Method for delivering goods using an autonomous vehicle

Abstract

To propose a method for delivering an article using a mobile body performing autonomous travel capable of reducing deterioration due to time of an article to be delivered.SOLUTION: A method for delivering an article includes the steps of: acquiring information indicating an arrival designation location, an arrival designation time, and a collection location; calculating a first moving time required for a mobile body to move from a current position to the collection location and a second moving time required for the mobile body to move from the collection location to the arrival designation location; notifying a person concerned of collection of a collection time obtained by subtracting the second moving time from the arrival designation time; determining whether or not moving of the mobile body is started toward the collection location based on the first moving time and the second moving time; searching a transit point when moving of the mobile body is not started: and determining whether or not the mobile body is moved to the transit point when the transit point is found.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a method for delivering goods using a mobile object that travels autonomously. [Background technology]

[0002] Patent Document 1 discloses a delivery system that is highly convenient for people who do not hold a driver's license or who have difficulty driving a mobile vehicle, using a mobile vehicle that is configured to be unmanned and delivers packages to a specified delivery destination.

[0003] This delivery system includes a mobile object and a server that communicates with the mobile object. The mobile object is configured to be capable of unmanned operation and is used to deliver packages to a specified delivery destination. When an arrival time of a user who moves to the delivery destination without riding in the mobile object is set, the server transmits instructions to the mobile object for the mobile object to move along a delivery route searched for so that the mobile object arrives at the delivery destination at the set arrival time. The mobile object moves to the delivery destination according to the instructions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-101463 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the delivery of goods using a mobile object that travels autonomously, if there is a time period until the arrival time specified by the user after the mobile object collects the goods to be delivered, the mobile object will have to wait for a period of time while carrying the goods. In this case, if the goods to be delivered are foods that require refrigeration or keeping warm, the condition of the goods may deteriorate due to the long waiting time. In addition, the condition of the goods may deteriorate if the time it takes for the mobile object to collect such goods after they are prepared is long.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to propose a method for delivering goods that can reduce deterioration of the delivered goods over time when using an autonomously traveling mobile object. [Means for solving the problem]

[0007] The method for delivering goods according to the present disclosure is a method for delivering goods using a mobile body that travels autonomously. This method for delivering goods includes the steps of: acquiring information indicating a designated arrival location of the mobile body, a designated arrival time that designates the time when the mobile body will arrive at the designated arrival location, and a collection location where the goods will be collected; calculating a first travel time required for the mobile body to travel from the current location to the collection location and a second travel time required for the mobile body to travel from the collection location to the designated arrival location; calculating a collection time by subtracting the second travel time from the designated arrival time, and notifying a terminal at the collection location of the collection time; a first determination step of determining whether or not to start moving the mobile body toward the collection location based on the current time, the designated arrival time, the first travel time, and the second travel time; starting the movement of the mobile body to the collection location when the result of the first determination step is positive; The method is characterized in that the computer executes the following steps if the result is negative: a search step of searching for an intermediate location near the collection location where the mobile body can wait; if the intermediate location is found by the search step, a step of calculating a third travel time required for the mobile body to travel from the current location to the intermediate location and a fourth travel time required for the mobile body to travel from the intermediate location to the collection location; a second determination step of determining whether or not to move the mobile body to the intermediate location based on the current time, the designated arrival time, the second travel time, the third travel time, and the fourth travel time; if the result of the second determination step is positive, a step of moving the mobile body to the intermediate location; and if the result of the second determination step is negative, a step of having the mobile body wait at the current location until the result of the first determination step becomes positive. Effect of the Invention

[0008] According to the method for delivering goods disclosed herein, the time when the moving body starts moving toward the collection location is adjusted based on the first travel time and the second travel time, thereby reducing the time that the moving body waits with the goods loaded until the designated arrival time after collecting the goods.

[0009] According to the method for delivering goods disclosed herein, the collection time obtained by subtracting the second travel time from the designated arrival time is notified to the person involved in the collection via a terminal at the collection location. This makes it possible to prompt the person involved in the collection to adjust the timing of preparing the goods, and to reduce the time from when the goods are prepared until when the mobile body collects them.

