Vehicle transport device, transport method, and program

Abstract

To prevent a vehicle from staying inside a conveying object area.SOLUTION: A server 5 receives driving difficulty information indicating that a vehicle 3 is difficult to be driven by a driver, determines that a current position of the vehicle is located inside a predetermined transportation target area, and transports the vehicle 3 to a transporting robot 7 from the current position to a transport destination in response to a state where it is determined that the driving difficulty information is received and the current position of the vehicle 3 is located inside the transportation target area.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle transport device, a transport method, and a program.

Background Art

[0002] There is known a drunk driving prevention device that detects the alcohol concentration in a driver's breath and prohibits the vehicle from running when it is determined that the driver is in a drunk state (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, the vehicle whose running is prohibited is considered to be, for example, in a parking lot of a restaurant. Then, when the running of the vehicle is prohibited, a section of the parking lot will continue to be occupied by the vehicle until the driver recovers from the drunk state. This is not preferable for other drivers who want to park in the parking lot and for the restaurant.

Means for Solving the Problems

[0005] According to the present disclosure, the following is provided. [Configuration 1] A vehicle transport device, comprising: a receiving unit configured to receive driving difficulty information indicating that it is difficult for a driver to drive a vehicle; a determination unit configured to determine that the current position of the vehicle is within a predetermined transport target area; In response to receiving the driving difficulty information and determining that the current position of the vehicle is within the conveyance target area, a conveyance unit configured to cause a conveyance robot to convey the vehicle from the current position to a predetermined conveyance destination; A conveyance device comprising the same. [Configuration 2] The conveyance device according to Configuration 1, wherein the conveyance unit is configured to cause the conveyance robot to convey the vehicle in response to further receiving approval from the driver for conveyance of the vehicle. [Configuration 3] The conveyance device according to Configuration 1 or 2, wherein the conveyance target area includes a parking lot available for multiple people. [Configuration 4] The conveyance device according to any one of Configurations 1 to 3, wherein the vehicle is configured such that driving is restricted when the driving difficulty information is transmitted. [Configuration 5] A method for conveying a vehicle, comprising: receiving driving difficulty information indicating that it is difficult for a driver to drive the vehicle; determining that the current position of the vehicle is within a predetermined conveyance target area; in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the conveyance target area, causing a conveyance robot to convey the vehicle from the current position to a predetermined conveyance destination; A conveyance method including the above. [Configuration 6] A program, comprising: receiving driving difficulty information indicating that it is difficult for a driver to drive the vehicle; determining that the current position of the vehicle is within a predetermined conveyance target area; in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the conveyance target area, causing a conveyance robot to convey the vehicle from the current position to a predetermined conveyance destination; A program for causing a computer to execute the above.

Advantages of the Invention

[0006] The vehicle can be restricted from staying within the conveyance target area.

Brief Description of the Drawings

[0007]

Figure 1

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Figure 12

Modes for Carrying Out the Invention

[0008] FIG. 1 schematically shows a vehicle transportation system 1 according to an embodiment of the present disclosure. Referring to FIG. 1, it includes a manually operated vehicle 3, a server 5, and a transport robot 7. These vehicle 3, server 5, and transport robot 7 are communicably connected to a communication network N such as the Internet. In the vehicle transportation system 1 according to an embodiment of the present disclosure, the vehicle 3 is transported by an automatically operated transport robot 7.

[0009] As schematically shown in FIG. 2, the vehicle 3 according to an embodiment of the present disclosure includes one or more processors 31, one or more memories 32, a storage device 33, and an input / output interface (IF) 34, which are communicably connected to each other by a bidirectional bus. The memory 32 includes a volatile or non-volatile memory. Various programs and the like are stored in the memory 32, and these programs are executed by the processor 31. The storage device 33 stores map data, a calculation model, and the like. Communicably connected to the input / output IF 34 are a communication device 35, an input / output device 36, one or more sensors 37, a GPS receiver 38, a driving ability determination device 39, a driving restriction device 40, and the like.

