Vehicle operation system, autonomous vehicle, and program

Abstract

To provide a vehicle operation system, a terminal device, a manual driving vehicle, an automatic driving vehicle, and a program capable of ensuring vehicle safety in an automatic driving area and efficiently managing vehicle operations.SOLUTION: In a vehicle operation system 1, when receiving a driving route setting command DA1 transmitted from an operation management system 21, a security management system 22 transmits security condition information DB1 indicating information for security conditions including a security route in which safety is ensured and a limit speed to the operation management system 21 based on position information DC2 of each vehicle in an automatic operation area 6. The operation management system 21 transmits an operation command DA2 to the vehicle, including the security condition information DB1, when receiving the security condition information DB1. An automatic driving vehicle 4 can automatically drive along the security route according to the security conditions indicated by the security condition information DB1 when receiving the operation command DA2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle operation system for managing the operation of vehicles within an autonomous driving area, , from autonomous vehicles, and programs.

Background Art

[0002] Patent Document 1 discloses a system provided with a driving support device for supporting the driving of an autonomous vehicle. The driving support device is installed near the driving route of the autonomous vehicle, monitors the surroundings of the autonomous vehicle, and receives future position information including an avoidance route for bypassing obstacles on the driving route from the autonomous vehicle. The driving support device predicts a collision with a moving body traveling on the avoidance route based on the monitoring result and the future position information, and transmits driving control information for avoiding the collision to the autonomous vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the system disclosed in Patent Document 1, the process of creating an avoidance route is performed by the autonomous vehicle. In this case, the processing load on the autonomous vehicle increases. Further, the prediction of a collision between the moving body traveling on the avoidance route and the autonomous vehicle is performed by the driving support device. Therefore, in a section of the driving route where the driving support device is not installed, the autonomous vehicle cannot create a safe avoidance route. That is, in the system disclosed in Patent Document 1, it may be difficult to efficiently set conditions such as a safe route.

[0005] An object of the present invention is to provide a vehicle operation system capable of ensuring the safety of a vehicle within an autonomous driving area and efficiently managing the operation of the vehicle. , from To provide an autonomous driving vehicle and a program.

Means for Solving the Problem

[0006] A vehicle operation system according to a first aspect of the present invention includes an autonomous driving vehicle capable of automatically traveling on a preset operation route within an autonomous driving area, and an operation management system that manages the operation of various vehicles including the autonomous driving vehicle within the autonomous driving area, and a security management system that manages the safety of the vehicles within the autonomous driving area. The operation management system transmits an operation route setting command indicating a command for requesting setting of a route when the vehicle travels on the operation route to the security management system. When the security management system receives the operation route setting command, it sets a security route and security conditions including a speed limit, in which safety is ensured in the travel of the vehicle, among the operation routes, based on the position information of the vehicle within the autonomous driving area, and transmits security condition information indicating the information of the security conditions to the operation management system. When the operation management system receives the security condition information, it transmits an operation command including the security condition information to the vehicle. When the autonomous driving vehicle receives the operation command, it can automatically travel along the security route according to the security conditions indicated by the security condition information.

[0007] According to this vehicle operation system, the autonomous driving vehicle has a function of performing processing related to control for automatically traveling on an operation route within the autonomous driving area, while not performing processing related to safety and operation management such as setting a route where safety is ensured. Thereby, an increase in the processing load of the autonomous driving vehicle can be suppressed.

[0008] The safety and operation management of various vehicles including autonomous vehicles within the autonomous driving area are shared between an operation management system and a security management system. When the security management system receives an operation route setting command from the operation management system, based on the position information of the vehicles within the autonomous driving area, it determines the safety, such as whether there are other vehicles, etc., on the route ahead of the vehicle for which the route is to be set, and can set a security route with ensured safety and security conditions including a speed limit that can suppress vehicle rollovers, etc. That is, the security management system can manage the safety of the vehicles within the autonomous driving area by performing the safety determination and the security condition setting in a unified manner. On the other hand, when the operation management system receives security condition information from the security management system as information in response to the operation route setting command, it transmits an operation command including the security condition information to the vehicle. That is, the operation management system can efficiently manage the operation of the vehicle in a state where safety is ensured by performing the command for route setting to the security management system and the command for operation according to the security condition information to the vehicle in a unified manner.

[0009] In the vehicle operation system according to the second aspect, in the vehicle operation system of the first aspect, when there is a vehicle parked at a pre-set parking point on the operation route, the operation management system may be configured to transmit the operation route setting command for instructing the setting of the route ahead of the parking point on the operation route to the security management system. In this case, the security management system sets the security route with ensured safety and the security conditions including the speed limit on the route ahead of the parking point on the operation route, and transmits the security condition information to the operation management system. Then, when the operation management system receives the security condition information, it transmits the operation command to the vehicle parked at the parking point.

[0010] The vehicle operation system according to the third aspect is the vehicle operation system according to the second aspect, in which a plurality of the stop points may be set on the operation route. In this case, the operation management system recognizes the presence of the vehicle for each of the plurality of stop points based on the detection results of vehicle detectors provided at the plurality of stop points, and transmits an operation route setting command for each of the plurality of stop points to the security management system. Then, the security management system determines whether the route between the stop points adjacent to each other in the traveling direction of the vehicle is the security route for each of the plurality of stop points, and transmits the security condition information for each of the plurality of stop points to the operation management system.

[0011] In this aspect, when the vehicle stops at a stop point preset on the operation route and the vehicle detected by the vehicle detector is targeted, the security management system can set security conditions including a security route and a speed limit with ensured safety on the route after the stop point, and the operation management system can transmit an operation command. When the vehicle receives the operation command while stopped at the stop point, it can travel along the security route in accordance with the security conditions based on the security condition information included in the operation command. As a result, the vehicle can travel in a state where safety is ensured based on conditions such as a speed limit that can suppress rollovers and the like by avoiding collisions with other vehicles on the security route. When the vehicle is detected by a vehicle detector provided at a stop point that is the target arrival point on the security route after automatically traveling along the security route, the operation management system recognizes that the vehicle has completed traveling on the security route, and the security management system cancels the setting of the security conditions including the security route and the speed limit.

[0012] The vehicle operation system according to the fourth aspect may further include a notification device installed in the automatic driving area to instruct the driving of a manually driven vehicle included in the vehicle in the automatic driving area, and to notify at least any one of driving condition information regarding the driving permission, driving stop, and driving conditions of the manually driven vehicle, in the vehicle operation system according to any one of the first to third aspects. In this case, the security management system or the operation management system operates the notification device installed in the automatic driving area based on the position information of the automatic driving vehicle in the automatic driving area.

[0013] In this aspect, an automatic driving vehicle and a manually driven vehicle coexist in the automatic driving area. The manually driven vehicle travels by manual driving of the driver or remote operation by an operator according to the notification information by the notification device installed in the automatic driving area. Thus, in a situation where an automatic driving vehicle and a manually driven vehicle coexist, the security management system or the operation management system operates the notification device installed in the automatic driving area based on the position information of the automatic driving vehicle in the automatic driving area. In this case, the driver of the manually driven vehicle or the operator of the remote operation can drive the manually driven vehicle according to the notification information by the notification device installed in the automatic driving area, in response to the automatic driving of the automatic driving vehicle along the operation route.

[0014] The vehicle operation system according to the fifth aspect is the vehicle operation system according to the second or third aspect, wherein the automatic driving area has an interchange that divides the inside and outside of the automatic driving area, and the interchange may be set as the stop point where the entry and exit of the vehicle to and from the automatic driving area are performed. In this case, the operation management system recognizes the presence of the vehicle stopped at the entry and exit point based on the detection result of the vehicle detector provided at the entry and exit point. Then, for the vehicle that has entered the entry and exit point from outside the automatic driving area, the operation management system registers the vehicle information unique to the vehicle, while for the vehicle that exits the automatic driving area from the entry and exit point, the registration of the vehicle information unique to the vehicle is erased.

[0015] In this aspect, the operation management system registers and erases the vehicle information unique to the vehicle for the vehicle stopped at the entry and exit point set at the interchange that divides the inside and outside of the automatic driving area. In this case, for the vehicle with the vehicle information registered, the security management system can manage the safety, and the operation management system can manage the operation.

[0016] The vehicle operation system according to the sixth aspect is the vehicle operation system according to the third aspect, wherein in the automatic driving area, there may be a plurality of lane sections where the operation route is separated into a plurality of lanes including a first route and a second route between two of the stop points. In this case, when there are vehicles with opposite traveling directions at each of the two stop points that divide the plurality of lane sections, the operation management system transmits an operation route setting command for each of the two stop points to the security management system. Then, the security management system sets the security condition with the first route as the security route for one of the two stop points and sets the security condition with the second route as the security route for the other stop point at the two stop points.

[0017] In this mode, when the security management system receives from the operation management system an operation route setting instruction for each of two stop points that demarcate a multi-lane section, it sets security conditions with the first route as the security route for one stop point and sets security conditions with the second route as the security route for the other stop point. In this case, in the multi-lane section on the operation route, vehicles parked at one stop point will travel along the first route, and vehicles parked at the other stop point will travel along the second route. In this case, even if the traveling directions of the vehicles parked at the two stop points are in an opposing relationship, each vehicle can travel through the multi-lane section in a state where collisions between vehicles are avoided and safety is ensured.

[0018] The vehicle operation system according to the seventh aspect is the vehicle operation system according to the sixth aspect, and in the multi-lane section, a detour route may be set between the first route and the second route. In this case, when at least one of the first route and the second route cannot be set as the security route, the security management system sets security conditions with the detour route as the security route.