[0010] Furthermore, according to the article delivery method of the present disclosure, before the moving body starts moving toward the collection place, a route point near the collection place where the moving body can wait is searched for. Then, if possible, the moving body is moved to the route point in advance. This reduces the amount of fluctuation in the first movement time due to changes in traffic conditions on the movement route, and reduces delays in the collection time.

[0011] In this way, deterioration of the delivered goods over time can be reduced. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a conceptual diagram for explaining an overview of a delivery system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a block diagram for explaining a configuration of a delivery system according to an embodiment of the present invention. [Diagram 3] 3 is a flowchart showing a process executed by an AVP service processing unit shown in FIG. 2; [Figure 4] 4 is a flowchart showing a process executed by an AVP service processing unit in the item collection process shown in FIG. 3. [Diagram 5] 1 is a conceptual diagram showing an example of an AVP service provided by a delivery system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, the embodiments of the present invention will be described with reference to the drawings. However, when the number, quantity, amount, range, etc. of each element is mentioned in the embodiments shown below, the present invention is not limited to the mentioned numbers unless otherwise specified or the number is clearly specified in principle. Furthermore, the structures described in the embodiments shown below are not necessarily essential to the present invention unless otherwise specified or the number is clearly specified in principle. In each drawing, the same or corresponding parts are given the same reference numerals, and the duplicated explanations are appropriately simplified or omitted.

[0014] 1. Overview of the delivery system FIG. 1 is a conceptual diagram for explaining an overview of a delivery system 10 according to this embodiment. The delivery system 10 is one aspect of an Auto Valet Parking (AVP) system. That is, a vehicle 100 (mobile body) parked in a specific waiting place NP provides an AVP service in which the vehicle 100 (mobile body) moves autonomously without a driver to a specified arrival place Prv and a specified arrival time specified by a user USR. Here, the specified arrival place Prv is a place near the waiting place NP (for example, a predetermined place in the same parking lot as the waiting place NP). The user USR typically requests the use of the AVP service via a user terminal UT.

[0015] In the delivery system 10, the user USR can also order an item when using the AVP service. As a result, the vehicle 100 moves to the collection location Pld (RTa) where the business SHP that provides the ordered item is located before moving to the specified arrival location Prv, and collects the item. Then, after collecting the item, the vehicle moves to the specified arrival location Prv (RTb, RTc). In other words, the ordered item is delivered.

[0016] Here, after the vehicle 100 collects the ordered items at the collection location Pld, if there is time until the designated arrival time, the vehicle 100 will have to wait until the designated arrival time. Typically, the vehicle 100 moves to a waiting location NP near the designated arrival location Prv (RTb) and waits. Then, the vehicle 100 starts moving so as to arrive at the designated arrival location Prv near the designated arrival time (RTc).

[0017] In this case, if the goods to be delivered are foods that need to be refrigerated or kept warm (e.g., ice cream or chocolate), there is a risk that the condition of the goods may deteriorate (melt, etc.) due to the long waiting time. In addition, the condition of the goods may deteriorate if the time it takes for the vehicle 100 to collect the goods after they have been prepared is long.

[0018] Therefore, the delivery system 10 of this embodiment reduces the time the vehicle 100 waits with items loaded by adjusting the time at which the vehicle 100 starts moving toward the collection location Pld based on the travel time (hereinafter also referred to as the "first travel time") required for the vehicle 100 to move from its current parked location to the collection location Pld and the travel time (hereinafter also referred to as the "second travel time") required for the vehicle 100 to move from the collection location Pld to the designated arrival location Prv.

[0019] In addition, the time obtained by subtracting the second travel time from the designated arrival time is notified to the person involved in the collection, such as the business SHP, as the collection time when the vehicle 100 will collect the goods. This makes it possible to prompt the person involved in the collection, such as the business SHP, to adjust the timing of preparing the goods, thereby reducing the time from when the goods are prepared until when the vehicle 100 collects them.

[0020] Furthermore, before the vehicle 100 starts moving toward the collection location Pld, a route point near the collection location Pld where the vehicle 100 can wait is searched for. Then, if there is enough time before the vehicle 100 starts moving toward the collection location Pld and the time required for the vehicle 100 to move from the route point to the collection location Pld is shorter than the first movement time, the vehicle 100 is moved to the route point in advance. This makes it possible to reduce the amount of fluctuation in the first movement time due to changes in traffic conditions on the movement route, and thus to reduce delays in the collection time.

