Electronic traction system

Abstract

We provide a highly practical electronic traction system. [Solution] The present invention provides a lead mobility 10 equipped with a controller 100 that autonomously moves the mobility unit 7 and controls a vehicle to follow the mobility unit via wireless communication as a follow vehicle 20, a display terminal 8 in the follow vehicle 20, and a storage device 5 that stores map data MP associated with location and sightseeing guidance information. The controller 100 shares the planned route with the display terminal 8, and the display terminal 8 is configured to provide guidance information related to location information and / or the planned route based on location information and map data MP as part of the guidance processing, by displaying it on the screen and / or providing voice guidance.

Description

Technical Field

[0001] The present invention relates to an electronic traction system for electronically towing a vehicle by lead mobility.

Background Art

[0002] Conventionally, for example, a controller disclosed in Patent Document 1 is known. The conventional controller is mounted on a lead mobility that moves autonomously, and is configured to guide the vehicle so that the vehicle as a follower vehicle travels along the travel route traveled by the lead mobility by remote control. In other words, the lead mobility has a function of operating the vehicle as a following vehicle to 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 the follower vehicle to follow the lead mobility by remote control, that is, the function of electronically towing, the controller mounted on the lead mobility is provided with some other function, whereby the practicality of the lead mobility, and thus the practicality of the electronic traction system, can be improved. Based on this, an object of the present invention is to provide a highly practical electronic traction system.

Means for Solving the Problems

[0005] The present invention provides an electronic towing system comprising a mobility unit and a controller, wherein the controller is mounted on the mobility unit and configured to autonomously move the mobility unit and to control a vehicle to follow the mobility unit via wireless communication, a display terminal located inside the follow vehicle and configured to communicate with the controller, a position detector for detecting the position of the mobility unit or the follow vehicle, and a storage device for storing map data associated with location and tourism guidance information. The controller shares information about the planned route of the mobility unit or the follow vehicle with the display terminal, and the display terminal is configured to, as guidance processing, display and / or provide voice guidance on the screen the location information and the guidance information related to the planned route based on the location information detected by the position detector and the map data.

[0006] According to the present invention, guidance information corresponding to the position of the lead mobility or follow vehicle and the planned route is displayed on a display terminal located inside the follow vehicle and / or provided via voice guidance. As a result, the occupant (user) of the follow vehicle can sightsee and travel while obtaining sightseeing information corresponding to their current location, without having to drive the follow vehicle. The present invention can improve the practicality of the electronic towing system. [Brief explanation of the drawing]

[0007] [Figure 1] This is a schematic diagram illustrating the electronic towing of a follower vehicle by lead mobility according to this embodiment. [Figure 2] This is a side view illustrating the lead mobility of this embodiment. [Figure 3] This is a plan view conceptual diagram illustrating the upper part of the lead mobility of this embodiment. [Figure 4] This is a block diagram illustrating the functional configuration of the electronic traction system of this embodiment. [Figure 5]This is a conceptual diagram illustrating an example of the use of the electronic traction system of this embodiment. [Modes for carrying out the invention]

[0008] Hereinafter, an electronic traction system 1, 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.

[0009] [A] Lead Mobility Configuration The lead mobility 10 is configured to be autonomously drivable (autonomous), and as shown in Figures 1 and 2, it electronically tows a follower vehicle (corresponding to a "following vehicle") 20 to its destination, maintaining a specific positional relationship through control via wireless communication, i.e., remote control. 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.

[0010] The Lead Mobility 10 of this embodiment is equipped with a pair of left and right drive wheels 11 and driven wheels 12 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 right or left, 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 around the steering axis. In the following description, right and left turns, changes direction, and turns may be collectively referred to as "right and left turns, etc."

[0011] Each drive wheel 11 is fitted with a friction braking device (drum brake or disc brake) not shown. Therefore, in a stationary state, the friction braking device functions as a parking brake by generating braking force through friction.

[0012] 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 lead mobility 10 in the width direction (lateral direction).