[0019] In the multi-lane section on the operation route, due to operations being carried out by slow-moving vehicles such as watering trucks, a breakdown vehicle being parked, a part of the route being damaged, construction work being in progress, etc., lane restrictions may be imposed. In this case, the security management system cannot set at least one of the first route and the second route as the security route. Therefore, as a countermeasure, the security management system sets security conditions with the detour route set between the first route and the second route as the security route. Thereby, the vehicle can be detoured along the detour route so as to avoid the location where the lane restriction is being imposed.

[0020] The vehicle operation system according to the eighth aspect is the vehicle operation system according to any one of the third, sixth, and seventh aspects, wherein the operation management system sets a temporary parking point at a position close to the parking point, where the vehicle can be temporarily parked, and the vehicle parked at the temporary parking point may be configured to be regarded as parked at the parking point.

[0021] In this aspect, when a following vehicle travels toward a parking point where a preceding vehicle is parked, the operation management system can stop the following vehicle at the temporary parking point. In this case, the operation management system can efficiently manage the operation of the following vehicle by regarding the following vehicle parked at the temporary parking point as parked at the parking point.

[0022] The vehicle operation system according to the ninth aspect is the vehicle operation system according to any one of the third, sixth, and seventh aspects, wherein the operation management system sets a temporary parking point at a position close to the parking point, where the vehicle can be temporarily parked. When another vehicle is not parked at the temporary parking point close to another parking point ahead of the one parking point while one vehicle is parked at the one parking point, the operation management system may be configured to send an operation route setting command to the security management system, which regards that another vehicle is not parked at the other parking point, and commands to set a route with the one parking point as a departure point and the other parking point as an arrival point.

[0023] Assume a situation where one vehicle (the following vehicle) is stopped at one stop point, and no other vehicle (the preceding vehicle) is stopped at a temporary stop point closer to another stop point ahead of the one stop point. In this case, the operation management system regards that no preceding vehicle is stopped at other stop points ahead of the one stop point where the following vehicle is stopped, and sends an operation route setting command to the security management system to instruct setting a route with the one stop point as the starting point and the other stop point as the arrival point. In this case, the operation management system will receive security condition information from the security management system as information in response to the operation route setting command, and send an operation command including the security condition information to the following vehicle. Thereby, the operation management system can efficiently manage the operation of the following vehicle by regarding that no preceding vehicle is stopped at the stop point that is the target arrival point of the following vehicle.

[0024] The vehicle operation system according to the tenth aspect may be a vehicle having a loading platform capable of loading a cargo to be transported and a dump device for tilting the loading platform in any of the vehicle operation systems according to the second, third, fifth to ninth aspects. In the automatic driving area, there is an operation area where a work point for performing an operation of loading the cargo to be transported onto the loading platform or unloading the cargo to be transported from the loading platform and the stop point are set. In the operation area, a special vehicle capable of performing the loading operation as the vehicle is arranged. In this case, when there is an automatic driving vehicle stopped at the stop point in the operation area, the operation management system sends an operation route setting command including information on a stop position designation command transmitted from the special vehicle to the security management system. The security management system sets the security condition with the operation entry route from the stop point in the operation area to the work point corresponding to the stop position indicated by the stop position designation command as the security route, and sends the security condition information including the information on the operation entry route to the operation management system. Then, the operation management system sends the operation command including the information on the operation entry route to the automatic driving vehicle stopped at the stop point.

[0025] At a work location set in a work area within the autonomous driving area, the operation of loading the object to be transported onto the loading platform of the autonomous driving vehicle is performed by a special vehicle. Also, at the work location, the operation of unloading the object to be transported loaded on the loading platform is performed by the operation of the dump device in the autonomous driving vehicle. When the autonomous driving vehicle is parked at a parking location within the work area where such operations are performed, the operation management system transmits an operation route setting command including information on the parking position designation command transmitted from the special vehicle to the security management system. In this case, the security management system sets a security condition in which the work entry route from the parking location within the work area to the work location corresponding to the parking position indicated by the parking position designation command is set as the security route. Then, the operation management system transmits an operation command including information on the work entry route to the autonomous driving vehicle. Thereby, the autonomous driving vehicle can be automatically driven along the work entry route from the parking location within the work area to the work location. In this case, since the work location where the autonomous driving vehicle stops is the work location corresponding to the parking position indicated by the parking position designation command transmitted from the special vehicle, the work efficiency of the special vehicle at the work location is improved.

[0026] The vehicle operation system according to the 11th aspect is the vehicle operation system according to the 10th aspect, wherein when the special vehicle performs the operation of loading the object to be transported onto the loading platform of the autonomous driving vehicle at the work location, the operation management system may be configured to transmit the operation command including information indicating an instruction for the autonomous driving vehicle to park sideways at the work location to the autonomous driving vehicle parked at the parking location.

[0027] In this aspect, when the special vehicle performs the operation of loading the object to be transported onto the loading platform of the autonomous driving vehicle, the autonomous driving vehicle parks sideways at the work location. Thereby, the work efficiency of the operation of loading the object to be transported by the special vehicle is improved.

[0028] In the vehicle operation system according to the 12th aspect, in the vehicle operation system of the 10th or 11th aspect, when the automated vehicle performs the unloading operation of the cargo by tilting the loading platform by the operation of the dumping device at the work location, the operation management system may be configured to transmit the operation command including information indicating an instruction for the automated vehicle to stop in reverse at the work location to the automated vehicle stopped at the stop location.

[0029] In this aspect, when the automated vehicle performs the unloading operation of the cargo by tilting the loading platform by the operation of the dumping device, the automated vehicle stops in reverse at the work location. Thereby, the working efficiency of the unloading operation of the cargo by the operation of the dumping device is improved.

[0030] In the vehicle operation system according to the 13th aspect, in the vehicle operation system of any one of the 3rd, 6th to 9th aspects, the operation management system may be configured to transmit the operation route setting command for instructing the setting of a batch route that combines a plurality of the route sections to the security management system in a route section between the stop locations adjacent to each other in the traveling direction of the vehicle. In this case, when the batch route is a route where safety is ensured, the security management system sets the security condition for using the batch route as the security route and transmits the security condition information to the operation management system.

[0031] In this aspect, the operation management system can issue a command for setting as an integrated batch route without issuing commands for all settings of a plurality of consecutive route sections to the security management system, simplifying the request processing for route setting. And the security management system can quickly set a batch route composed of a predetermined combination of routes as the security route when there is a request for route setting by grasping in advance the route sections that may be set in a batch.

[0032] The terminal device according to the 14th aspect of the present invention is a terminal device mounted on a manually driven vehicle driven by a driver, which, together with an autonomous driving vehicle that automatically travels along a preset travel route within an autonomous driving area, has its safety managed by a security management system and its operation managed by an operation management system. This terminal device is configured such that, based on the position information of each of the autonomous driving vehicle and the manually driven vehicle within the autonomous driving area, security conditions including a security route and a speed limit for ensuring safety in the travel of each vehicle are set by the security management system, and when an operation command including security condition information indicating the information of the security conditions is transmitted by the operation management system, it includes a communication control unit that receives the operation command, a conversion information storage unit that stores conversion information associating the operation command with recognizable data that can be recognized by the driver, a conversion unit that refers to the conversion information and converts the operation command received by the communication control unit into the recognizable data, and a notification unit that notifies the recognizable data converted by the conversion unit.

[0033] According to this terminal device, the operation command transmitted from the operation management system, which includes security condition information indicating the security conditions set by the security management system, is converted into recognizable data, and the converted recognizable data is notified. In this case, in a situation where an autonomous driving vehicle and a manually driven vehicle coexist within the autonomous driving area, the driver driving the manually driven vehicle can drive the manually driven vehicle along the security route while recognizing the security conditions set by the security management system based on the recognizable data notified by the terminal device.

[0034] The manually driven vehicle according to the 15th aspect of the present invention is a vehicle driven by a driver, which, together with an autonomous driving vehicle that automatically travels along a preset travel route within an autonomous driving area, has its safety managed by a security management system and its operation managed by an operation management system, and is equipped with the terminal device of the 14th aspect.

[0035] Further, the manually driven vehicle according to the 16th aspect of the present invention is a vehicle driven by a driver, the safety of which is managed by a security management system and the operation of which is managed by an operation management system, together with an automated driving vehicle that automatically travels along a preset driving route within an automated driving area. Based on the position information of each of the automated driving vehicle and the manually driven vehicle within the automated driving area, the security management system sets security conditions including a security route and a speed limit to ensure safety in the driving of each vehicle. When an operation command including security condition information indicating the information of the security conditions is transmitted by the operation management system, the manually driven vehicle includes a communication control unit that receives the operation command, a conversion information storage unit that stores conversion information associating the operation command with recognizable data that can be recognized by the driver, a conversion unit that refers to the conversion information and converts the operation command received by the communication control unit into the recognizable data, and a notification unit that notifies the recognizable data converted by the conversion unit.

[0036] According to this manually driven vehicle, the operation command transmitted from the operation management system, which includes the security condition information indicating the security conditions set by the security management system, is converted into recognizable data, and the converted recognizable data is notified. In this case, the driver driving the manually driven vehicle can drive the manually driven vehicle along the security route while recognizing the security conditions set by the security management system based on the notified recognizable data.

[0037] The automated driving vehicle according to the 17th aspect of the present invention is a vehicle that travels on a preset driving route within an automated driving area. The driving mode can be switched between an automated driving mode and a manual driving mode. In the state set to the automated driving mode, the vehicle automatically travels on the driving route. In the state set to the manual driving mode, the vehicle travels on the driving route by the driving operation of the driver. The vehicle is managed for safety by a security management system and for operation by an operation management system. This automated driving vehicle has a security management system that sets security conditions including a security route and a speed limit to ensure safety in the vehicle's travel based on the position information of various vehicles including the automated driving vehicle within the automated driving area. When an operation command including security condition information indicating the information of the security conditions is transmitted by the operation management system, the automated driving vehicle includes a communication control unit that receives the operation command, a conversion information storage unit that stores conversion information associating the operation command with recognizable data recognizable by the driver, a conversion unit that refers to the conversion information and converts the operation command received by the communication control unit into the recognizable data, and a notification unit that notifies the recognizable data converted by the conversion unit.