[0010] The communication device 35 is communicably connected to the communication network N. The input / output device 36 includes, for example, an HMI (display with a touch panel, speaker, etc.), a keyboard, a mouse, a media reader / writer, and the like. The sensor 37 detects data for driving the vehicle 3. The GPS receiver 38 receives signals from GPS satellites and thereby detects information representing the absolute position (for example, longitude and latitude) of the vehicle 3.

[0011] The driving ability determination device 39 determines whether it is difficult for the driver to drive the vehicle 3. In one example, the driving ability determination device 39 includes a sensor that detects the alcohol concentration in the driver's breath, and determines that it is difficult for the driver to drive the vehicle 3 when the alcohol concentration exceeds the upper limit value, and does not determine that it is difficult for the driver to drive the vehicle when the alcohol concentration does not exceed the upper limit value. In another example, the driving ability determination device 39 alternatively or additionally includes a camera that photographs the driver, and determines whether it is difficult for the driver to drive the vehicle 3 based on the driver's behavior or the like. In one example, when it is determined from the driver's behavior that the driver has drowsiness, fatigue, pain, etc., it is determined that it is difficult for the driver to drive the vehicle 3.

[0012] The driving restriction device 40 restricts the driving of the vehicle 3 when the driving ability determination device 39 determines that it is difficult for the driver to drive the vehicle 3. In one example, the engine or the electric motor continues to be stopped. In another example, the brake continues to be actuated. On the other hand, when the driving ability determination device 39 does not determine that it is difficult for the driver to drive the vehicle 3, the driving of the vehicle 3 is permitted.

[0013] On the other hand, as schematically shown in FIG. 3, the server 5 according to the embodiment of the present disclosure includes one or more processors 51, one or more memories 52, a storage device 53, and an input / output interface (IF) 54, which are communicably connected to each other by a bidirectional bus. The memory 52 includes a volatile or non-volatile memory. Various programs and the like are stored in the memory 52, and these programs are executed by the processor 51. The storage device 53 stores map data, a calculation model, and the like. A communication device 55, an input / output device 56, and the like are communicably connected to the input / output IF 54. The communication device 55 is communicably connected to the communication network N. The input / output device 56 includes, for example, an HMI (display with a touch panel, speaker, etc.), a keyboard, a mouse, a media reader / writer, and the like. The restriction member control device 57 is communicably connected to the actuator 43 described later.

[0014] As shown schematically in FIG. 4, a transport robot 7 according to an embodiment of the present disclosure includes one or more processors 71, one or more memories 72, a storage device 73, and an input / output interface (IF) 74, which are communicably connected to each other by a bidirectional bus. The memory 72 includes a volatile or non-volatile memory. Various programs and the like are stored in the memory 72, and these programs are executed by the processor 71. The storage device 73 stores map data, a calculation model, and the like. Communicably connected to the input / output IF 74 are a communication device 75, an input / output device 76, one or more sensors 77, a GPS receiver 78, an automatic driving device 79, a cart control device 80, and the like.

[0015] The communication device 75 is communicably connected to a communication network N. The input / output device 76 includes, for example, an HMI (display with a touch panel, speaker, etc.), a keyboard, a mouse, a media reader / writer, and the like. The sensor 77 detects data for the operation of the transport robot 7. The GPS receiver 78 receives signals from GPS satellites and thereby detects information representing the absolute position (for example, longitude and latitude) of the transport vehicle 70. The automatic driving device 79 includes an environmental sensor for recognizing the surrounding environment of the transport robot 7 and actuators for respectively executing driving, steering, and braking of the transport robot 7. The environmental sensor includes, for example, a camera for photographing the surroundings of the transport robot 7, LiDAR, and the like. The cart control device 80 will be described later.