[0013] As shown in Figure 3, the Lead Mobility 10 is equipped with a self-propelled detector 13, a position detector 14, and a vehicle detector 15, 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.

[0014] Therefore, in this embodiment, the self-propelled detector 13 is configured to include a LiDAR (Light Detection And Ranging) 13A and a distance measuring device such as a camera 13B. The LiDAR 13A acquires three-dimensional point cloud data indicating the three-dimensional position of point clouds representing the object to be detected with high accuracy. The camera 13B can be, for example, a stereo camera, a monocular camera, or an RGB-D camera (depth camera), and acquires imaging data representing the direction and size of the object to be detected. In addition to or instead of using the LiDAR 13A and camera 13B, it is also possible to use, for example, a ToF (Time of Flight) sensor.

[0015] The self-propelled detector 13 outputs the acquired data, i.e., three-dimensional point cloud data and image data, to the controller 100, which will be described later. The controller 100 then uses the acquired three-dimensional point cloud data and image data in simultaneous localization and mapping (SLAM) for autonomous driving of the lead mobility 10, as will be described later.

[0016] The position detector 14 has, for example, a GNSS (Global Navigation Satellite System) receiver and detects the position of the lead mobility 10 based on the received signal. In this embodiment, the lead mobility 10 has two position detectors 14 positioned at each of the left and right positions in the vehicle width direction (lateral direction) of the upper part 10U of the vehicle body, that is, in a pair on the left and right.

[0017] The lead mobility 10 is configured to include a vehicle detector 15 for detecting a follower vehicle 20 that is following it. 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 sometimes referred to as "relative position"). Here, the relative position includes the relative orientation and attitude of the follower vehicle 20 with respect to the lead mobility 10 (hereinafter sometimes referred to as "relative attitude").

[0018] The vehicle detector 15 is primarily equipped with a LiDAR for measuring three-dimensional point cloud data of the follower vehicle 20 electronically towed by the lead mobility 10. In the controller 100, which will be described later, for example, only the relative position of the follower vehicle 20 detected by the vehicle detector 15 (i.e., the LiDAR) may be acquired, and the relative attitude and direction of travel of the follower vehicle 20 may be estimated by understanding the changes in the follower vehicle 20 over time based on the intermittently acquired relative position.

[0019] The self - driving detector 13 and the vehicle detector 15 constitute a peripheral monitoring device 9 for detecting the peripheral situation of the lead mobility 10. That is, the peripheral monitoring device 9 is mounted on the mobility body 7 and is composed of a plurality of detectors 13, 15 for detecting the peripheral situation of the mobility body 7. The plurality of detectors 13, 15 constituting the peripheral monitoring device 9 are arranged so as to detect at least the situations in front of, behind, to the left of, and to the right of the lead mobility 10. The self - driving detector 13 also functions as the vehicle detector 15, and the vehicle detector 15 also functions as the self - driving detector 13.

[0020] The lead mobility 10 includes a controller 100, a peripheral monitoring device 9, and a mobility body 7. The mobility body 7 is a vehicle body main part including a vehicle body upper part 10U, wheels 11, 12, and each actuator.

[0021] The controller 100 performs driving control so that the follower vehicle 20 maintains a specific positional relationship with respect to the lead mobility 10 by remote operation. The controller 100 executes control regarding the autonomous movement of the lead mobility 10 and the remote operation of the follower vehicle 20.

[0022] [B] Configuration and basic functions of the controller <着 As shown in FIG. 4, the controller 100 includes a CPU 110, a storage device 120, an interface circuit 130, and a communication device 140. The CPU 110, the storage device 120, and the interface circuit 130 are connected so as to be communicable bidirectionally via an internal bus. The communication device 140 performs wireless communication with the follower vehicle 20 via a network or the like.

[0023] 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. However, some or all of these functions can also be configured by hardware circuits.