[0021] 2. Configuration 2 is a block diagram for explaining the configuration of a delivery system 10 according to the present embodiment. The delivery system 10 includes a user terminal UT, a vehicle 100, a server 200, and a business operator terminal ST. The server 200 configures a communication network so that the user terminal UT, the vehicle 100, and the business operator terminal ST can transmit information to each other. The form of communication is not particularly limited.

[0022] The user terminal UT is a terminal operated by a user USR who uses the delivery system 10, and has at least a function to request the use of the AVP service provided by the delivery system 10. Typically, the user USR operates the user terminal UT and has an HMI function (touch panel, console, display, etc.) that allows the user USR to receive information related to the AVP service. The user terminal UT is, for example, a mobile terminal such as a smartphone owned by the user USR, or a dedicated terminal for the AVP service installed at a predetermined location. It may be configured to function as the user terminal UT of the delivery system 10 by installing a predetermined application on an appropriate device.

[0023] When the use of the AVP service is requested by the user USR, the user terminal UT outputs information (use information) related to the use of the AVP service to the server 200. The use information includes at least information indicating the designated arrival location Prv and the designated arrival time. Furthermore, if an item is ordered when using the AVP service, information indicating the ordered item and the collection location Pld is included.

[0024] The vehicle 100 is a vehicle configured to be capable of at least autonomous driving. The vehicle 100 includes a sensor 110, a communication device 120, a control device 130, and an actuator 140. The control device 130 configures an in-vehicle network so that the sensor 110, the communication device 120, and the actuator 140 can transmit information to each other. Typically, they are electrically connected to each other by a wire harness.

[0025] The sensor 110 indicates a system of sensors that detect and output information (driving environment information) related to the driving environment of the vehicle 100. The sensor 110 typically includes a sensor that detects information on the driving state of the vehicle 100 (vehicle speed, acceleration, yaw rate, etc.) and a sensor that detects information on the surrounding environment of the vehicle 100 (lanes, obstacles, preceding vehicles, etc.).

[0026] Examples of sensors that detect information about the traveling state of the vehicle 100 include a wheel speed sensor that detects the speed of the vehicle 100, a G sensor that detects the acceleration of the vehicle 100, and a gyro sensor that detects the angular velocity of the vehicle 100. Examples of sensors that detect information about the environment around the vehicle 100 include a millimeter wave radar, a camera, and a LIDAR (Light Detection and Ranging).

[0027] The communication device 120 indicates a device that transmits and receives various information (communication information) by communicating with devices outside the vehicle 100. The communication device 120 is, for example, a device that performs vehicle-to-vehicle communication or road-to-vehicle communication, a device that provides a GPS (Global Positioning System) function, a device that connects to a communication network and transmits and receives information via the communication network, or a system of devices that includes these. The devices with which the communication device 120 communicates include at least the server 200. Information that the vehicle 100 acquires via the communication device 120 includes, for example, map information, position information on a map using a GPS function, road traffic information, and the like. The communication device 120 also includes at least information acquired from the server 200.

[0028] The control device 130 executes processing related to the control of the vehicle 100 based on the acquired information, and generates a control signal. Then, the control device 130 outputs a control signal to the actuator 140. The control device 130 is typically an ECU (Electronic Control Unit). However, the control device 130 may be a system composed of multiple ECUs.

[0029] The control device 130 executes at least processing related to autonomous driving control. Typically, it sets a driving plan to a destination (a route on a map to the destination, an arrival time, etc.), and generates a driving route based on the driving plan, driving environment information, and communication information. Then, it generates control signals related to acceleration, braking, and steering so that the vehicle 100 drives along the driving route.

[0030] Actuator 140 indicates a system of actuators that operate according to control signals provided from control device 130. Actuator 140 includes, for example, an actuator that drives an engine (an internal combustion engine, an electric motor, a hybrid of these, etc.), an actuator that drives a brake mechanism provided in vehicle 100, an actuator that drives a steering mechanism of vehicle 100, etc. Various controls of vehicle 100 by control device 130 are realized by actuator 140 operating according to the control signals.