[0016] Figures 5A, 5B and Figures 6A, 6B schematically show the transport robot 7 according to an embodiment of the present disclosure. Referring to Figures 5A, 5B and Figures 6A, 6B, the transport robot 7 includes a drive part 7a and a carriage 7b that are connected to each other while being aligned in the longitudinal direction. The drive part 7a is a battery electric vehicle (BEV) equipped with the above-described automatic driving device 79. The carriage 7b is movable in the vertical direction between a relatively low lowering position and a relatively high raising position by the above-described carriage control device 80. In Figures 5A, 5B, the carriage 7b is in the lowering position. On the other hand, in Figures 6A, 6B, the carriage 7b is in the raising position. Further, the carriage 7b includes a pair of carriage parts 7ba, 7bb that are aligned in the longitudinal direction. These carriage parts 7ba, 7bb are relatively movable in the longitudinal direction by the above-described carriage control device 80. On each side of each of the carriage parts 7ba, 7bb, a pair of arms 7c, 7c are attached to the carriage part 7ba while being spaced apart in the longitudinal direction. The arms 7c, 7c are movable around pins 7d, 7d between a retracted position that extends in the longitudinal direction along the carriage parts 7ba, 7bb and a deployed position that extends in a direction perpendicular to the longitudinal direction away from the carriage parts 7ba, 7bb. In Figures 5A, 5B, the arms 7c, 7c are in the retracted position. On the other hand, in Figures 6A, 6B, the arms 7c, 7c are in the deployed position.

[0017] When the transport robot 7 is to transport the vehicle V, the transport robot 7 moves to the vehicle V with the carriage 7b in the lowered position and the arms 7c, 7c in the retracted position. Next, as shown in FIGS. 5A and 5B, the transport robot 7 is moved so that the carriage 7b enters the lower space LS formed between the vehicle V and the road surface RS. In one example, the carriage 7b enters the lower space LS from one longitudinal end of the lower space LS. At this time, the position of the carriage 7b with respect to the vehicle V and the longitudinal relative position of the carriage portions 7ba, 7bb are controlled so that the arms 7c, 7c face the corresponding tires W, respectively. Next, the arms 7c, 7c are moved to the deployed position. As a result, the arms 7c, 7c are positioned below the corresponding tires W in front of and behind the tires W. Next, the carriage 7b is moved to the raised position. As a result, as shown in FIGS. 6A and 6B, the vehicle V is picked up by the transport robot 7. The transport robot 7 moves in a state of picking up the vehicle V, thereby transporting the vehicle V.

[0018] Next, when the transport robot 7 reaches the target position, the carriage 7b is moved to the lowered position. Next, the arms 7c, 7c are moved to the retracted position. Next, the transport robot 7 is moved so that the carriage 7b exits the lower space LS. In this way, the vehicle V is dropped off from the transport device 7.

[0019] Note that the transport robot 7 or the carriage 7b may enter the lower space LS from the front side of the vehicle V or may enter the lower space LS from the rear side of the vehicle V.

[0020] Next, with reference to FIG. 7, a vehicle transportation method according to an embodiment of the present disclosure will be described. When the driver gets into the parked vehicle 3, the driving ability determination device 39 determines whether it is difficult for the driver to drive the vehicle 3. If it is determined that it is difficult for the driver to drive the vehicle, the driving restriction device 40 restricts the driving of the vehicle 3. Further, driving difficulty information is transmitted from the vehicle 3 to the server 5. This driving difficulty information indicates that it is difficult for the driver to drive the vehicle 3. Further, the driving difficulty information includes position information indicating the current position of the vehicle 3 and a user ID for identifying the driver or the vehicle 3.

[0021] When the server 5 receives the driving difficulty information, it determines whether the current position of the vehicle 3 is within a predetermined transportation target area. The transportation target area according to the embodiment of the present disclosure is, for example, an area where it is not preferable for the vehicle to stay. In one example, the transportation target area is a parking lot used by a plurality of people, such as a parking lot of a store, a restaurant, a hospital, a station, etc. Note that the position information of the transportation target area is stored in advance in the storage device 53 of the server 5.