[0038] According to this automated driving vehicle, in a situation where the manual driving mode is set and the driver performs a driving operation, the operation command transmitted from the operation management system, which includes security condition information indicating the security conditions set by the security management system, is converted into recognizable data, and the converted recognizable data is notified. In this case, the driver who manually drives the automated driving vehicle in the state set to the manual driving mode can manually drive the automated driving vehicle along the security route while recognizing the security conditions set by the security management system based on the notified recognizable data.

[0039] The program according to the 18th aspect of the present invention is a program for causing one or more processors to execute the processes performed by the security management system and the operation management system, including a terminal device mounted on a manually driven vehicle driven by a driver, which is managed for safety by a security management system and for operation by an operation management system, together with an autonomous driving vehicle that automatically travels on a preset operation route within an autonomous driving area. Based on the position information of each vehicle, namely the autonomous driving vehicle and the manually driven vehicle, within the autonomous driving area, the security management system sets security conditions including a security route and a speed limit to ensure safety during the driving of each vehicle. When an operation command including security condition information indicating the information of the security conditions is transmitted by the operation management system, the program causes the processor to execute a process of receiving the operation command, a process of converting the operation command into recognizable data by referring to conversion information associated with the recognizable data that can be recognized by the driver, and a process of notifying the converted recognizable data.

[0040] According to this program, one or more processors, such as the processor of the terminal device mounted on the manually driven vehicle, can execute processes of converting an operation command transmitted from the operation management system, which includes security condition information indicating the security conditions set by the security management system, into recognizable data, and notifying the converted recognizable data.

Advantages of the Invention

[0041] As described above, according to the present invention, it is possible to provide a vehicle operation system, a terminal device, a manually driven vehicle, an autonomous driving vehicle, and a program that can ensure the safety of vehicles within an autonomous driving area and efficiently manage the operation of vehicles.

Brief Description of the Drawings

[0042]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0043] Hereinafter, embodiments of a vehicle operation system will be described with reference to the drawings.

[0044] FIG. 1 is a block diagram of a vehicle operation system 1 according to the present embodiment, and FIG. 2 is a diagram schematically showing an automatic driving area 6 where an autonomous vehicle 4 travels automatically. The vehicle operation system 1 is a system for managing the safe operation of various vehicles such as the autonomous vehicle 4 and the manually driven vehicle 5A within the automatic driving area 6. The autonomous vehicle 4 is a vehicle capable of automatically traveling by autonomous driving. The autonomous vehicle 4 can transport objects to be transported such as people and goods by automatically traveling. Note that outside the automatic driving area 6, the autonomous vehicle 4 travels by a driver's driving operation or a remote operation by an operator like the manually driven vehicle 5A described later. In the following description, the vehicle operation system 1 applied to the situation where an object to be transported consisting of granulated slag generated in a blast furnace is transported by the autonomous vehicle 4 will be exemplified.

[0045] As shown in FIG. 1, the vehicle operation system 1 includes a management system 2, ground facilities 3, an autonomous vehicle 4, and a special vehicle 5 as a manually-operated vehicle 5A. The management system 2 and the ground facilities 3 including the ground station 31 are connected so as to be capable of wired communication via a wired communication facility such as an optical network, or capable of wireless communication via a wireless communication device. The autonomous vehicle 4 is wirelessly communicably connected to the ground station 31 of the ground facilities 3 via an on-vehicle station 42 within the autonomous driving area 6. Therefore, the management system 2 and the autonomous vehicle 4 are communicably connected via the ground station 31 and the on-vehicle station 42. Also, the management system 2 and the manually-operated vehicle 5A including the special vehicle 5 are communicably connected via a terminal device 5B shown in FIG. 3 described later.

[0046] The management system 2 is a computer system installed in a part of the autonomous driving area 6, separately and independently from the autonomous driving vehicle 4. In this embodiment, one management system 2 is installed in a part of the autonomous driving area 6. Note that the management system 2 may be installed outside the autonomous driving area 6. The management system 2 manages the safe operation of various vehicles including the autonomous driving vehicle 4 and the manually driven vehicle 5A within the autonomous driving area 6. The management system 2 includes an operation management system 21 and a security management system 22. The operation management system 21 is a system that manages the operation of various vehicles including the autonomous driving vehicle 4 and the manually driven vehicle 5A within the autonomous driving area 6. The security management system 22 is a system that manages the safety of various vehicles including the autonomous driving vehicle 4 and the manually driven vehicle 5A within the autonomous driving area 6. The operation management system 21 and the security management system 22 are each realized by a computer device having a CPU (Central Processing Unit), a storage area such as an HDD (Hard Disk Drive) or a flash memory for storing a control program, a RAM (Random Access Memory) used as a working area of the CPU, a display for displaying various information, an operation panel for inputting various information, a communication interface, and the like. Note that the security management system 22 may be realized by a relay circuit, a programmable logic controller, or the like. Details of the processes executed by the operation management system 21 and the security management system 22 will be described later.

[0047] The ground facility 3 is a facility installed within the autonomous driving area 6. The ground facility 3 includes a ground station 31, a vehicle detector 32, a traffic signal 33, a guide display 34, a level crossing facility 35, and a hopper control device 36.

[0048] The roadside unit 31 is a wireless communication device that is connected to the management system 2 via a wired communication facility so as to enable wired communication, and realizes wireless communication with the on-vehicle unit 42 of the autonomous vehicle 4. Further, in the present embodiment, the roadside unit 31 can perform wireless communication with the on-vehicle unit 52 of the special vehicle 5 described later. The vehicle detector 32 is a sensor that detects the autonomous vehicle 4. The vehicle detector 32 is realized, for example, by LiDAR (Light Detection and Ranging) within the autonomous driving area 6. The detection result of the vehicle detector 32 is transmitted to the management system 2 via the roadside unit 31.

[0049] The traffic signal 33 and the guidance display 34 are installed in the autonomous driving area 6 to instruct the driving of the manually-driven vehicle 5A within the autonomous driving area 6. The traffic signal 33 is an example of a notification device that notifies the permission and stop of the driving of the manually-driven vehicle 5A. The guidance display 34 is an example of a notification device that notifies by displaying the driving condition information regarding the driving condition of the manually-driven vehicle 5A. The driving condition information includes information on the security route where the driving of the manually-driven vehicle 5A within the autonomous driving area 6 is permitted, information on the speed limit of the manually-driven vehicle 5A, and the like. The operation of the traffic signal 33 and the guidance display 34 as notification devices is controlled by the security management system 22 or the operation management system 21. In the autonomous driving area 6, the notification device only needs to be configured to notify at least any one of the driving permission, driving stop, and driving condition information of the manually-driven vehicle 5A. For this reason, in the autonomous driving area 6, at least any one of the traffic signal 33 and the guidance display 34 as notification devices may be installed. That is, in the autonomous driving area 6, both the traffic signal 33 and the guidance display 34 may be installed, or either one of the traffic signal 33 and the guidance display 34 may be installed.

[0050] The manually-operated vehicle 5A is a vehicle that travels by a driver's driving operation or a remote operation by an operator. Examples of the manually-operated vehicle 5A include a special vehicle 5 such as a wheel loader that can perform an operation of loading a load to be transported onto the automated driving vehicle 4, a water sprinkler that sprinkles water to prevent the water-granulated slag as the load to be transported from scattering, and a general vehicle. The general vehicle includes vehicles such as a passenger car and a truck that can transport a load to be transported.

[0051] Note that the special vehicle 5 as the manually-operated vehicle 5A has a vehicle body 50 and a bucket 501 attached to the vehicle body 50. The bucket 501 operates when performing an operation of loading a load to be transported onto the automated driving vehicle 4. The vehicle body 50 is equipped with a control unit 51, an on-vehicle station 52, a position designation button 53, a departure request button 54, a vehicle arrival indicator 55, and the like. In the special vehicle 5, the control unit 51 comprehensively controls the on-vehicle station 52, the position designation button 53, the departure request button 54, and the vehicle arrival indicator 55. The on-vehicle station 52 is a wireless communication device that realizes wireless communication with the ground station 31. The management system 2 and the special vehicle 5 can communicate via the ground station 31 and the on-vehicle station 52. The position designation button 53 is an operation button for designating the stop position of the automated driving vehicle 4 when performing an operation of loading a load to be transported. The departure request button 54 is an operation button for requesting the departure of the automated driving vehicle 4 after completion of the operation of loading a load to be transported. The vehicle arrival indicator 55 is a display for displaying vehicle arrival information DD4 transmitted from the operation management system 21 via the ground station 31 when the automated driving vehicle 4 arrives at the arrival point of the work area where the special vehicle 5 is arranged, which will be described in detail later.

[0052] The level crossing facility 35 is a facility including a level crossing barrier 351. The opening and closing of the level crossing barrier 351 is controlled by the security management system 22.

[0053] The hopper control device 36 is a device that controls the hopper device 361. The hopper device 361 is a collecting device for loading the load to be transported carried by the automated driving vehicle 4 onto a ship or the like outside the automated driving area 6.

[0054] The autonomous vehicle 4 is a vehicle capable of automatically driving in autonomous driving mode. In the present embodiment, the autonomous vehicle 4 can switch the driving mode between the autonomous driving mode and the manual driving mode. The autonomous vehicle 4 automatically travels in the state set to the autonomous driving mode, while on the other hand, it travels by the driving operation of the driver or the remote operation by the operator in the state set to the manual driving mode. The autonomous vehicle 4 may be equipped with a terminal device 5B such as a tablet described later, which is mounted on a manually driven vehicle 5A such as a special vehicle 5, in case it is set to the manual driving mode and travels by the driving operation of the driver.

