Vehicle mobility system

Abstract

To enable efficient movement of vehicle groups that cannot move autonomously, even without map information. [Solution] The vehicle movement system 10 includes a module 21 that communicates wirelessly with a master system 13 and a controller 23 that controls the automatic driving of a second vehicle 12 equipped with a sensor 22 that recognizes a preceding first vehicle 11. The controller 23 switches the automatic driving between a first driving mode that follows the first vehicle 11 and a second driving mode that is remotely controlled from the master system 13, depending on whether or not the sensor 22 recognizes the first vehicle 11.

Description

Technical Field

[0001] This disclosure relates to a vehicle movement system.

Background Art

[0002] Patent Document 1 discloses a method for performing automatic valet parking. In this method, the vehicle moves without a driver along a guidance route including a parking lot map transmitted from the infrastructure and autonomously parks in an empty parking space.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Regarding private lands such as parking lots or factories, there may be no map information. Even if there is map information, the conventional method is difficult to apply to vehicle groups that cannot move autonomously.

[0005] An object of this disclosure is to enable vehicle groups that cannot move autonomously to move efficiently even without map information.

Means for Solving the Problems

[0006] The vehicle movement system according to this disclosure is a controller that controls the automatic driving of a second vehicle equipped with a module for performing wireless communication with a master system and a sensor for recognizing a preceding first vehicle. At least, depending on whether the sensor recognizes the first vehicle, the automatic driving is switched between a first driving that follows the first vehicle and a second driving by remote operation from the master system.

Effects of the Invention

[0007] According to this disclosure, a group of vehicles that cannot move autonomously can be efficiently moved even without map information. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows the configuration of a vehicle mobility system according to an embodiment of the present disclosure. [Figure 2] This is a flowchart showing the operation of a second vehicle according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0009] Hereinafter, an embodiment of this disclosure will be described with reference to the figures. In each figure, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0010] Referring to Figure 1, the configuration of the vehicle mobility system 10 according to this embodiment will be described.

[0011] The vehicle mobility system 10 comprises a first vehicle 11, at least one second vehicle 12, a master system 13, and an access point 14.

[0012] The first vehicle 11 and the second vehicle 12 are any type of automobile, such as a gasoline car, diesel car, hydrogen car, HEV, PHEV, BEV, or FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. The first vehicle 11 and the second vehicle 12 may also be MaaS-dedicated vehicles. "MaaS" is an abbreviation for Mobility as a Service.

[0013] In this embodiment, the first vehicle 11 is driven by a driver 15, but the operation may be automated to any level. The level of automation is, for example, one of levels 1 to 5 in the SAE classification. "SAE" is an abbreviation for Society of Automotive Engineers.

[0014] Vehicle 212 is capable of moving within the factory yard before shipment, or moving within private property such as valet parking, without a driver by combining an automated driving function equivalent to Level 2 in the SAE classification with wireless communication functions such as Wi-Fi (registered trademark). However, Vehicle 212 is not capable of autonomous movement. Here, "autonomous movement" means automatically recognizing the surrounding environment, determining the movement route and speed by the vehicle's own control algorithm without relying on external guidance such as following a preceding vehicle or remote control, and completing autonomous driving to the destination on its own.

[0015] Vehicle 11 is the vehicle that leads Vehicle 2 12 to the carport. In other words, Vehicle 11 is the lead vehicle. Vehicle 2 12 is the vehicle that follows Vehicle 11 to the carport. In other words, Vehicle 2 12 is an autonomous vehicle that follows the lead vehicle. Two or more Vehicle 2 12 may follow the lead vehicle in a convoy.

[0016] The second vehicle 12 is equipped with module 21, sensor 22, and controller 23.

[0017] In this embodiment, module 21 is a wireless LAN module compatible with wireless LAN standards such as Wi-Fi (registered trademark), but it may also be a mobile communication module compatible with mobile communication standards such as LTE, 4G, or 5G, or a combination of a wireless LAN module and a mobile communication module. "LAN" is an abbreviation for local area network. "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The TCU mounted on the second vehicle 12 may also have this module 21. "TCU" is an abbreviation for telematic control unit.

[0018] Sensor 22 is, for example, a millimeter-wave radar, a camera, LiDAR, or any combination thereof. "LiDAR" is an abbreviation for light detection and ranging.

[0019] The controller 23 is, for example, a combination of an ADAS that controls Level 2 equivalent autonomous driving and a processing block that determines whether or not to connect to the access point 14 triggered by the behavior of the ADAS. "ADAS" is an abbreviation for advanced driver-assistance system. The processing block is, for example, an MCU, ECU, SoC, FPGA, or ASIC. "MCU" is an abbreviation for microcontroller unit. "ECU" is an abbreviation for electronic control unit. "SoC" is an abbreviation for system on a chip. "FPGA" is an abbreviation for field-programmable gate array. "ASIC" is an abbreviation for application specific integrated circuit. The TCU mounted on the second vehicle 12 may also have this processing block together with module 21.

