center 30 via the information acquisition device 18.

[0045] Here, the specific information includes, at a minimum, emergency information issued by the government or public institutions after a disaster has occurred and when a disaster is predicted to occur, identification information that identifies the sounds emitted from the sirens of emergency vehicles dispatched in response to disasters, medical emergencies, fires, and crimes, and guidance information that guides people in a specific area. In this embodiment, the special control unit 117 is shown as an example when emergency information, which is specific information, is acquired by the information acquisition device 18. In this embodiment, the special control unit 117 will be shown as an example of controlling the operation of the lead mobility 10 to move closer to the edge of the lane and to light up when emergency information is acquired as a predetermined operation.

[0046] When the information acquisition device 18 acquires emergency information from the center 30, the remote control device 100, in cooperation with the automatic driving control unit 116 and the remote control unit 111, controls the operation of the lead mobility 10 to achieve a lane-side movement, in order to stop the lead mobility 10 and the follower vehicle 20 that it is electronically towing at the edge of the lane. In other words, upon acquiring emergency information, the special control unit 117, in cooperation with the automatic driving control unit 116, moves the lead mobility 10 to the edge of the lane and stops it. Also, in accordance with the control by the automatic driving control unit 116, the special control unit 117, in cooperation with the remote control unit 111, moves the follower vehicle 20 to the edge of the lane and stops it, so as to follow the lead mobility 10.

[0047] Here, as shown in Figure 5, emergency information is issued simultaneously (in a single operation) from the center 30 to multiple lead mobility vehicles 10. Therefore, if a lead mobility vehicle 10 is electronically towing a follower vehicle 20 at the time the emergency information is issued, the lead mobility vehicle 10 and the follower vehicle 20 will move to the edge of the lane and stop due to a lane-aligning action. Also, if a lead mobility vehicle 10 is not electronically towing a follower vehicle 20 at the time the emergency information is issued, that is, if the lead mobility vehicle 10 is traveling alone, it will move to the edge of the lane and stop due to a lane-aligning action. In this way, by having the lead mobility vehicle 10, or the lead mobility vehicle 10 and the follower vehicle 20, move to the edge of the lane and stop after the emergency information is issued, it is possible to prevent obstruction of the passage of emergency vehicles 40 that are dispatched in response to the occurrence of a disaster, for example.

[0048] Next, the special control unit 117, in response to the issuance of emergency information, activates the lighting device 16 to allow people walking on the shoulder adjacent to the edge of the lane at night to move safely. In other words, the special control unit 117 performs operation control so that the lighting device 16 of the lead mobility vehicle 10, which is stopped at the edge of the lane, activates. As a result, the lighting device 16 installed on the upper part 10U of the lead mobility vehicle 10 illuminates the surrounding area, including the shoulder, by emitting, for example, white light.

[0049] As mentioned above, emergency information is issued simultaneously to multiple lead mobility vehicles 10. Therefore, as mentioned above, the special control units 117 of each of the multiple lead mobility vehicles 10 that are stopped by the swerving operation also turn on the lights using the lighting devices 16 provided on the upper part 10U of the vehicle body of the lead mobility vehicle 10 that is the target of the operation control. Consequently, even in situations where a power outage occurs due to a disaster or the like, the presence of multiple lead mobility vehicles 10 makes it possible to illuminate the ground where people are walking on the roadside or sidewalk.

[0050] Furthermore, when each of the multiple lead mobility devices 10 is illuminated by a lighting device 16, the center 30 can instruct the lead mobility devices 10 to move in such a way that the distance between lead mobility devices 10 concentrated in one area increases, that is, to disperse them over a wider area. As a result, the lead mobility devices 10 can follow the instructions from the center 30 and, under the control of the automatic driving control unit 116, move to, for example, an area with insufficient lighting at night and illuminate with the lighting device 16 at their destination. This makes it possible for people to move relatively easily and safely, for example, along the shoulder of the road, even at night.

[0051] Furthermore, when each of the multiple lead mobility devices 10 is stopped, for example by the side-to-side maneuver described above, the special control unit 117 can enable the output of voice messages from the speaker 17 to people walking on the roadside or sidewalk, providing evacuation guidance. This allows for smoother evacuation, for example, in situations where people are evacuating due to a disaster, by having each of the multiple lead mobility devices 10 provide evacuation guidance.

[0052] As can be understood from the above explanation, the lead mobility 10 moves autonomously and can control the follower vehicle 20 to follow it via wireless communication. The lead mobility 10 is equipped with a remote control device 100 as a controller that performs control via wireless communication and an information acquisition device 18 that acquires information transmitted from an external center 30. The special control unit 117 of the remote control device 100 is configured to perform operation control that realizes predetermined operations, namely a siding maneuver, a lighting device 16 turning on, and a speaker 17 outputting sound, when emergency information, which represents a specific situation requiring the execution of predetermined operations, is acquired by the information acquisition device 18.