[0055] In the present embodiment, the autonomous vehicle 4 has a vehicle body 40 and a loading platform 401 attached to the vehicle body 40. The loading platform 401 can load the object to be transported. The vehicle body 40 is equipped with a control unit 41, an on-vehicle station 42, a measurement unit 43, a mode switching switch 44, a dump device 45, etc. In the autonomous vehicle 4, the control unit 41 comprehensively controls the on-vehicle station 42, the measurement unit 43, the mode switching switch 44, and the dump device 45.

[0056] The on-vehicle station 42 is a wireless communication device that realizes wireless communication with the ground station 31. The management system 2 and the autonomous vehicle 4 can communicate via the ground station 31 and the on-vehicle station 42.

[0057] The measurement unit 43 is a unit that realizes self-position estimation and obstacle detection of the autonomous vehicle 4. The measurement unit 43 includes, for example, RTK-GNSS (Real-time Kinematic Global Positioning System), LiDAR, LADAR (Laser Detection and Ranging), IMU (Inertial Measurement Unit), a camera, etc.

[0058] The mode switching switch 44 is a switch for switching the driving mode of the autonomous vehicle 4 between the autonomous driving mode and the manual driving mode.

[0059] The dump device 45 is a device that tilts the loading platform 401 of the autonomous vehicle 4. The loading platform 401 is installed on the autonomous vehicle 4 via the dump device 45 so as to be tiltable. The autonomous vehicle 4 can perform an operation of tilting the loading platform 401 by the operation of the dump device 45 to unload the object to be transported from the loading platform 401.

[0060] In the autonomous driving area 6 where the ground facility 3 is installed and the autonomous vehicle 4 automatically travels, an operation route 7 shown in FIG. 2 is preset. The operation route 7 is a travel route on which various vehicles such as the autonomous vehicle 4 and the manually driven vehicle 5A travel.

[0061] In the autonomous vehicle 4, in a state where the mode switch 44 is set to the autonomous driving mode, the control unit 41 estimates its own position based on the measurement result of the measurement unit 43 and performs control for autonomous driving. As a result, the autonomous vehicle 4 transmits the position information DC2 of its own position from the on-vehicle station 42 to the management system 2 via the ground station 31, and while referring to the route information of the operation route 7 registered in advance inside the vehicle, follows the command of the operation management system 21 and automatically travels along the operation route 7.

[0062] The operation management system 21 transmits an operation route setting command DA1 indicating a command for requesting the setting of the route when various vehicles such as the autonomous vehicle 4 and the manually driven vehicle 5A travel on the operation route 7 to the security management system 22. The operation route setting command DA1 includes initial route information indicating the route information in the initial state of the operation route 7. Further, the operation management system 21 receives the position information DC2, DD5 of all the various vehicles such as the autonomous vehicle 4 and the manually driven vehicle 5A existing in the autonomous driving area 6 from the security management system 22.

[0063] The security management system 22 receives the position information DC2 and DD5 of all the various vehicles, i.e., the automated driving vehicles 4 and the manual driving vehicles 5A, existing within the automated driving area 6 via the ground station 31 and the on-vehicle stations 42 and 52. Further, when the security management system 22 receives an operation route setting command DA1 from the operation management system 21, based on the position information DC2 and DD5 of all the various vehicles, i.e., the automated driving vehicles 4 and the manual driving vehicles 5A, within the automated driving area 6, it sets security conditions including a security route with ensured safety and a speed limit for the travel of the vehicle to be routed. The security conditions are conditions for ensuring the safety of the vehicles within the automated driving area 6 and include conditions such as a security route capable of avoiding collisions between vehicles among the operation routes 7 and a speed limit capable of suppressing vehicle rollovers, etc. Further, the security conditions may include conditions regarding vehicle travel permission and travel stop in addition to the security route and the speed limit.

[0064] Specifically, based on the position information DC2 and DD5 of all the various vehicles, i.e., the automated driving vehicles 4 and the manual driving vehicles 5A, the security management system 22 determines the safety, such as whether there are other vehicles, etc. on the route from the starting point to the arrival point of the vehicle to be routed indicated by the initial route information included in the operation route setting command DA1, whether the arrival point is not occupied, and whether there is no overlapping section with the route set for other vehicles. When there are no other vehicles, etc. on the route indicated by the initial route information, the security management system 22 recognizes the route as a security route with ensured safety and, by recognizing a speed limit capable of suppressing vehicle rollovers, etc. during travel on the security route, sets security conditions including at least the security route and the speed limit. On the other hand, when there are other vehicles, etc. on the route indicated by the initial route information, the security management system 22 holds off setting the security conditions including the security route and the speed limit until safety is ensured, such as when the other vehicles no longer exist.

[0065] When the security management system 22 sets security conditions in response to the operation route setting command DA1 received from the operation management system 21, it transmits security condition information DB1 indicating the information of the security conditions to the operation management system 21.

[0066] When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to the autonomous vehicle 4 via the ground station 31 and the on-vehicle station 42. Also, when the vehicle to be managed is the manual vehicle 5A, the operation management system 21 transmits the operation command DA2 including the security condition information DB1 to the manual vehicle 5A. The operation command DA2 transmitted to the manual vehicle 5A is received by a terminal device 5B shown in FIG. 3 described later mounted on the manual vehicle 5A. The operation command DA2 includes information such as the time when the vehicle departs from the starting point on the security route when the vehicle travels on the security route, in addition to the security condition information DB1.

[0067] When the autonomous vehicle 4 receives the operation command DA2 from the operation management system 21 via the ground station 31 and the on-vehicle station 42, it can automatically travel along the security route according to the security conditions indicated by the security condition information DB1 based on the operation command DA2.

[0068] In the vehicle operation system 1 according to the present embodiment, the autonomous vehicle 4 has a function of performing processing related to control for automatically traveling based on the measurement result of the measurement unit 43 so that it can automatically travel on the operation route 7 within the autonomous driving area 6. On the other hand, the autonomous vehicle 4 does not perform processing related to the safety and operation management such as setting a secure security route. Thereby, an increase in the processing load of the autonomous vehicle 4 can be suppressed.

[0069] The safety and operation management of various vehicles including the autonomous vehicle 4 within the autonomous driving area 6 are shared by the operation management system 21 and the security management system 22.

[0070] When the security management system 22 receives the operation route setting command DA1 from the operation management system 21, based on the position information DC2 and DD5 of various vehicles including the autonomous vehicle 4 within the autonomous driving area 6, it determines the safety such as whether there are other vehicles or the like in the route ahead in the traveling direction of the vehicle to be set with the route, and thus can set a security route with ensured safety and security conditions including a speed limit capable of suppressing the rollover of the vehicle or the like. That is, the security management system 22 can manage the safety of various vehicles including the autonomous vehicle 4 within the autonomous driving area 6 by performing the safety determination and the security condition setting in a unified manner. The security management system 22 focuses on managing the safety of various vehicles including the autonomous vehicle 4 and entrusts the operation management system 21 with the management of the vehicle operation. Thereby, the security management system 22 can efficiently manage the safety of the vehicle.

[0071] On the other hand, when the operation management system 21 receives the security condition information DB1 from the security management system 22 as information responding to the operation route setting command DA1, it transmits the operation command DA2 including the security condition information DB1 to the vehicle to be managed. That is, the operation management system 21 can manage the operation of the vehicle in a state where safety is ensured by performing the route setting command for the security management system 22 and the operation command according to the security condition information DB1 for the vehicle in a unified manner. The operation management system 21 focuses on managing the safe operation of the vehicle and entrusts the security management system 22 with the management of the vehicle safety. Thereby, the operation management system 21 can efficiently manage the operation of the vehicle in a state where safety is ensured.

[0072] As shown in FIG. 2, on the driving route 7 within the autonomous driving area 6, stop points 8 where various vehicles including the autonomous driving vehicle 4 should stop are preset. When there are various vehicles including the autonomous driving vehicle 4 stopped at the preset stop point 8 on the driving route 7, the driving management system 21 transmits a driving route setting command DA1 for instructing the setting of the route after the stop point 8 on the driving route 7 to the security management system 22. In this case, the security management system 22 sets security conditions including a security route and a speed limit on the route after the stop point 8 on the driving route 7, and transmits security condition information DB1 to the driving management system 21. Then, when the driving management system 21 receives the security condition information DB1 from the security management system 22, it transmits a driving command DA2 to the autonomous driving vehicle 4 stopped at the stop point 8 via the ground station 31 and the on-vehicle unit 42. Also, when a manually driven vehicle 5A is stopped at the stop point 8, the driving management system 21 transmits a driving command DA2 to the manually driven vehicle 5A via the ground station 31 and the on-vehicle unit 52.

[0073] Specifically, a plurality of stop points 8 are preset on the driving route 7. A vehicle detector 32 is provided at each stop point 8. Route boundaries 70 are set in the vicinity of each stop point 8 on the driving route 7, and a plurality of unit routes are connected at each route boundary 70 so as to intersect. Note that the route boundary 70 is not limited to being set at a point where a plurality of unit routes intersect on the driving route 7, and may be set at an intermediate point of a relatively long single-track unit route in terms of driving management.

[0074] The security management system 22 transmits the detection results of the vehicle detectors 32 provided at a plurality of parking locations 8 to the operation management system 21. Based on the detection results of the vehicle detectors 32 received from the security management system 22, the operation management system 21 recognizes the presence of various vehicles including the autonomous vehicle 4 for each of the plurality of parking locations 8, and transmits an operation route setting command DA1 for each of the plurality of parking locations 8 to the security management system 22. In this case, the security management system 22 determines, for each of the plurality of parking locations 8, whether the route between adjacent parking locations 8 in the traveling direction of various vehicles including the autonomous vehicle 4 is a security route, and transmits security condition information DB1 for each of the plurality of parking locations 8 to the operation management system 21. Then, the operation management system 21 transmits operation commands DA2 respectively to various vehicles including the autonomous vehicle 4 parked at each parking location 8 for each of the plurality of parking locations 8 via the ground station 31.