[0031] The vehicle 100 transmits various information (vehicle information) of the vehicle 100 to the server 200. The vehicle information includes information necessary for processing executed by the server 200, which will be described later, such as position information of the vehicle 100 and information on the running state of the vehicle 100.

[0032] The server 200 executes processing related to the services provided by the delivery system 10 based on the acquired information.

[0033] The server 200 is typically a computer configured on a communication network, and includes a memory and a processor. However, it may be a virtually configured computer. The memory includes a RAM (Random Access Memory) that temporarily stores data, and a ROM (Read Only Memory) that stores programs executable by the processor and various data related to the programs. Information acquired by the server 200 is stored in the memory. The processor reads the program from the memory, and executes processing according to the program based on the various data read from the memory.

[0034] The server 200 includes a payment processing unit 210 and an AVP service processing unit 220 .

[0035] When an order for an item is placed when using the AVP service, the payment processor 210 executes payment processing related to the order of the item. When the payment processing is executed and payment for the ordered item is made between the user USR and the business SHP, the AVP service processor 220 described later determines that the order for the item has been made. When payment is not made, the AVP service processor 220 reserves the order for the item. Alternatively, the use of the AVP service is reserved.

[0036] The AVP service processing unit 220 executes processing related to the AVP service according to the usage information. The processing executed by the AVP service processing unit 220 generates instruction information that gives the destination of the vehicle 100 and the dispatch timing of the vehicle 100. The vehicle 100 autonomously travels according to the instruction information, thereby realizing the AVP service according to the usage information. The processing executed by the AVP service processing unit 220 will be described in detail later.

[0037] The payment processing unit 210 and the AVP service processing unit 220 may be provided as parts of a program, or may be provided as separate servers configured on a communication network. When provided as separate servers, the server 200 indicates a system including multiple servers. The same applies to the case where the server 200 executes other processes.

[0038] The server 200 transmits to the user terminal UT processing information that provides information related to the processing executed by the server 200. The processing information is, for example, information indicating the payment status of the ordered goods, information indicating the current location of the vehicle 100, etc. The user terminal UT notifies the user USR of the acquired processing information (display, sound, etc.). This allows the user USR to know the usage status of the services provided by the delivery system 10.

[0039] When an item is ordered when using the AVP service, the server 200 transmits order information that provides information on the item ordered by the user USR to the carrier terminal ST described later. The order information includes the collection time when the vehicle 100 will collect the item.

[0040] The business operator terminal ST is a terminal that notifies the party involved in the collection, such as the business operator SHP, of the order information. The form of the business operator terminal ST is not particularly limited. For example, it is a mobile terminal owned by the business operator SHP, or a display device set at the collection location Pld. Alternatively, it may be configured to function as the business operator terminal ST of the delivery system 10 by installing a specific application on an appropriate device. When the business operator terminal ST notifies the party involved in the collection, such as the business operator SHP, of the order information, the party involved in the collection can start preparing the ordered items.

[0041] 3. AVP Service The following describes an example of the process executed by the AVP service processing unit 220 and the AVP service provided by the delivery system 10 according to the present embodiment.

[0042] 3-1.Processing performed by the AVP service processing unit Fig. 3 is a flowchart showing the process executed by the AVP service processing unit 220. The process shown in Fig. 3 starts when the server 200 acquires the use information from the user terminal UT (when the use of the AVP service is requested). However, at this time, it is assumed that the vehicle 100 is parked in a predetermined waiting place NP.

[0043] In step S100, the AVP service processing unit 220 judges whether or not the control right of the vehicle 100 to be moved by the AVP service has been transferred to the server 200. When the control right has been transferred to the server 200, the vehicle 100 performs autonomous driving according to the instruction information. When the control right has not been transferred to the server 200, the vehicle 100 cannot perform autonomous driving according to the instruction information. For example, when a person is aboard the vehicle 100, when the vehicle 100 is controlled by another system, when the vehicle 100 is not parked at a predetermined waiting place NP, etc., the control right of the vehicle 100 is not transferred to the server 200.

[0044] If the control of the vehicle 100 has been transferred to the server 200 (step S100; Yes), the process proceeds to step S200. If the control of the vehicle 100 has not been transferred to the server 200 (step S100; No), the process ends. At this time, the AVP service is not provided. For this reason, the user USR may be notified via the user terminal UT that the AVP service cannot be provided.