[0053] According to this, when specific information is acquired, the remote control device 100 can control the operation of the special control unit 117 to perform at least one of the following actions for the lead mobility 10: a side-to-side maneuver, a lighting action, and an audio output action. As a result, the lead mobility 10 can not only make the follower vehicle 20 follow it via wireless communication, but also perform predetermined actions in response to specific situations represented by the specific information, namely emergency information, such as the occurrence of a disaster. Therefore, the practicality of the lead mobility 10 can be enhanced.

[0054] In the embodiment described above, the case in which the lead mobility 10 performs a lane-siding maneuver when it acquires emergency information was explained. However, when the lead mobility 10 is electronically towing a follower vehicle 20, if an emergency vehicle 40 approaches from behind, it is necessary to move to the edge of the lane so as not to obstruct the passage of the emergency vehicle 40. In this case, the remote control device 100 of the lead mobility 10 acquires identification information that identifies the emergency vehicle 40 from the information acquisition device 18, that is, the frequency and sound generation pattern of the sound emitted by the siren, indicating that the emergency vehicle 40 is approaching. Therefore, the special control unit 117 works in cooperation with the automatic driving control unit 116 and the remote control unit 111 to control the operation of the lead mobility 10 so as to perform a lane-siding maneuver, thereby allowing the follower vehicle 20 to also move to the edge of the lane.

[0055] Here, the special control unit 117 can determine whether the approaching emergency vehicle 40 is an ambulance, a fire truck, or a police car based on the sound frequency and sound generation pattern (sound interval) represented by the identification information acquired by the information acquisition device 18. In particular, since fire trucks may be wider than ambulances and police cars, the special control unit 117 works in cooperation with the automatic driving control unit 116 and the remote control unit 111 to control the lane-aligning operation so that the lead mobility 10 and follower vehicle 20 move closer to the edge of the lane.

[0056] Furthermore, when the lead mobility 10 is located within an event venue as a specific area, the lead mobility 10 can guide (direct) participants, who are people attending the event, to specific locations such as the entrance of a building or the exit of the event venue. In this case, for multiple lead mobility 10 located within the event venue, each information acquisition device 18 acquires guidance information to guide participants to specific locations. As a result, the special control unit 117 of each remote control device 100, for example, in cooperation with the automatic driving control unit 116, aligns the lead mobility 10 along the guidance path to the specific location by a side-to-side movement, as shown in Figure 6. The special control unit 117 then controls the operation of the lead mobility 10 to realize an audio output operation that outputs guidance voice from the speaker 17 to participants moving in the direction of the arrows shown in Figure 6, guiding them to the specific location.

[0057] In this case, the special control unit 117 can guide (direct) participants along the guidance route by controlling the operation of the lead mobility 10 to perform lighting operations, specifically turning the lights on or flashing the lights, in addition to the voice output operation. Furthermore, in this case, the special control unit 117 can change the lighting device 16 from white illumination to a color that is easily visible to participants (for example, blue, yellow, or green), so that participants can easily move along the guidance route. [Explanation of Symbols]

[0058] 10...Lead Mobility, 10U...Upper Body, 11...Drive Wheel, 12...Driven Wheel, 13...Self-Propelled Detector, 13A...LiDAR, 13B...Camera, 14...Position Detector, 15...Vehicle Detector, 100...Remote Control Device, 110...CPU, 111...Remote Control Unit, 112...Point Cloud Data Acquisition Unit, 113...Position Determination Unit, 114...Relative Position Estimation Unit, 115...SLAM Unit, 116...Automatic Driving Control Unit, 117...Special Control Unit, 120...Storage Device, 130...Interface Circuit, 140...Remote Communication Device, 150...Actuator, 20...Follower Vehicle, 200...Driving Control Device, 210...ECU, 211...CPU, 212...Memory, 213...Interface Circuit, 220...Vehicle Communication Device, 230...Actuator, 30...Center, 40...Emergency Vehicle

Claims

1. A lead mobility vehicle that moves autonomously and can be controlled to have another vehicle follow it via wireless communication, A controller that performs the aforementioned wireless control, It includes an information acquisition device that acquires information emitted from an external source, The aforementioned controller A lead mobility device configured to execute operation control to realize a predetermined operation when specific information representing a specific situation requiring the execution of a predetermined operation is acquired by the information acquisition device.

2. The aforementioned specific information, Lead mobility according to claim 1, comprising: emergency information issued by the government or public institutions after a disaster has occurred and when a disaster is predicted to occur; identification information that identifies the sounds emitted from the sirens of emergency vehicles dispatched in response to disasters, medical emergencies, fires, and crimes as they travel; and guidance information that guides people in a specific area.

3. The predetermined operation is, The lead mobility according to claim 1, wherein the action of moving itself, or itself and the following vehicle, towards the edge in the width direction of the lane; the action of turning on the mounted lights; and the action of emitting sound from the mounted speaker.

4. The aforementioned specific information, A read mobility according to any one of claims 1 to 3, which is transmitted in a batch to a plurality of read mobilitys.

5. The aforementioned specific information, The lead mobility described in claim 4, transmitted collectively from a center capable of communicating with the aforementioned information acquisition device.

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