[0024] 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, for example, as if the lead mobility 10 were towing the follower vehicle 20 with a rope. Here, the state in which the follower vehicle 20 is towed as if with a rope by the control commands transmitted by the remote control unit 111 of the controller 100 mounted on the lead mobility 10 via wireless communication using the communication device 140 is called "electronic towing".

[0025] 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 travel route. As a result, the follower vehicle 20 can follow the lead mobility 10 by receiving a control command for remote control, as will be described later.

[0026] The point cloud data acquisition unit 112 acquires three-dimensional point cloud data (hereinafter sometimes referred to as "vehicle point cloud data VP") 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 around the lead mobility 10 acquired by the LiDAR 13A of the self-propelled detector 13.

[0027] 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 surrounding three-dimensional point cloud data with high accuracy by template matching using the vehicle point cloud data VP.

[0028] 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 adjacent to the follower vehicle 20. In order to speed up the processing of template matching, the position-related information is preferably data of a small capacity or data obtained by simple processing, such as a GNSS signal.

[0029] 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 (lateral 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.

[0030] 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.

[0031] 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 enable the lead mobility 10 to drive autonomously along the lead vehicle route GR (which can also be called the planned driving route) to, for example, a set destination TP. When the lead mobility 10 is driving autonomously, the automatic driving control unit 116 detects the position of the lead mobility 10 based on the GNSS signal received by the position detector 14.

[0032] The special control unit 117 is a functional unit that enables special functions in the lead mobility 10. The details of this special control unit 117 will be explained in detail later.

[0033] 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.

[0034] 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 an arbitrarily set destination for the lead mobility 10. However, when the automatic driving control unit 116 autonomously drives the lead mobility 10 using a map generated by the SLAM unit 115 based on data output from the self-driving detector 13, 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 drives the lead mobility 10 along the generated driving route.

[0035] The actuator drive history AC is the history of input and output values ​​for each actuator 220 of the follower vehicle 20, as described later. The actuator drive history AC can also be described as the history of control command values ​​transmitted from the controller 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 controller 100, was completed.

[0036] [C] Follower Vehicle Configuration The follower vehicle 20 is a vehicle (e.g., a passenger car, truck, bus, construction vehicle, motorcycle, or tricycle) equipped with a driving control device 200 and a communication device 230. The driving control device 200 and the communication device 230 are basic devices currently installed in vehicles and can also be retrofitted. Each communication device 140 and 230 is in a state where it is authorized to communicate with each other. The lead mobility 10 electronically tows the authorized follower vehicle 20.

[0037] As shown in Figure 4, 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 storage device 212, and an interface circuit 213. The CPU 211, storage device 212, and interface circuit 213 are connected via an internal bus to enable bidirectional communication. The interface circuit 213 is connected to an actuator 220 and a communication device 230. The communication device 230 communicates wirelessly with the communication device 140 of the controller 100 mounted on the lead mobility 10, either via a network or directly.

[0038] 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 ​​the storage device 212. Here, driving control refers to various controls for driving the actuators 220 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. The actuators 220 are, for example, drive actuators, brake actuators, and steering actuators.

[0039] The CPU 211 controls the operation of the actuator 220 in response to control commands sent from the controller 100, regardless of whether the follower vehicle 20 has a driver, thereby enabling the follower vehicle 20 to follow the lead mobility 10 while maintaining a specific positional relationship with it.

[0040] [D] Remote control via lead mobility The controller 100 acquires information about the electronically towed follower vehicle 20 in advance, such as specifications, minimum turning radius, wheelbase length, acceleration performance, braking performance, and other information related to the follower vehicle 20's ability to "drive," "turn," and "stop." The controller 100 then electronically tows (follows) the follower vehicle 20, for example, while autonomously driving according to the lead vehicle route GR stored in the memory device 120, from which the specifications information has been acquired.

[0041] The controller 100 causes the follower vehicle 20 to follow the lead mobility 10's trajectory while maintaining a specific distance between the lead mobility 10 and the follower vehicle 20, specifically by keeping the distance between the two vehicles a specific distance.