[0075] As described above, when stopping at the preset stop point 8 on the operation route 7 and targeting various vehicles including the autonomous vehicle 4 detected by the vehicle detector 32, the security management system 22 can set security conditions including a security route with ensured safety and a speed limit on the route after the stop point 8, and the operation management system 21 can transmit an operation command DA2. When various vehicles including the autonomous vehicle 4 receive the operation command DA2 while stopped at the stop point 8, they can travel along the security route according to the security conditions based on the security condition information DB1 included in the operation command DA2. Thereby, various vehicles including the autonomous vehicle 4 can travel on the security route in a state where safety is ensured based on conditions such as a speed limit that can avoid collisions with other vehicles and suppress rollovers, etc. When various vehicles including the autonomous vehicle 4 travel along the security route and are detected by the vehicle detector 32 provided at the stop point 8 which is the target arrival point on the security route, the operation management system 21 recognizes that various vehicles including the autonomous vehicle 4 have completed traveling on the security route, and the security management system 22 cancels the setting of the security conditions including the security route and the speed limit. In this case, when the vehicle detector 32 detects that various vehicles including the following autonomous vehicle 4 are stopped at one of the plurality of stop points 8 and various vehicles including the preceding autonomous vehicle 4 have arrived at another stop point 8 ahead of the one stop point 8, the operation management system 21 will transmit an operation route setting command DA1 corresponding to the following vehicle to the security management system 22. When the security management system 22 receives the operation route setting command DA1 from the operation management system 21, it determines the safety corresponding to the following vehicle, and when there are no longer any preceding vehicles at the other stop point 8 which is the target arrival point, it sets the security conditions including the security route and the speed limit and transmits the security condition information DB1 indicating the information of the security conditions to the operation management system 21.

[0076] In addition, in the automated driving area 6, automated driving vehicles 4 and manually driven vehicles 5A such as special vehicles 5 coexist. In this case, when a manually driven vehicle 5A is detected by vehicle detectors 32 provided at a plurality of parking points 8, the security management system 22 also transmits the detection result of the vehicle detector 32 to the operation management system 21. Thereby, based on the detection result of the vehicle detector 32 received from the security management system 22, the operation management system 21 can recognize the presence of the manually driven vehicle 5A for each of the plurality of parking points 8.

[0077] In the automated driving area 6, at least one of a traffic signal 33 and a guide display 34 is installed near some or all of the plurality of parking points 8. In the present embodiment, at least one of a traffic signal 33 and a guide display 34 is installed near all of the plurality of parking points 8. The manually driven vehicle 5A travels by manual driving by the driver or remote operation by an operator according to notification information notified by at least one of the traffic signal 33 and the guide display 34 installed in the automated driving area 6. Thus, in a situation where the automated driving vehicle 4 and the manually driven vehicle 5A coexist, the security management system 22 or the operation management system 21 activates at least one of the traffic signal 33 and the guide display 34 installed in the automated driving area 6 based on the position information DC2 of the automated driving vehicle 4 and the position information DD5 of the manually driven vehicle 5A in the automated driving area 6. In this case, the driver of the manually driven vehicle 5A or the operator of the remote operation drives the manually driven vehicle 5A according to the notification information notified by at least one of the traffic signal 33 and the guide display 34, so that the manually driven vehicle 5A can travel in response to the automatic driving of the automated driving vehicle 4 along the driving route 7.

[0078] FIG. 3 is a block diagram of a terminal device 5B mounted on a manually driven vehicle 5A. The manually driven vehicle 5A is, within the automated driving area 6, together with the automated driving vehicle 4, managed for safety by a security management system 22 and managed for operation by an operation management system 21. In this case, the operation management system 21 and the manually driven vehicle 5A are communicably connected via a terminal device 5B mounted on the manually driven vehicle 5A. The terminal device 5B is configured by, for example, a tablet. The terminal device 5B is used to notify a driver in a recognizable manner of an operation command DA2 including security condition information DB1 indicating security conditions for ensuring the safety of the manually driven vehicle 5A within the automated driving area 6. The driver of the manually driven vehicle 5A can drive the manually driven vehicle 5A in accordance with the security condition information DB1 included in the operation command DA2 notified by the terminal device 5B. In this case, even if, by any chance, the traffic signal 33 and the guide display 34 malfunction, the driver can drive the manually driven vehicle 5A safely.

[0079] In a situation where various vehicles including the automated driving vehicle 4 and the manually driven vehicle 5A coexist within the automated driving area 6, as described above, the security management system 22 sets security conditions including a security route and a speed limit for various vehicles and transmits security condition information DB1 indicating information on the security conditions to the operation management system 21. When the operation management system 21 receives the security condition information DB1 targeted at the manually driven vehicle 5A, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 to the terminal device 5B mounted on the manually driven vehicle 5A.

[0080] As shown in FIG. 3, the terminal device 5B includes a processor 5B1 capable of information processing, a communication unit 5B2, a notification unit 5B3, and a program storage unit 5B4.

[0081] The communication unit 5B2 is controlled by the processor 5B1 and receives various types of information transmitted from the operation management system 21. The notification unit 5B3 is controlled by the processor 5B1 and notifies various types of information and data necessary for the driver to manually drive the manual driving vehicle 5A within the automatic driving area 6. The structure of the notification unit 5B3 is not particularly limited as long as it can notify various types of information and data. The notification unit 5B3 is composed of, for example, a display unit such as a display that displays visual data such as images and texts, a unit that outputs auditory data such as voices and buzzer sounds, an indicator or a patlite (registered trademark) that outputs visual data such as the lighting and flashing of lights, a vibrator that generates vibrations, and the like.

[0082] As a functional configuration, the processor 5B1 includes a communication control unit 5B11, a conversion information storage unit 5B12, a conversion unit 5B13, and a notification control unit 5B14.

[0083] The communication control unit 5B11 receives the operation command DA2 transmitted from the operation management system 21 via the communication unit 5B2.

[0084] The conversion information storage unit 5B12 stores conversion information DE in which the operation command DA2 including the security condition information DB1 indicating the security condition is associated with recognizable data DE2 that can be recognized by the driver of the manual driving vehicle 5A. That is, the conversion information DE stored in the conversion information storage unit 5B12 is information in which the recognizable data DE2 is associated with each condition such as a security route, a speed limit, travel permission, and travel stop included in the security condition indicated by the security condition information DB1 included in the operation command DA2. Note that the recognizable data DE2 is not particularly limited as long as it is data that can be recognized by the driver of the manual driving vehicle 5A. The recognizable data DE2 is, for example, visual data such as images, texts, or the lighting and flashing of lights, auditory data such as voices and buzzer sounds, or tactile data such as vibrations.

[0085] The conversion unit 5B13 refers to the conversion information DE stored in the conversion information storage unit 5B12, and converts the operation command DA2 including the security condition information DB1 received by the communication control unit 5B11 into recognizable data DE2.

[0086] The notification control unit 5B14 causes the notification unit 5B3 to notify the recognizable data DE2 converted by the conversion unit 5B13. In this case, the notification unit 5B3 notifies the recognizable data DE2 based on the control of the notification control unit 5B14.

[0087] In the terminal device 5B mounted on the manually-operated vehicle 5A, the operation command DA2 transmitted from the operation management system 21 including the security condition information DB1 indicating the security conditions set by the security management system 22 is converted into recognizable data DE2 by the conversion unit 5B13. Then, based on the control of the notification control unit 5B14, the notification unit 5B3 notifies the recognizable data DE2 converted by the conversion unit 5B13. In this case, in a situation where the automated driving vehicle 4 and the manually-operated vehicle 5A coexist within the automated driving area 6, the driver of the manually-operated vehicle 5A can drive the manually-operated vehicle 5A along the security route while recognizing the security conditions indicated by the security condition information DB1 set by the security management system 22 based on the recognizable data DE2 notified by the terminal device 5B. For example, when the driver recognizes that driving is permitted based on the recognizable data DE2, the driver can drive the manually-operated vehicle 5A on a secure security route within the range of the restricted speed at which vehicle rollover and the like can be suppressed. Also, when the driver recognizes that driving should stop based on the recognizable data DE2, the driver can stop the driving of the manually-operated vehicle 5A on the security route.

[0088] The program storage unit 5B4 stores the program PG. The program PG is a program for causing one or more processors including the processor 5B1 to execute each process performed by the security management system 22 and the operation management system 21, including the terminal device 5B mounted on the manually-driven vehicle 5A. This program PG includes a process of receiving, from the operation management system 21 via the communication unit 5B2, an operation command DA2 including security condition information DB1 set by the security management system 22, a process of converting the operation command DA2 into recognizable data DE2 with reference to conversion information DE, and a process of notifying the converted recognizable data DE2 via the notification unit 5B3, and causes one or more processors including the processor 5B1 to execute these processes.

[0089] The processor 5B1 of the terminal device 5B can perform each process of receiving the operation command DA2 in the communication control unit 5B11, converting the operation command DA2 into recognizable data DE2 in the conversion unit 5B13, and notifying the recognizable data DE2 from the notification unit 5B3 in the notification control unit 5B14 according to the program PG stored in the program storage unit 5B4.

[0090] As described above, the manually-driven vehicle 5A is a vehicle driven by a driver, and together with the autonomous driving vehicle 4 that autonomously travels on a preset driving route 7 within the autonomous driving area 6, its safety is managed by the security management system 22, its operation is managed by the operation management system 21, and the terminal device 5B is mounted on it.