[0022] When it is determined that the vehicle 3 is located within the transportation target area, a transportation instruction is transmitted from the server 5 to the transportation robot 7. The transportation instruction according to the embodiment of the present disclosure includes the current position information of the vehicle 3, the destination information, the transportation route, etc. The transportation robot 7 that has received the transportation instruction heads from, for example, the waiting area to the current position of the vehicle 3 and picks up the vehicle 3. Next, the transportation robot 7 transports the vehicle 3 while heading to the destination, and drops off the vehicle 3 when it reaches the destination. In this way, the vehicle 3 is transported to the destination. In other words, the vehicle 3 is removed from the transportation target area. Note that the driver is transported to the destination by continuing to ride in the vehicle 3. The transportation robot 7 then returns to the waiting area or is directed to another vehicle to be transported.

[0023] On the other hand, when it is determined that the vehicle 3 is located outside the transportation target area, a transportation instruction is transmitted from the server 5 to the transportation robot 7. As a result, the vehicle 3 is allowed to stay at the current position.

[0024] In the example shown in FIG. 8, the vehicle 3 is parked in the parking lot P of the restaurant RS, and this parking lot P is located within the conveyance target area T. Therefore, when it is determined that it is difficult for the driver to drive the vehicle 3, the transport robot 7 is directed from the waiting area 7p toward the parking lot P (X in FIG. 8). Next, the transport robot 7 transports the vehicle 3 to the destination D (Y in FIG. 8). In the example shown in FIG. 8, the destination D is the parking space of the home H.

[0025] FIG. 9 shows a vehicle transport control routine according to an embodiment of the present disclosure. This routine is repeatedly executed, for example, by the processor 51 of the server 5. Referring to FIG. 9, in step 100, it is determined whether the server 5 has received driving difficulty information. When it is determined that the server 5 has received the driving difficulty information, the process then proceeds to step 101, and it is determined whether the vehicle 3 is located within the conveyance target area. When it is determined that the vehicle 3 is located within the conveyance target area, the process then proceeds to step 102, and a conveyance instruction is transmitted to the transport robot 7. Therefore, the vehicle 3 is restricted from staying at the current position. When it is not determined in step 100 that the server 5 has received the driving difficulty information, or when it is not determined in step 102 that the vehicle 3 is located within the conveyance target area, the processing cycle ends. That is, the vehicle 3 is allowed to stay at the current position.

[0026] FIG. 10 shows a functional block diagram of the processor 51 of the server 5 according to an embodiment of the present disclosure. Referring to FIG. 10, the processor 51 includes a receiving unit 51a configured to receive driving difficulty information indicating that it is difficult for a driver to drive a vehicle, a determining unit 51b configured to determine that the current position of the vehicle is within a predetermined conveyance target area, and a conveyance unit 51c configured to cause the transport robot to transport the vehicle from the current position to a predetermined destination in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the conveyance target area.

[0027] Figure 11 shows another embodiment according to the present disclosure. Regarding the differences from the example shown in FIG. 7, in the example shown in FIG. 11, when it is determined that the vehicle 3 is located within the conveyance target area, an approval request is transmitted from the server 5 to the vehicle 3. The transmission destination information is stored in advance in the server 5 in association with the user ID. When the driver approves the conveyance of the vehicle 3 by the conveyance robot 7, the driver answers the approval to the server 5. Next, when the server 5 receives the approval, a conveyance instruction is transmitted from the server 5 to the conveyance robot 7. On the other hand, when the driver does not approve the conveyance, the driver answers the denial to the server 5. Next, when the server 5 receives the denial, the conveyance instruction from the server 5 to the conveyance robot 7 is not transmitted. By doing so, for example, when the driving ability determination device 39 makes a misjudgment, unnecessary vehicle conveyance by the conveyance robot 7 is restricted.