[0045] In step S200, the AVP service processing unit 220 judges whether or not an order for an item has been placed when using the AVP service. As described above, it is judged that an order for an item has been placed when payment for the ordered item has been made in the payment processing unit 210. If an order for an item has been placed (step S200; Yes), the process proceeds to step S300. If an order for an item has not been placed (step S200; No), the process proceeds to step S400.

[0046] In step S300, the AVP service processing unit 220 executes a process (item collection process) for collecting the ordered item by the vehicle 100. Details of the process executed in step S300 (item collection process) will be described later.

[0047] After step S300, the process proceeds to step S400. After step S300, the vehicle 100 is parked at the waiting location NP with the articles collected.

[0048] In step S400, the AVP service processing unit 220 judges whether or not to start moving the vehicle 100 toward the specified arrival location Prv. Here, when the time comes when the vehicle 100 will arrive at the specified arrival location Prv near the specified arrival time, it is judged that the movement of the vehicle 100 will start. For example, when the following formula (1) is satisfied, where the current time is t and the specified arrival time is Trv, it is judged that the movement of the vehicle 100 will start.

[0049]

number

[0050] Here, FT1 is a predetermined value that is given to the program in advance. Since the designated arrival location Prv is a location near the designated waiting location NP, this determination prevents the vehicle 100 from arriving at the designated arrival location Prv with a large error from the designated arrival time Trv.

[0051] If it is determined that the vehicle 100 should start moving toward the designated arrival location Prv (step S400; Yes), the process proceeds to step S500. If it is determined that the vehicle 100 should not start moving (step S400; No), the process of step S400 is repeated again in the next processing cycle. While the process of step S400 is repeated, the vehicle 100 waits in a parked state at the waiting location NP.

[0052] In step S500, the AVP service processing unit 220 generates instruction information to cause the vehicle 100 to start moving toward the designated arrival location Prv. After step S500, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the designated arrival location Prv, the process ends.

[0053] 3-2. Collection and processing of goods FIG. 4 is a flowchart showing the process executed by the AVP service processing unit 220 in step S300 (item collection process) shown in FIG.

[0054] In step S310, the AVP service processing unit 220 calculates the time (first travel time) required for the vehicle 100 to move from the current location (waiting location NP at the start of processing) to the collection location Pld, and the time (second travel time) required for the vehicle 100 to move from the collection location Pld to the designated arrival location Prv. This is calculated, for example, based on the driving plan of the vehicle 100 acquired as vehicle information. Alternatively, the control device 130 of the vehicle 100 may calculate the first travel time and the second travel time based on the driving plan, and the first travel time and the second travel time may be given as vehicle information. Here, the server 200 transmits information on the collection location Pld and the designated arrival location Prv as instruction information to the vehicle 100, and the control device 130 generates a driving plan.

[0055] After step S310, the process proceeds to step S320.

[0056] In step S320, the AVP service processing unit 220 calculates the time obtained by subtracting the second travel time from the arrival designated time Trv as the collection time at which the vehicle 100 will collect the items. The server 200 then transmits order information including the ordered items and the calculated collection time to the business operator terminal ST, and notifies the business operator SHP and other related parties in the collection. Note that when the process of step S320 is executed again in subsequent processes, only the collection time may be transmitted as updated order information only when the collection time is updated.

[0057] After step S320, the process proceeds to step S330.

[0058] In step S330 (first judgment step), the AVP service processing unit 220 judges whether or not to start moving the vehicle 100 toward the collection location Pld. Here, when the relationship shown in the following formula (2) is established among the current time t, the designated arrival time Trv, the first movement time MTto, and the second movement time MTdel, it is judged that the movement of the vehicle 100 is started.

[0059]

number

[0060] Here, FT2 is a predetermined value, which is a value given to the program in advance. In formula (2), t+MTto+MTdel is the time at which the vehicle 100 is expected to arrive at the designated arrival location Prv if it starts moving at the current time t. In other words, when the relationship shown in formula (2) holds, it is the time at which the vehicle 100 will arrive at the designated arrival location Prv near the designated arrival time Trv.