[0020] Module 21 performs wireless communication with the master system 13. Sensor 22 recognizes the preceding first vehicle 11. Controller 23 controls the autonomous driving of the second vehicle 12. In the present embodiment, controller 23 switches the autonomous driving of the second vehicle 12 between a first driving mode of following the first vehicle 11 and a second driving mode of remote operation from the master system 13, at least based on whether sensor 22 recognizes the first vehicle 11. Therefore, according to the present embodiment, the second vehicle 12 can be efficiently moved even without map information.

[0021] The configuration of the master system 13 is the same as that of a known system used by an operator to remotely operate an autonomous vehicle, so the description thereof is omitted. The master system 13 performs remote operation of the second vehicle 12.

[0022] In the present embodiment, the access point 14 is a network device that constructs a wireless LAN, such as a Wi-Fi (registered trademark) access point. The second vehicle 12 connects to the access point 14 via module 21 and communicates with the master system 13 via the wireless LAN, enabling the second driving mode of remote operation from the master system 13. The access point 14 may be replaced with a base station connected to a mobile communication network, such as an LTE base station, a 4G base station, or a 5G base station. In such a modification, the second vehicle 12 connects to the base station via module 21 and communicates with the master system 13 via the mobile communication network, enabling the second driving mode of remote operation from the master system 13.

[0023] Referring to FIG. 2, the operation of the second vehicle 12 according to the present embodiment will be described. The operations described below correspond to the method for moving an unmanned vehicle according to the present embodiment. That is, the method for moving an unmanned vehicle according to the present embodiment includes each step shown in FIG. 2.

[0024] In S1, the controller 23 controls module 21 so that it connects to access point 14 and begins wireless communication with master system 13. In S2, the controller 23 controls the automatic driving of the second vehicle 12 so that it begins moving in accordance with remote control from master system 13.

[0025] In S3, the controller 23 determines whether the sensor 22 has recognized the first vehicle 11. This determination is made, for example, by receiving a signal from the sensor 22 indicating whether or not the first vehicle 11 has been recognized. If it is determined that the sensor 22 has not recognized the first vehicle 11, it means that the second vehicle 12 has not reached a position in which it can follow the first vehicle 11, so the controller 23 further controls the automatic driving of the second vehicle 12 so that the second vehicle 12 continues to move in accordance with the remote control from the master system 13. On the other hand, if it is determined that the sensor 22 has recognized the first vehicle 11, it means that the second vehicle 12 has reached a position in which it can follow the first vehicle 11, so in S4, the controller 23 switches the automatic driving of the second vehicle 12 from the second operation controlled by the remote control from the master system 13 to the first operation in which it follows the first vehicle 11. The controller 23 controls module 21 so that it disconnects from the access point 14 and terminates wireless communication with the master system 13.

[0026] In S5, the controller 23 determines whether the sensor 22 has lost its recognition of the first vehicle 11. This determination is also made, for example, by receiving a signal from the sensor 22 indicating whether the controller 23 recognizes the first vehicle 11. If it is determined that the recognition of the first vehicle 11 has not been lost, it means that the second vehicle 12 can follow the first vehicle 11, so the controller 23 further controls the automatic driving of the second vehicle 12 so that the second vehicle 12 continues to move in accordance with the first vehicle 11. On the other hand, if it is determined that the recognition of the first vehicle 11 has been lost, it means that the second vehicle 12 can no longer follow the first vehicle 11, so in S6, the controller 23 controls module 21 so that module 21 reconnects to access point 14 and resumes wireless communication with master system 13. In S7, the controller 23 switches the automatic driving of the second vehicle 12 from the first operation, which follows the first vehicle 11, to the second operation, which is remotely controlled from master system 13. For example, when the sensor 22 no longer recognizes the first vehicle 11 as the first vehicle 11 has turned right or left, the controller 23 switches the automatic driving of the second vehicle 12 from the first driving mode to the second driving mode. After S7, the steps in S3 are executed again. For example, when the second vehicle 12 has completed its right or left turn in the second driving mode and the sensor 22 begins to recognize the first vehicle 11 again, the controller 23 switches the automatic driving of the second vehicle 12 from the second driving mode to the first driving mode.

[0027] As described above, in this embodiment, the vehicle movement system 10 includes a controller 23 that switches the automatic driving of the second vehicle 12 between a first operation that follows the first vehicle 11 and a second operation that is remotely controlled from the master system 13, depending on whether or not the sensor 22 recognizes the first vehicle 11. Therefore, according to this embodiment, even if there is no map information for private land such as a parking lot or factory, the second vehicle 12 can be moved efficiently within that private land. Since the second vehicle 12 does not need to move autonomously, it only needs to be equipped with a sensor 22 for following, and there is no need to equip it with a large number of sensors for autonomous movement.