[0091] Note that in the manually-operated vehicle 5A, each of the processor 5B1, communication unit 5B2, and notification unit 5B3 that constitute the terminal device 5B may be incorporated. In this case, the manually-operated vehicle 5A includes a communication control unit 5B11 that receives an operation command DA2 from the operation management system 21 via the communication unit 5B2, a conversion information storage unit 5B12 that stores conversion information DE in which the operation command DA2 is associated with recognizable data DE2, a conversion unit 5B13 that converts the operation command DA2 into recognizable data DE2 with reference to the conversion information DE, and a notification unit 5B3 that notifies the recognizable data DE2 based on the control of the notification control unit 5B14. According to this manually-operated vehicle 5A, the operation command DA2 transmitted from the operation management system 21 including the security condition information DB1 indicating the security conditions set by the security management system 22 is converted into recognizable data DE2, and the converted recognizable data DE2 is notified. In this case, the driver driving the manually-operated vehicle 5A can drive the manually-operated vehicle 5A along the security route while recognizing the security conditions indicated by the security condition information DB1 set by the security management system 22 based on the notified recognizable data DE2.

[0092] In addition, the automated driving vehicle 4 may be equipped with the terminal device 5B in case it is set to the manual driving mode and travels by the driver's driving operation. Further, the function configuration of the terminal device 5B may be incorporated into the control unit 41 in the automated driving vehicle 4. In this case, in the automated driving vehicle 4, the control unit 41 functions as a communication control unit 5B11 that receives the operation command DA2 from the operation management system 21 via the on-vehicle station 42, and functions as a conversion information storage unit 5B12 that stores the conversion information DE associating the operation command DA2 with the recognizable data DE2, and functions as a conversion unit 5B13 that converts the operation command DA2 into the recognizable data DE2 with reference to the conversion information DE, and functions as a notification unit 5B3 that notifies the recognizable data DE2. In such an automated driving vehicle 4, in a situation where it is set to the manual driving mode and the driver performs a driving operation, the operation command DA2 transmitted from the operation management system 21 including the security condition information DB1 indicating the security conditions set by the security management system 22 is converted into the recognizable data DE2, and the converted recognizable data DE2 is notified. In this case, the driver who manually drives the automated driving vehicle 4 in the state set to the manual driving mode can manually drive the automated driving vehicle 4 along the security route while recognizing the security conditions indicated by the security condition information DB1 set by the security management system 22 based on the notified recognizable data DE2.

[0093] As shown in FIG. 2, in the present embodiment, the automated driving area 6 has an interchange area 61, a first work area 62, a second work area 63, and a third work area 64. In the automated driving area 6, each area of the interchange area 61, the first work area 62, the second work area 63, and the third work area 64 is connected by the operation route 7. Therefore, various vehicles such as the automated driving vehicle 4 and the manual driving vehicle 5A can move to each area by traveling along the operation route 7.

[0094] The interchange area 61 is an area having an interchange 611 that demarcates the inside and outside of the automated driving area 6. At the interchange 611, the running route 7 within the automated driving area 6 and the general road 7A outside the automated driving area 6 are interconnected. At the interchange 611, an entrance / exit point 81 where various vehicles such as the automated driving vehicle 4 and the manually driven vehicle 5A enter and exit the automated driving area 6 is set as a stopping point 8. A vehicle detector 32 is provided at this entrance / exit point 81. At the interchange 611, a level crossing barrier 351 is installed in front of the entrance / exit point 81 on the running route 7. Also, within the interchange area 61, a plurality of entrance / exit waiting points 811 where the vehicle detector 32 is provided are set. The entrance / exit waiting point 811 is a stopping point 8 that functions as a parking lot for various vehicles such as the automated driving vehicle 4 to wait within the interchange area 61.

[0095] At a location immediately after extending from the entrance / exit point 81 on the running route 7 and exiting the interchange area 61, a first waiting point 82 is set as a stopping point 8 where the vehicle detector 32 is provided. As routes extending from the first waiting point 82 on the opposite side of the entrance / exit point 81 on the running route 7, there are a route extending toward the first work area 62 via the route boundary 70, a route extending toward the second work area 63, and a route extending toward the third work area 64. At a route extending from the first waiting point 82 toward the second work area 63 via the route boundary 70, a second waiting point 83 is set as a stopping point 8 where the vehicle detector 32 is provided. Also, at a route extending from the first waiting point 82 toward the third work area 64 via the route boundary 70, a third waiting point 84 and a fourth waiting point 85 are set at a predetermined interval as stopping points 8 where the vehicle detector 32 is provided.

[0096] In this embodiment, the section between the third waiting point 84 and the fourth waiting point 85 is a multi-lane section 65 where the operation route 7 is separated into a plurality of lanes including the first route 71 and the second route 72. In the multi-lane section 65, the number of lanes in the plurality of lanes is not limited to two lanes of the first route 71 and the second route 72, and may be three or more lanes. Further, in the multi-lane section 65, a first passing waiting point 841 is set as a stopping point 8 where the vehicle detector 32 is provided on the first route 71, and a second passing waiting point 851 is set as a stopping point 8 where the vehicle detector 32 is provided on the second route 72.

[0097] The first working area 62 is an area where an operation of loading a carried object onto the loading platform 401 of the autonomous vehicle 4 or an operation of unloading the carried object from the loading platform 401 is performed. A special vehicle 5 as a manually-operated vehicle 5A is arranged in the first working area 62. A first arrival point 8A where various vehicles including the autonomous vehicle 4 arriving at the first working area 62 from outside the first working area 62 wait is set as a stopping point 8, and a first departure point 8B where various vehicles including the autonomous vehicle 4 departing from inside the first working area 62 wait is set as a stopping point 8. Vehicle detectors 32 are respectively provided at the first arrival point 8A and the first departure point 8B. Further, a first working point 91 where the loading or unloading operation of the carried object is performed is set in the first working area 62. A vehicle detector 32 is provided at the first working point 91.

[0098] The second working area 63 is an area where the object to be transported carried by a belt conveyor or the like is stored for a certain period, and is an area where the work of loading the stored object to be transported onto the loading platform 401 of the autonomous vehicle 4 is performed. A special vehicle 5 as a manually operated vehicle 5A is arranged in the second working area 63. In the second working area 63, a second arrival point 8C where various vehicles including the autonomous vehicle 4 arriving at the second working area 63 from outside the second working area 63 wait is set as a parking point 8, and a second departure point 8D where various vehicles including the autonomous vehicle 4 departing from inside the second working area 63 to the outside wait is set as a parking point 8. Vehicle detectors 32 are respectively provided at the second arrival point 8C and the second departure point 8D. Further, in the second working area 63, a second working point 92 where the loading work of the object to be transported is performed is set. A vehicle detector 32 is provided at the second working point 92.

[0099] The third working area 64 is an area where the collection work for loading the object to be transported onto a ship or the like outside the autonomous driving area 6 is performed by the hopper device 361, and is an area where the work of unloading the object to be transported from the loading platform 401 of the autonomous vehicle 4 is performed. In the third working area 64, a third arrival point 8E where various vehicles including the autonomous vehicle 4 arriving at the third working area 64 from outside the third working area 64 wait is set as a parking point 8, and a third departure point 8F where various vehicles including the autonomous vehicle 4 departing from inside the third working area 64 to the outside wait is set as a parking point 8. Vehicle detectors 32 are respectively provided at the third arrival point 8E and the third departure point 8F. Further, in the third working area 64, a third working point 93 where the unloading work of the object to be transported is performed is set. A vehicle detector 32 is provided at the third working point 93. Furthermore, in the third working area 64, a work waiting point 86 is set as a parking point 8 between the third arrival point 8E and the third working point 93. A vehicle detector 32 is provided at the work waiting point 86.

[0100] In this embodiment, the operation management system 21 may set a temporary parking location 8G at a position close to at least one of the first arrival point 8A and the first departure point 8B within the first work area 62, where various vehicles including the autonomous vehicle 4 can be temporarily parked. Similarly, the operation management system 21 may set a temporary parking location 8G at a position close to at least one of the second arrival point 8C and the second departure point 8D within the second work area 63, where various vehicles including the autonomous vehicle 4 can be temporarily parked. Further, the operation management system 21 may set a temporary parking location 8G at a position close to at least one of the third arrival point 8E and the third departure point 8F within the third work area 64, where various vehicles including the autonomous vehicle 4 can be temporarily parked. Additionally, the operation management system 21 may set a temporary parking location 8G at a position close to the first waiting point 82, the second waiting point 83, and the third waiting point 84, where various vehicles including the autonomous vehicle 4 can be temporarily parked.

[0101] As described above, the operation management system 21 sets the temporary parking location 8G at a position close to the parking locations 8 such as the first arrival point 8A, the first departure point 8B, the second arrival point 8C, the second departure point 8D, the third arrival point 8E, the third departure point 8F, the first waiting point 82, the second waiting point 83, and the third waiting point 84. Thereby, when various vehicles including the following autonomous vehicle 4 are traveling toward the parking location 8 where various vehicles including the preceding autonomous vehicle 4 are parked, the operation management system 21 can cause the following vehicle to stop at the temporary parking location 8G. In this case, the operation management system 21 regards the following vehicle that stops at the temporary parking location 8G as a vehicle that has stopped at the parking location 8. Thereby, the operation management system 21 can efficiently manage the operation of the following vehicle by regarding the following vehicle that stops at the temporary parking location 8G as a vehicle that has stopped at the parking location 8.

[0102] When the following vehicle parked at the temporary stop point 8G is the autonomous vehicle 4, after the preceding vehicle has moved away from the stop point 8, the autonomous vehicle 4 automatically travels to the stop point 8 while referring to the measurement results of the measurement unit 43 and stops at the stop point 8.