[0042] [E] Guidance processing The electronic towing system 1 of this embodiment includes a lead mobility 10, a display terminal 8, a position detector 14, and a storage device 5. The lead mobility 10 has a mobility body 7 and a controller 100. As described above, the controller 100 is mounted on the mobility body 7 and is configured to autonomously move the mobility body 7 and to control a vehicle as a follower vehicle 20 to follow the mobility body 7 via wireless communication. As described above, the position detector 14 detects the position of the mobility body 7.

[0043] The display terminal 8 is an information terminal configured to communicate with the controller 100, located within the follower vehicle 20, and configured to display information on a screen and provide voice guidance. The display terminal 8 is positioned within the follower vehicle 20 so that the user can view the information. As an example, the display terminal 8 includes a display unit 81 such as a touch panel (which also serves as the operation unit), an arithmetic processing unit 82 that performs various processes (e.g., an ECU), a communication unit 83 that enables communication with the controller 100, an audio unit 84 that outputs sound, and a storage device 5.

[0044] The display terminal 8 may be a display device installed in the follower vehicle 20 so that the occupants can view it, or it may be a terminal configured to be portable by the user (e.g., a smartphone or tablet). For example, if the display terminal 8 is installed in the follower vehicle 20, the functions of the communication unit 83 may be shared with the communication device 230. If the display terminal 8 is a smartphone or the like, the display terminal 8 will be located inside the follower vehicle 20 when brought in or installed inside the follower vehicle 20 by the user.

[0045] The storage device 5 stores map data MP, which associates "location" with "tourism guidance information." Spots set on the map data MP are linked to tourism information and shopping information. The storage device 5 is configured to communicate with the controller 100 and / or the display terminal 8. In this embodiment, the storage device 5 is mounted on the display terminal 8. In other words, the map data MP is stored in the storage device 5 of the display terminal 8. Note that the storage device 5 may also be storage devices 120, 212, or an external server capable of communicating with the display terminal 8 and / or the controller 100.

[0046] The controller 100 shares information about the planned route of the mobility unit 7 or the follower vehicle 20 with the display terminal 8. In other words, the planned route of the mobility unit 7 or the follower vehicle 20 is set in both the controller 100 and the display terminal 8. The planned route is, for example, the lead vehicle route GR described above. The controller 100 sets the planned route based on the current location and destination and transmits the planned route (route information) to the display terminal 8. The display terminal 8 sets the route information received from the controller 100 as the planned route for the follower vehicle 20.

[0047] The planned route may be set by the display terminal 8, for example, by the user operating the display terminal 8. For example, the display terminal 8 may display multiple courses or multiple destinations that can be selected by the user. When a planned route or destination is set on the display terminal 8, the display terminal 8 transmits the set planned route (route information) or destination to the controller 100. The controller 100 sets the lead vehicle route GR based on the received route information or destination.

[0048] The controller 100 is configured to transmit location information of the mobility unit 7 or the follower vehicle 20 to the display terminal 8. The controller 100 calculates the position of the follower vehicle 20 based on the detection results of the position detector 14 and the surrounding monitoring device 9, and transmits the calculation result to the display terminal 8. In this way, the electronic towing system 1 is equipped with means for detecting the position of the mobility unit 7 or the follower vehicle 20.

[0049] The controller 100 can also utilize various location information used for controlling (electronically towing) the follower vehicle 20 when providing location information to the display terminal 8. This allows the controller 100 to transmit highly accurate location information used for control to the display terminal 8 without having to recalculate new location information. When the controller 100 sets its own planned route, it transmits route information (planned route) along with the location information to the display terminal 8.