[0061] When it is determined that the vehicle 100 starts moving toward the collection location Pld (step S330; Yes), the process proceeds to step S340. When it is determined that the vehicle 100 does not start moving (step S330; No), the process proceeds to step S331.

[0062] In step S331 (search step), the AVP service processing unit 220 searches for a waypoint near the collection location Pld where the vehicle 100 can wait. The waypoint is, for example, a specific parking lot near the collection location Pld. The search for the waypoint is performed, for example, by the server 200 acquiring the usage status of the specific parking lot via the communication network.

[0063] After step S331, the process proceeds to step S332.

[0064] In step S332, the AVP service processing unit 220 judges whether or not a waypoint has been found by the process of step S331. If a waypoint has been found (step S332; Yes), the process proceeds to step S333. If a waypoint has not been found (step S332; No), the process returns to step S310 and is repeated.

[0065] In step S333, the AVP service processing unit 220 calculates the time required for the vehicle 100 to move from the waiting location NP to the waypoint (third travel time), and the time required for the vehicle 100 to move from the waypoint to the collection location Pld (fourth travel time). The calculation method may be the same as the first travel time and the second travel time.

[0066] After step S333, the process proceeds to step S334.

[0067] In step S334 (second judgment step), the AVP service processing unit 220 judges whether or not to move the vehicle 100 to the waypoint. Here, when the relationship shown in the following formula (3) holds among the current time t, the designated arrival time Trv, the second travel time MTdel, the third travel time MTw1, and the fourth travel time MTw2, and when the following formula (4) is satisfied between the first travel time MTto and the fourth travel time MTw2, it is judged that the vehicle 100 is to move to the waypoint.

[0068]

number

[0069]

number

[0070] When the relationship shown in formula (3) holds, even if the vehicle 100 is moved to the intermediate point, formula (2) is not satisfied during the movement of the vehicle 100. In other words, it indicates that there is enough time before the vehicle starts moving from the current location to the collection location Pld. When formula (4) is satisfied, the fourth movement time is shorter than the first movement time. In other words, it indicates that the intermediate point is a point where the time to move to the collection location Pld is shorter than the current location, that is, a point closer to the collection location Pld than the current location. However, if it is clear in the search step that the intermediate point is a point closer to the collection location Pld than the current location, the condition of formula (4) does not need to be included.

[0071] If it is determined that the vehicle 100 is to be moved to the waypoint (step S334; Yes), the process proceeds to step S335. If it is determined that the vehicle 100 is not to be moved to the waypoint (step S334; No), the process returns to step S310 and is repeated.

[0072] In step S335, the AVP service processor 220 generates instruction information for the vehicle 100 to start moving toward the waypoint. After step S335, that is, after detecting from the vehicle information that the vehicle 100 has arrived at the waypoint, the process returns to step S310 and is repeated. At this time, the current location of the vehicle 100 becomes the waypoint.

[0073] In step S340, the AVP service processing unit 220 generates instruction information to the vehicle 100 to start moving toward the collection location Pld. After step S340, that is, after detecting from the vehicle information that the vehicle 100 has arrived at the collection location Pld, the process proceeds to step S350.

[0074] In step S350, the AVP service processor 220 judges whether the vehicle 100 has completed collection of the ordered items at the collection location Pld. For example, the AVP service processor 220 judges that collection is complete when a person involved in the collection, such as the company SHP, notifies the company that collection is complete via the company terminal ST.

[0075] If collection of the ordered items is complete (step S350; Yes), the process proceeds to step S360. If collection of the ordered items is not complete (step S350; No), the process of step S350 is repeated again in the next processing cycle. While the process of step S350 is repeated, the vehicle 100 waits in a parked state at the collection location Pld.

[0076] In step S360, the AVP service processing unit 220 generates instruction information for the vehicle 100 to start moving toward the waiting location NP. After step S360, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the waiting location NP, step S300 (item collection processing) is completed, and the processing proceeds to step S400 shown in FIG.

[0077] Here, the process of step S400 may be executed while moving from the collection location Pld toward the waiting location NP. In other words, when it is determined that the movement toward the designated arrival location Prv is to be started by the process of step S400 at a point near the designated arrival location Prv (and thus near the waiting location NP) (step S400; Yes), the vehicle may move directly toward the designated arrival location Prv without passing through the waiting location NP.