[0028] In this embodiment, the controller 23 enables wireless communication performed by module 21 when switching the automatic driving of the second vehicle 12 from the first operation to the second operation. The controller 23 disables wireless communication performed by module 21 when switching the automatic driving of the second vehicle 12 from the second operation to the first operation. Therefore, according to this embodiment, the power value for transmitting wireless radio waves for communication is reduced. As a result, the decrease in the battery charge level of the second vehicle 12 can be suppressed.

[0029] For example, if the preceding vehicle, corresponding to vehicle 11, makes a right or left turn, and the autonomous vehicle, corresponding to vehicle 212, stops following it, the autonomous vehicle's wireless communication is activated. Once the right or left turn is performed remotely and completed, the wireless communication is deactivated and the autonomous vehicle resumes following the preceding vehicle. In this example, it is possible to move vehicles within private property such as a factory using the existing following function, and then switch to manual operation when the following function stops, thus enabling the vehicle to be completed quickly without stopping.

[0030] When two or more autonomous vehicles form a convoy in a line, only the first vehicle initially connects to access point 14 and is guided to a position behind the preceding vehicle. Subsequent vehicles follow the vehicle in front. Once the first vehicle reaches the position behind the preceding vehicle, the Wi-Fi® connection is turned off, and from then on, the first vehicle follows the preceding vehicle. Subsequent vehicles continue to follow the vehicle in front. When the recognition of the preceding vehicle is lost, such as during a right or left turn, not only the first vehicle but also the subsequent vehicles connect to access point 14 and switch from follow mode to remote control mode. The master system 13 instructs the vehicles to turn right or left in order, starting with the first vehicle. After the right or left turn is completed, each vehicle switches back to follow mode. This switch may also be performed by instruction from the master system 13. The Wi-Fi® connection is turned off again for each vehicle. In this way, by turning on the Wi-Fi® connection only when necessary, the battery consumption of the vehicle during unmanned vehicle movement is reduced.

[0031] The conditions for determining whether to connect to access point 14 are not limited to when the recognition of the preceding vehicle is lost. For example, the conditions for determining whether to connect to access point 14 are when the brake lights or reverse lights of the preceding vehicle, which can be recognized by sensors 22 such as a front camera, flash at regular intervals or a certain number of times, when the latitude and longitude for which the next connection is required is indicated during the previous connection to access point 14, when the vehicle enters a range of 15 meters in diameter from the indicated latitude and longitude, or when the vehicle has traveled a certain distance after the connection with access point 14 has been lost.

[0032] The master system 13 connected to the access point 14 may also receive position information of the lead vehicle in the convoy via the access point 14. The master system 13 may have the authority to switch between follow mode and remote control mode. In remote control mode, for example, the master system 13 can issue instructions to go straight, turn right, or turn left. However, even in remote control mode, if the ADAS detects an obstacle, actions other than those instructed may be performed.

[0033] This disclosure is not limited to the embodiments described above. For example, two or more blocks described in the block diagram may be combined, or one block may be divided. Instead of executing two or more steps described in the flowchart in chronological order as described, they may be executed in parallel or in a different order, depending on the processing capacity of the device performing each step, or as necessary. Other modifications are possible without departing from the spirit of this disclosure. [Explanation of symbols]

[0034] 10: Vehicle movement system, 11: First vehicle, 12: Second vehicle, 13: Master system, 14: Access point, 15: Driver, 21: Module, 22: Sensor, 23: Controller

Claims

1. A vehicle movement system comprising a controller for controlling the automatic driving of a second vehicle equipped with a module for wireless communication with a master system and a sensor for recognizing a preceding first vehicle, the controller switching the automatic driving between a first driving mode that follows the first vehicle and a second driving mode remotely controlled from the master system, depending on whether or not the sensor recognizes the first vehicle.

2. The aforementioned controller, When switching from the first operation to the second operation, the wireless communication is enabled. The vehicle movement system according to claim 1, wherein the wireless communication is disabled when switching the automated driving from the second driving to the first driving.

3. The vehicle movement system according to claim 1, wherein the controller switches the automatic driving from the first driving mode to the second driving mode when the sensor no longer recognizes the first vehicle as the first vehicle turns right or left.

4. The vehicle movement system according to claim 3, wherein the controller switches the automatic driving from the second driving mode to the first driving mode when the second vehicle has completed a right or left turn in the second driving mode and the sensor has started to recognize the first vehicle again.

5. The aforementioned first vehicle and, The aforementioned second vehicle and Equipped with, The vehicle movement system according to any one of claims 1 to 4, wherein the controller is mounted on the second vehicle together with the module and the sensor.

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