[0050] The display terminal 8 is configured to perform guidance processing by displaying on the screen and / or providing voice guidance on location information and guidance information related to the planned route, based on location information detected by the location detector 14 and map data MP. In this embodiment, the display terminal 8 performs guidance processing based on information received from the controller 100 (location information and planned route) and map data MP stored in the storage device 5. The display terminal 8 may also obtain the location information of the follower vehicle 20 from a location detector provided on the follower vehicle 20 (e.g., a GNSS receiver or navigation system) or from a location detector provided on the display terminal 8 (e.g., a GNSS receiver). The controller 100 may also send a command to the display terminal 8 to start guidance processing.

[0051] The guidance process involves displaying and / or providing voice guidance on the display terminal 8 relevant guidance information (such as tourist information, store information such as restaurants and shops, or product information such as souvenirs and local specialties) according to the current location and planned route of the mobility unit 7 or follower vehicle 20. The guidance information can also be called tourist spot information. If the display terminal 8 is a smartphone or tablet, the guidance process may be implemented, for example, on a dedicated application. Examples of guidance processing include displaying spot information around the current location or along the planned route on the screen of the display terminal 8, or providing the user with information on each approaching spot through display or voice guidance.

[0052] The display terminal 8, based on location information, sends a deceleration command to the controller 100 when it determines that the follower vehicle 20 is located around a specific spot set in the map data MP or selected by the user. The specific spot may be pre-set in the map data or may be set, for example, during driving by the user. Upon receiving the deceleration command, the controller 100 is configured to perform sightseeing driving control, which reduces the speed of the follower vehicle 20. According to the sightseeing driving control system, the follower vehicle 20, which was traveling at normal speed, will travel at a sightseeing speed that is slower than normal speed. This allows the user to view the sightseeing spots at a more leisurely pace. If the position of the follower vehicle 20 moves outside a predetermined range of a specific spot, the controller 100 will return the movement speed of the follower vehicle 20 to normal speed.

[0053] The display terminal 8 is configured to execute a product ordering process that allows users to order products introduced in the guidance process online, in response to user input. This allows users to order souvenirs, local products, or specialties that were recommended in the guidance process at the time they want them while they are at the location.

[0054] Furthermore, the display terminal 8 may be configured to execute a specific order process in which the user directly orders a specific product introduced in the guidance process online or wirelessly from the store, in response to the user's operation. In this case, the controller 100 may be configured to control product pickup by parking the follower vehicle 20 near the store that sells the specific product ordered in the specific order process, and then departing the follower vehicle 20 in response to the user's operation of the display terminal 8 regarding product pickup.

[0055] With the specific order processing and product pickup control system, users can directly pick up items that can only be eaten on-site, such as soft serve ice cream or takoyaki, or items they want immediately. Store staff can confirm orders online or wirelessly via a communication-enabled information terminal and deliver the products to the follower vehicle 20 based on the order information (order details, vehicle information, payment method, etc.). Once the user has received the purchased items near the store, they can operate the display terminal 8 (for example, by pressing the complete button) to have the follower vehicle 20 drive away again. Specific products are pre-set.

[0056] Furthermore, the display terminal 8 is configured to perform driving instruction processing, which involves sending a selected instruction to the controller 100 from a set of instructions (options) regarding the movement of the follower vehicle 20, including instructions to change the planned route (e.g., the guided course) and instructions to stop. The controller 100 operates the follower vehicle 20 according to the received selected instruction. In addition to instructions to change the driving route and instructions to stop, the multiple instructions include, for example, instructions to decelerate, instructions to return to normal speed, instructions to start after stopping, and instructions to change the destination. If the user wants to change the guided course, for example, they can select the desired guided course. This makes it possible to provide sightseeing guidance that reflects the user's preferences in real time. Note that product order processing, specific order processing, and driving instruction processing may be implemented by an application downloaded to the display terminal 8.

[0057] In this way, users can ride in the follower vehicle 20 and sightsee while using the display terminal 8 to purchase products, change the tour route, etc. Users can also stop the follower vehicle 20 and pick up the products they ordered using the display terminal 8. The electronic towing system 1 provides sightseeing information while moving within the personal space without requiring the occupant to drive, thus providing an effect similar to a rickshaw in a tourist area.