[0078] 3-3. Examples of AVP services provided by delivery systems Fig. 5 is a conceptual diagram showing an example of an AVP service provided by the delivery system 10 according to the present embodiment. Hereinafter, the example of the AVP service shown in Fig. 5 will be described with reference to the processes shown in Figs. 3 and 4.

[0079] Assume that when the vehicle 100 is parked and waiting at the waiting place NP without a person in it (processing start point), the user USR requests the use of the AVP service including ordering an item for the vehicle 100 via the user terminal UT. At this time, information indicating the designated arrival place Prv, the designated arrival time Trv, the item to be ordered, and the collection place Pld is transmitted to the server 200 as usage information. Also, assume that the control of the vehicle has been transferred to the server 200 (step S100 shown in FIG. 3; Yes), and the payment for the ordered item has been completed in the payment processing unit 210 (step S200 shown in FIG. 3; Yes).

[0080] When the server 200 acquires the usage information, the AVP service processing unit 220 calculates the first travel time (travel time from the waiting location NP to the collection location Pld) and the second travel time (travel time from the collection location Pld to the designated arrival location Prv) (step S310 shown in FIG. 4). Then, the collection time is calculated by subtracting the second travel time from the designated arrival time Trv, and the ordered items and order information including the calculated collection time are transmitted to the business terminal ST, thereby notifying the information of the ordered items to the person involved in the collection, such as the business SHP (step S320 shown in FIG. 4). This allows the person involved in the collection, such as the business SHP, to prepare the ordered items according to the notified collection time.

[0081] Next, the AVP service processing unit 220 judges whether or not to start moving the vehicle 100 toward the collection location Pld based on the first movement time and the second movement time. Now, it is assumed that it is judged not to start moving toward the collection location Pld (step S330 shown in FIG. 4; No). At this time, the AVP service processing unit 220 searches for a waypoint WP near the collection location Pld where the vehicle 100 can wait (step S331 shown in FIG. 4).

[0082] Assume that a waypoint has now been found (step S332 shown in FIG. 4; Yes). At this time, the AVP service processing unit 220 calculates the third travel time (travel time from the waiting location NP to the waypoint WP) and the fourth travel time (travel time from the waypoint WP to the collection location Pld) (step S333 shown in FIG. 4). Then, it is determined whether or not to move the vehicle 100 to the waypoint WP. Now, it is determined that the vehicle 100 is to move to the waypoint WP (step S334 shown in FIG. 4; Yes). At this time, the server 200 transmits instruction information to the vehicle 100 to start moving toward the waypoint WP (step S335 shown in FIG. 4). The vehicle 100 moves by autonomous driving toward the waypoint WP according to the instruction information (RT1).

[0083] After the vehicle 100 arrives at the waypoint WP, the AVP service processor 220 calculates the first travel time (travel time from the waypoint WP to the collection location Pld) and the second travel time with the waypoint WP as the current location (step S310 shown in FIG. 4). Then, the collection time is calculated, and if the collection time is updated, the collection time is transmitted to the carrier terminal ST as order information.

[0084] Next, the AVP service processing unit 220 judges whether or not to start moving the vehicle 100 toward the collection location Pld based on the first movement time and the second movement time. Now, it is judged that the movement toward the collection location Pld is started (step S330 shown in FIG. 4; Yes). At this time, the server 200 transmits instruction information to the vehicle 100 to start moving toward the collection location Pld (step S340 shown in FIG. 4). The vehicle 100 moves toward the collection location Pld by autonomous driving according to the instruction information (RT2).

[0085] In addition, even in the waypoint WP, a search for other waypoints is performed before starting to move toward the collection point Pld (step S331 shown in FIG. 4). Then, if other waypoints are found (step S332 shown in FIG. 4; Yes), depending on whether or not to move the vehicle 100 to the other waypoints (step S334 shown in FIG. 4), the vehicle 100 may be moved to the other waypoints (step S335 shown in FIG. 4).

[0086] After the vehicle 100 arrives at the collection location Pld, the AVP service processor 220 parks the vehicle 100 at the collection location Pld and waits until collection is completed (step S350 shown in FIG. 4; No). Then, after collection is completed (step S350 shown in FIG. 4; Yes), the server 200 transmits instruction information to the vehicle 100 to start moving toward the waiting location NP (step S360 shown in FIG. 4). The vehicle 100 moves by autonomous driving toward the waiting location NP according to the instruction information (RT3).