[0103] Also, assume a situation where various vehicles (following vehicles) including one autonomous vehicle 4 are parked at one stop point 8 among a plurality of stop points 8, and various vehicles (preceding vehicles) including another autonomous vehicle 4 are not parked at a temporary stop point 8G close to another stop point 8 ahead of the one stop point 8. In this case, the operation management system 21 regards that there is no preceding vehicle parked at another stop point 8 ahead of the one stop point 8 where the following vehicle is parked, and transmits an operation route setting command DA1 to the security management system 22 to instruct the setting of a route with the one stop point 8 as the starting point and another stop point 8 as the arrival point. In this case, the operation management system 21 receives security condition information DB1 from the security management system 22 as information in response to the operation route setting command DA1, and transmits an operation command DA2 including the security condition information DB1 to the following vehicle via the ground station 31. Thereby, the operation management system 21 can efficiently manage the operation of the following vehicle by regarding that there is no preceding vehicle parked at the stop point 8 which is the target arrival point of the following vehicle.

[0104] FIG. 4 is a diagram for explaining the operation management of various vehicles including the autonomous vehicle 4 in the interchange area 61 within the autonomous driving area 6.

[0105] Outside the automatic driving area 6, the autonomous vehicle 4 travels by the driving operation of the driver or the remote operation by the operator, and moves to the entry / exit point 81 set at the interchange 611 within the automatic driving area 6, more specifically within the automatic driving area 6. The security management system 22 transmits the detection result of the vehicle detector 32 provided at the entry / exit point 81 set at the interchange 611 to the operation management system 21. Based on the detection result of the vehicle detector 32 received from the security management system 22, the operation management system 21 recognizes the presence of the autonomous vehicle 4 stopped at the entry / exit point 81. For the autonomous vehicle 4 that has entered the entry / exit point 81 from outside the automatic driving area 6, the operation management system 21 receives the vehicle information DC1 from the autonomous vehicle 4 and registers the vehicle information DC1. The autonomous vehicle 4 in which the vehicle information DC1 is registered has its driving mode set to the automatic driving mode by operating the mode change switch 44 automatically, manually, or remotely. On the other hand, for the autonomous vehicle 4 that exits the automatic driving area 6 from the entry / exit point 81, the operation management system 21 deletes the registration of the vehicle information DC1. The autonomous vehicle 4 in which the registration of the vehicle information DC1 is deleted has its driving mode set to the manual driving mode by operating the mode change switch 44 automatically, manually, or remotely. Note that the vehicle information DC1 is information unique to the autonomous vehicle 4 and includes vehicle identification information, information regarding the vehicle size, information regarding the loadable amount of the goods to be transported in the vehicle, and the like.

[0106] As described above, the operation management system 21 registers and deletes the vehicle information DC1 unique to the autonomous vehicle 4 for the autonomous vehicle 4 stopped at the entry / exit point 81. In this case, for the autonomous vehicle 4 in which the vehicle information DC1 is registered, the security management system 22 can manage the safety, and the operation management system 21 can manage the operation.

[0107] In addition, the operation management system 21 may also be configured to register vehicle information DD1 specific to the manual driving vehicle 5A including the special vehicle 5 existing within the automated driving area 6. In this case, the operation management system 21 can manage the manual driving vehicle 5A in which the vehicle information DD1 is registered, together with the automated driving vehicle 4 in which the vehicle information DD1 is registered.

[0108] When the registration of the vehicle information DC1 and DD1 of various vehicles including the automated driving vehicle 4 parked at the entry / exit point 81 is completed, the operation management system 21 transmits an operation route setting command DA1 for instructing the setting of the route of the section from the entry / exit point 81 to the first standby point 82 on the operation route 7 to the security management system 22. In this case, the security management system 22 determines whether the section from the entry / exit point 81 to the first standby point 82 is a security route based on the position information DC2 and DD5 of all the vehicles in which the vehicle information DC1 and DD1 are registered. If it is a security route, the security management system 22 transmits security condition information DB1 with the route of the section from the entry / exit point 81 to the first standby point 82 as the security route to the operation management system 21. Thereafter, the security management system 22 operates so that the level crossing barrier 351 in the interchange 611 opens based on the command of the operation management system 21. When the operation management system 21 receives the security condition information DB1 and the open completion status information of the level crossing barrier 351 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to various vehicles including the automated driving vehicle 4 parked at the entry / exit point 81 via the ground station 31.

[0109] When various vehicles including the automated driving vehicle 4 receive the operation command DA2 while parked at the entry / exit point 81, they travel from the entry / exit point 81 to the first standby point 82 and stop at the first standby point 82 based on the security condition information DB1 included in the operation command DA2. The security management system 22 operates so that the level crossing barrier 351 closes after various vehicles including the automated driving vehicle 4 pass through the level crossing barrier 351. Various vehicles including the automated driving vehicle 4 wait in a stopped state at the first standby point 82 until they receive the next operation command DA2.

[0110] FIG. 5 is a diagram for explaining the operation management of various vehicles including the autonomous vehicle 4 in the first work area 62 and the second work area 63 within the autonomous driving area 6.

[0111] The security management system 22 transmits the detection result of the vehicle detector 32 provided at the first arrival point 8A set within the first work area 62 to the operation management system 21. Based on the detection result of the vehicle detector 32 received from the security management system 22, the operation management system 21 recognizes the presence of various vehicles including the autonomous vehicle 4 parked at the first arrival point 8A.

[0112] The case where the vehicle parked at the first arrival point 8A is the autonomous vehicle 4 will be described below. First, assume a case where the loading operation of the object to be transported is performed on the autonomous vehicle 4 parked at the first arrival point 8A. In this case, the autonomous vehicle 4 will transport the loaded object to be transported from the first work area 62 via the multi-lane section 65 to the third work area 64.

[0113] When the driver of the special vehicle 5 as the manually operated vehicle 5A arranged within the first work area 62 or the remote operator confirms that the autonomous vehicle 4 has arrived at the first arrival point 8A, the position designation button 53 is operated to transmit a parking position designation command DD2. The parking position designation command DD2 indicates a command for designating the parking position of the autonomous vehicle 4 when the special vehicle 5 performs the loading operation of the object to be transported. The parking position designation command DD2 may be output from the terminal device 5B mounted on the special vehicle 5.

[0114] When the operation management system 21 receives the parking position designation command DD2 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the parking position designation command DD2 to the security management system 22.

[0115] In addition, the operation management system 21 may be configured to transmit vehicle arrival information DD4 indicating information for notifying the driver of the special vehicle 5 or the operator of the remote operation that the automated driving vehicle 4 has stopped at the first arrival point 8A and that the operation management system 21 has received the parking position designation command DD2 to the special vehicle 5 via the ground station 31 and the on-vehicle station 52. In this case, in the special vehicle 5, the vehicle arrival information DD4 is displayed on the vehicle arrival indicator 55. Alternatively, the operation management system 21 may be configured to turn on the Patlite (registered trademark) mounted on the automated driving vehicle 4 when the automated driving vehicle 4 arrives at the first arrival point 8A. In this case, the driver of the special vehicle 5 or the operator of the remote operation can confirm that the automated driving vehicle 4 has arrived at the first arrival point 8A by the lighting of the Patlite (registered trademark) mounted on the automated driving vehicle 4. Note that the vehicle arrival information DD4 may be notified by a terminal device 5B mounted on the special vehicle 5.

[0116] When the security management system 22 receives the operation route setting command DA1 from the operation management system 21, it sets a security condition in which the work entry route from the first arrival point 8A to the first work point 91 corresponding to the parking position indicated by the parking position designation command DD2 is set as the security route. Then, the security management system 22 transmits security condition information DB1 including information on the work entry route to the operation management system 21. When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to the automated driving vehicle 4 stopped at the first arrival point 8A via the ground station 31 and the on-vehicle station 42.

[0117] When the automated driving vehicle 4 receives the operation command DA2 while stopped at the first arrival point 8A, it automatically travels along the work entry route from the first arrival point 8A to the first work point 91 based on the security condition information DB1 included in the operation command DA2 and stops at the first work point 91. When the automated driving vehicle 4 stops at the first work point 91, the special vehicle 5 performs the operation of loading the object to be transported onto the loading platform 401 of the automated driving vehicle 4. Since the first work point 91 where the automated driving vehicle 4 stops corresponds to the work point at the parking position indicated by the parking position designation command DD2 transmitted from the special vehicle 5, the working efficiency of the special vehicle 5 at the first work point 91 is improved.

[0118] When the special vehicle 5 performs the operation of loading the object to be transported onto the loading platform 401 of the automated driving vehicle 4 at the first work point 91, it is preferable for the operation management system 21 to transmit the operation command DA2 including information indicating an instruction for the automated driving vehicle 4 to stop in a side-by-side manner at the first work point 91 to the automated driving vehicle 4 stopped at the first arrival point 8A. In this case, the automated driving vehicle 4 automatically travels along the work entry route from the first arrival point 8A to the first work point 91 and stops in a side-by-side manner at the first work point 91. Thereby, the working efficiency of the operation of loading the object to be transported by the special vehicle 5 is improved.

[0119] When the operation of loading the object to be transported onto the automated driving vehicle 4 at the first work point 91 is completed, the driver of the special vehicle 5 or the operator of the remote operation operates the departure request button 54 to transmit the departure request command DD3. The departure request command DD3 indicates a command for requesting the departure of the automated driving vehicle 4 after the completion of the operation of loading the object to be transported by the special vehicle 5. The departure request command DD3 may be output from the terminal device 5B mounted on the special vehicle 5.

[0120] When the operation management system 21 receives the departure request command DD3 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the departure request command DD3 to the security management system 22. In this case, the security management system 22 sets security conditions with the route of the section from the first work location 91 to the first departure location 8B as the security route. Then, the security management system 22 transmits security condition information DB1 including the information of the route of the section from the first work location 91 to the first departure location 8B to the operation management system 21. When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to the autonomous vehicle 4 parked at the first work location 91 via the ground station 31 and the on-vehicle station 42.