[0058] According to the electronic towing system 1, for example, if a lead mobility device 10 and a display terminal 8 (e.g., a tablet) are prepared in a tourist area, even if the vehicle to be followed (the vehicle that will become the follower vehicle 20) is not a pre-prepared vehicle but a rental car or a tourist's private car, control and guidance processing by the controller 100 are possible. If the vehicle to be followed is a vehicle without a communication device 230 (e.g., a remote control ECU), it is possible to retrofit a communication device 230 to the vehicle to be followed. Guidance processing may also be performed by the user's smartphone or tablet with a dedicated app downloaded.

[0059] As shown in Figure 5, the controller 100 (special control unit 117) transmits information necessary for guidance processing (e.g., location information) to the display terminal 8, and the display terminal 8 performs guidance processing within the follower vehicle 20 based on the map data. The display terminal 8 may, for example, display a surrounding map, the location of the follower vehicle 20 on the map, the location of spots on the map, and / or a guidance course (planned route) in response to user operation (this may be displayed continuously).

[0060] If map data MP is stored in the controller 100, the controller 100 may transmit guidance information to the display terminal 8 in addition to location information and route information. As described above, the display terminal 8 is configured to perform deceleration instructions, product order processing, specific order processing, and driving instruction processing in conjunction with the guidance processing. The controller 100 is configured to perform sightseeing driving control and product pickup control in the operation of the follower vehicle 20. The controller 100 and the display terminal 8 share information and perform various processes and controls in conjunction.

[0061] According to this embodiment, guidance information corresponding to the location and route of the lead mobility 10 or follower vehicle 20 is displayed on the screen and / or voice-guided on the display terminal 8 inside the follower vehicle 20. As a result, the occupant (user) of the follower vehicle 20 can sightsee and travel while obtaining sightseeing information corresponding to their location while driving, without having to drive the follower vehicle 20. According to this embodiment, the practicality of the electronic towing system 1 can be improved. [Explanation of Symbols]

[0062] 10...Lead mobility, 100...Controller, 5...Storage device, 7...Mobility unit, 8...Display terminal, 9...Surroundings monitoring device, 14...Position detector, 20...Follower vehicle.

Claims

1. A lead mobility device comprising a mobility unit and a controller, wherein the controller is mounted on the mobility unit and is configured to autonomously move the mobility unit and to control a vehicle to follow the mobility unit via wireless communication, A display terminal located inside the following vehicle and configured to communicate with the controller, A position detector for detecting the position of the mobility unit or the following vehicle, A storage device that stores map data associated with location and tourist guidance information, Equipped with, The controller shares information about the planned route of the mobility unit or the following vehicle with the display terminal. The display terminal is configured to perform guidance processing by displaying on the screen and / or providing voice guidance on the location information and the planned route based on the location information detected by the location detector and the map data. Electronic traction system.

2. The display terminal is configured to execute a product order process, in response to user operations, which allows the user to order the products introduced in the guidance process online. The electronic traction system according to claim 1.

3. The display terminal is configured to execute a specific order process in response to user operation, which involves ordering a specific product introduced in the guidance process from a store online or via wireless communication. The aforementioned controller, The following vehicle is parked near the store that sells the specified product ordered in the specified order processing, In response to the user's operation of the display terminal, the following vehicle is started. The electronic traction system according to claim 1.

4. If the display terminal determines, based on the location information, that the following vehicle is located around a specific spot set for the map data or selected by the user, it sends a deceleration command to the controller. The controller is configured to perform sightseeing driving control to reduce the speed of the following vehicle upon receiving the deceleration instruction. The electronic traction system according to claim 1.

5. The display terminal is configured to perform driving instruction processing, which involves transmitting a selected instruction to the controller, which is selected by the user from among a plurality of instructions relating to the movement of the following vehicle, including instructions to change the planned driving route and instructions to stop. The controller operates the following vehicle in response to the selection instruction received. The electronic traction system according to any one of claims 1 to 4.

Images