[0087] After the vehicle 100 arrives at the waiting location NP, the AVP service processing unit 220 judges whether or not to start moving toward the designated arrival location Prv. The AVP service processing unit 220 parks the vehicle 100 at the waiting location NP and makes it wait until it is judged that the vehicle 100 starts moving toward the designated arrival location Prv (step S400 shown in FIG. 3; No). At this time, the time to start moving the vehicle 100 toward the collection location Pld is adjusted based on the first moving time and the second moving time, so the waiting time is sufficiently short.

[0088] After determining to start moving toward the specified arrival location Prv (step S400 shown in FIG. 3; Yes), the server 200 transmits instruction information to the vehicle 100 to start moving toward the specified arrival location Prv (step S500 shown in FIG. 3). The vehicle 100 moves by autonomous driving toward the specified arrival location Prv in accordance with the instruction information (RT4).

[0089] After the vehicle 100 arrives at the specified arrival location Prv, the AVP service processing unit 220 ends the process. Then, the user USR can receive the ordered items and start using the vehicle 100.

[0090] 4.Effects As described above, according to the delivery system 10 of this embodiment, the time when the vehicle 100 starts moving toward the collection location Pld is appropriately adjusted based on the first moving time and the second moving time. In addition, the time obtained by subtracting the second moving time from the arrival designated time Trv is notified to the person involved in the collection, such as the business operator SHP, as the collection time when the vehicle 100 collects the goods. Furthermore, before the vehicle 100 starts moving toward the collection location Pld, a route location WP near the collection location Pld where the vehicle 100 can wait is searched for. Then, if there is enough time until the time when the vehicle 100 starts moving toward the collection location Pld and the fourth moving time is shorter than the first moving time, the vehicle 100 is moved to the route location WP in advance.

[0091] In this way, by using the autonomously traveling vehicle 100 (mobile body) to deliver the ordered goods, the time spent waiting with the goods loaded can be reduced. Also, the company SHP or other collection personnel can be prompted to adjust the timing of preparing the goods, and the time from when the goods are prepared until when the vehicle 100 collects them can be reduced. Furthermore, if the vehicle 100 can be moved to the waypoint WP in advance, the amount of fluctuation in the first travel time due to changes in traffic conditions on the travel route can be reduced, and delays in the collection time can be reduced.

[0092] This in turn reduces deterioration of the delivered goods over time. [Explanation of symbols]

[0093] 10 Delivery system, 100 Vehicle, NP Waiting place, Pld Collection place, Prv Arrival place, WP Route point, USR User, UT User terminal, SHP Operator, 200 Server, 210 Payment processing unit, 220 AVP service processing unit, ST Operator terminal

Claims

[Claim 1] A method for delivering goods using an autonomously traveling mobile object, comprising: acquiring information indicating a designated arrival location of the mobile body, a designated arrival time that designates a time when the mobile body will arrive at the designated arrival location, and a collection location where the item will be collected; Calculating a first travel time required for the mobile body to travel from a current location to the collection location, and a second travel time required for the mobile body to travel from the collection location to the designated arrival location; calculating a collection time by subtracting the second travel time from the designated arrival time, and notifying a terminal at the collection location of the collection time; A first determination step of determining whether or not to start moving a moving body toward a collection location based on a current time, the designated arrival time, the first moving time, and the second moving time; When the result of the first determination step is positive, starting the movement of the moving object to the collection location; A search step of searching for a route point near the collection location where the mobile body can wait when the result of the first determination step is negative; When the route point is found by the search step, a third travel time required for the mobile body to travel from the current location to the route point and a fourth travel time required for the mobile body to travel from the route point to the collection location are calculated. a second determination step of determining whether or not to move the mobile body to the intermediate point based on a current time, the designated arrival time, the second travel time, the third travel time, and the fourth travel time; a step of moving the moving object to the intermediate point when a result of the second determination step is positive; When a result of the second determination step is negative, the moving object is made to wait at the current location until a result of the first determination step is positive; Have your computer run A method for delivering goods, comprising:

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