[0028] Note that the approval request and its response are transmitted and received via the HMI of the vehicle 3. In another example, the approval request and its response are transmitted and received via the driver's mobile terminal.

[0029] In another embodiment according to the present disclosure, the conveyance destination of the vehicle 3 is stored in advance in the server 5 in association with the user ID. In another example, the conveyance destination of the vehicle 3 is transmitted to the server 5 together with the approval. By doing so, it is not necessary to store the conveyance destination in the server 5 in advance.

[0030] Figure 12 shows a vehicle conveyance control routine in another embodiment according to the present disclosure. Regarding the differences from the routine in FIG. 9, when it is determined in step 101 that the vehicle 3 is located within the conveyance target area, the process then proceeds to step 103, and an approval request is transmitted from the server 5. In the subsequent step 104, it is determined whether the server 5 has received the approval. When it is determined that the server 5 has received the approval, the process then proceeds to step 102. On the other hand, when it is not determined that the server 5 has received the approval, the processing cycle ends.

[0031] In the embodiments described so far, the driving difficulty information includes the current position information of the vehicle 3, and thus the current position information of the vehicle 3 is transmitted from the vehicle 3. In another example, when the driving difficulty information including the user ID is received by the server 5, the current position of the vehicle 3 associated with the user ID is searched for using, for example, a camera installed in a parking lot or on a road. In one example, information representing the vehicle 3 associated with the user ID (for example, vehicle number, vehicle type, color, etc.) is stored in the server 5 in advance, and based on this information and the image of the camera, the position of the vehicle 3 to be transported is identified. When the position of the vehicle 3 is identified, the position information is transmitted to the server 5.

[0032] Also, in the embodiments described so far, the driving ability determination device 39 is provided in the vehicle 3. In another example, the driving ability determination device 39 is provided outside the vehicle 3, for example, in a parking lot facility including a camera. In this other example, based on the behavior of the driver until getting into the vehicle 3 photographed by the camera installed in the parking lot, it is determined whether it is difficult for the driver to drive the vehicle 3. When it is determined that it is difficult for the driver to drive the vehicle 3, the driving difficulty information is transmitted from the parking lot facility to the server 5. Note that the position information of the vehicle 3 to be transported is also identified based on the camera image and transmitted from the parking lot facility to the server 5.

Explanation of Reference Numerals

[0033] 1 Vehicle transport system 3 Vehicle 5 Server 7 Transport robot

Claims

1. A vehicle transport device, comprising: a receiving unit configured to receive driving difficulty information indicating that it is difficult for a driver to drive a vehicle; a determination unit configured to determine that the current position of the vehicle is within a predetermined transport target area including a parking lot available to multiple people; a transport unit configured to cause a transport robot to transport the vehicle from the current position to a predetermined transport destination in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the transport target area; A transport device comprising the above.

2. The transport device according to claim 1, wherein the transport unit is configured to cause the transport robot to transport the vehicle in response to further receiving approval from the driver for the transport of the vehicle.

3. The transport device according to claim 1 or 2, wherein the vehicle is configured such that driving is restricted when the driving difficulty information is transmitted.

4. A vehicle transport method executed by a computer, comprising: receiving driving difficulty information indicating that it is difficult for a driver to drive a vehicle; determining that the current position of the vehicle is within a predetermined transport target area including a parking lot available to multiple people; causing a transport robot to transport the vehicle from the current position to a predetermined transport destination in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the transport target area; A transport method comprising the above.

5. A program for causing a computer to: receive driving difficulty information indicating that it is difficult for a driver to drive a vehicle; determine that the current position of the vehicle is within a predetermined transport target area including a parking lot available to multiple people; cause a transport robot to transport the vehicle from the current position to a predetermined transport destination in response to receiving the driving difficulty information and determining that the current position of the vehicle is within the transport target area. A program for causing a computer to execute the above.

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