[0121] When the autonomous vehicle 4 receives the operation command DA2 while parked at the first work location 91, it automatically travels from the first work location 91 to the first departure location 8B based on the security condition information DB1 included in the operation command DA2 and stops at the first departure location 8B. The autonomous vehicle 4 waits until it receives the next operation command DA2 while stopped at the first departure location 8B.

[0122] Next, assume a case where the work of unloading the carried object is performed from the autonomous vehicle 4 stopped at the first arrival location 8A. In this case, the autonomous vehicle 4 will transport the carried object loaded in the second work area 63 from the second work area 63 to the first work area 62.

[0123] When the driver of the special vehicle 5 or the operator of the remote operation confirms that the autonomous vehicle 4 has arrived at the first arrival location 8A, they operate the position designation button 53 to transmit a parking position designation command DD2. The parking position designation command DD2 may be output from the terminal device 5B mounted on the special vehicle 5.

[0124] When the operation management system 21 receives the parking position designation command DD2 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the parking position designation command DD2 to the security management system 22. In this case, the security management system 22 sets security conditions with the work entry route from the first arrival point 8A to the first work point 91 corresponding to the parking position indicated by the parking position designation command DD2 as the security route. Then, the security management system 22 transmits security condition information DB1 including the information of the work entry route to the operation management system 21. When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to the autonomous driving vehicle 4 parked at the first arrival point 8A via the ground station 31 and the on-vehicle station 42.

[0125] When the autonomous driving vehicle 4 receives the operation command DA2 while parked at the first arrival point 8A, it automatically drives along the work entry route from the first arrival point 8A to the first work point 91 and stops at the first work point 91. While stopped at the first work point 91, the autonomous driving vehicle 4 performs the operation of tilting the loading platform 401 by the operation of the dump device 45 and unloading the object to be transported from the loading platform 401.

[0126] When the autonomous driving vehicle 4 performs the unloading operation of the object to be transported at the first work point 91, it is preferable for the operation management system 21 to transmit an operation command DA2 including information indicating an instruction for the autonomous driving vehicle 4 to park in reverse at the first work point 91 to the autonomous driving vehicle 4 parked at the first arrival point 8A. In this case, the autonomous driving vehicle 4 automatically drives along the work entry route from the first arrival point 8A to the first work point 91 and parks in reverse at the first work point 91. Thereby, the working efficiency of the unloading operation of the object to be transported by the operation of the dump device 45 is improved.

[0127] When the unloading operation of the object to be transported from the autonomous vehicle 4 at the first working location 91 is completed, the driver of the special vehicle 5 or the operator of the remote operation operates the departure request button 54 to transmit a departure request command DD3. The departure request command DD3 may be output from the terminal device 5B mounted on the special vehicle 5.

[0128] When the operation management system 21 receives the departure request command DD3 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the departure request command DD3 to the security management system 22. In this case, the security management system 22 sets a security condition in which the route of the section from the first working location 91 to the first departure location 8B is a security route. Then, the security management system 22 transmits security condition information DB1 including the information of the route of the section from the first working location 91 to the first departure location 8B to the operation management system 21. When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 including the security condition information DB1 to the autonomous vehicle 4 parked at the first working location 91 via the ground station 31 and the on-vehicle station 42.

[0129] When the autonomous vehicle 4 receives the operation command DA2 while parked at the first working location 91, it automatically travels from the first working location 91 to the first departure location 8B based on the security condition information DB1 included in the operation command DA2 and stops at the first departure location 8B. The autonomous vehicle 4 waits in a stopped state at the first departure location 8B until it receives the next operation command DA2.

[0130] In addition, the security management system 22 transmits the detection result of the vehicle detector 32 provided at the second arrival point 8C set within the second work area 63 to the operation management system 21. Based on the detection result of the vehicle detector 32 received from the security management system 22, the operation management system 21 recognizes the presence of the autonomous vehicle 4 parked at the second arrival point 8C. In this case, for the autonomous vehicle 4 parked at the second arrival point 8C, the loading operation of the object to be transported is performed in the second work area 63. The autonomous vehicle 4 will transport the loaded object to be transported from the second work area 63 to the first work area 62.

[0131] When the driver of the special vehicle 5 or the operator of remote operation arranged within the second work area 63 confirms the arrival of the autonomous vehicle 4 at the second arrival point 8C, the position designation button 53 is operated to transmit a parking position designation command DD2. The parking position designation command DD2 may be output from the terminal device 5B mounted on the special vehicle 5.

[0132] When the operation management system 21 receives the parking position designation command DD2 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the parking position designation command DD2 to the security management system 22. In this case, the security management system 22 sets the security condition that the work entry route from the second arrival point 8C to the second work point 92 corresponding to the parking position indicated by the parking position designation command DD2 is the security route, and transmits the security condition information DB1 to the operation management system 21. Then, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 and the information indicating the instruction of parallel parking to the autonomous vehicle 4 parked at the second arrival point 8C via the ground station 31 and the on-vehicle station 42.

[0133] When the autonomous vehicle 4 receives the operation command DA2 while parked at the second arrival point 8C, it automatically drives along the work entry route from the second arrival point 8C to the second work point 92 and stops alongside the second work point 92. When the autonomous vehicle 4 stops at the second work point 92, the special vehicle 5 performs the operation of loading the object to be transported onto the loading platform 401 of the autonomous vehicle 4. When the operation of loading the object to be transported onto the autonomous vehicle 4 at the second work point 92 is completed, the driver of the special vehicle 5 or the operator of the remote operation operates the departure request button 54 to send out the departure request command DD3. The departure request command DD3 may be output from the terminal device 5B mounted on the special vehicle 5.

[0134] When the operation management system 21 receives the departure request command DD3 transmitted from the special vehicle 5 via the ground station 31 and the on-vehicle station 52, it transmits an operation route setting command DA1 including the information of the departure request command DD3 to the security management system 22. In this case, the security management system 22 sets the security condition that the route of the section from the second work point 92 to the second departure point 8D is the security route, and transmits the security condition information DB1 to the operation management system 21. Then, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 to the autonomous vehicle 4 parked at the second work point 92 via the ground station 31 and the on-vehicle station 42.

[0135] When the autonomous vehicle 4 receives the operation command DA2 while parked at the second work point 92, it automatically drives from the second work point 92 to the second departure point 8D and stops at the second departure point 8D. The autonomous vehicle 4 waits in a parked state at the second departure point 8D until it receives the next operation command DA2.

[0136] FIG. 6 is a diagram for explaining the operation management of various vehicles including the autonomous vehicle 4 in the third work area 64 within the autonomous driving area 6.

[0137] The security management system 22 transmits the detection result of the vehicle detector 32 provided at the third arrival point 8E set within the third work area 64 to the operation management system 21. Based on the detection result of the vehicle detector 32 received from the security management system 22, the operation management system 21 recognizes the presence of various vehicles including the autonomous vehicle 4 parked at the third arrival point 8E. Hereinafter, the case where the vehicle parked at the third arrival point 8E is the autonomous vehicle 4 will be described. In this case, the autonomous vehicle 4 parked at the third arrival point 8E will perform the operation of unloading the object to be transported to the hopper device 361 arranged in the third work area 64.

[0138] The operation management system 21 transmits an operation route setting command DA1 for instructing the setting of the route of the section from the third arrival point 8E to the work standby point 86 and the setting of the route of the section from the work standby point 86 to the third work point 93 within the third work area 64 to the security management system 22. In this case, the security management system 22 sets the security condition that the work entry route from the third arrival point 8E to the work standby point 86 is the security route, and sets the security condition that the work entry route from the work standby point 86 to the third work point 93 is the security route, and transmits the security condition information DB1 to the operation management system 21. Then, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 and the information indicating the instruction of reverse parking to the autonomous vehicle 4 parked at the third arrival point 8E via the ground station 31 and the on-vehicle station 42.

[0139] When the autonomous vehicle 4 receives the operation command DA2 while parked at the third arrival point 8E, it automatically travels from the third arrival point 8E to the work standby point 86 and makes a reverse temporary stop at the work standby point 86. Thereafter, the autonomous vehicle 4 automatically travels in reverse from the work standby point 86 to the third work point 93 and makes a reverse stop at the third work point 93.

[0140] While the autonomous vehicle 4 is stopped at the third work location 93, when it receives a unloading instruction from the hopper control device 36 or information indicating that unloading is possible via the operation management system 21, it tilts the loading platform 401 by operating the dump device 45 to unload the object to be transported from the loading platform 401. As a result, the object to be transported is loaded at the third work location 93. The hopper device 361 performs a collection operation to load the object to be transported loaded at the third work location 93 onto a ship or the like outside the autonomous driving area 6.

[0141] When the unloading operation of the object to be transported from the autonomous vehicle 4 at the third work location 93 is completed, the operation management system 21 transmits an operation route setting command DA1 for instructing the setting of the route of the section between the third work location 93 and the third departure location 8F to the security management system 22. In this case, the security management system 22 sets security conditions with the route from the third work location 93 to the third departure location 8F as the security route and transmits security condition information DB1 to the operation management system 21. Then, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 to the autonomous vehicle 4 stopped at the third work location 93 via the ground station 31 and the on-vehicle station 42.

[0142] When the autonomous vehicle 4 receives the operation command DA2 while stopped at the third work location 93, it automatically travels from the third work location 93 to the third departure location 8F based on the security condition information DB1 included in the operation command DA2 and stops at the third departure location 8F. The autonomous vehicle 4 waits in a stopped state at the third departure location 8F until it receives the next operation command DA2.

[0143] FIG. 7 is a diagram for explaining the operation management of various vehicles including the autonomous vehicle 4 in a multi-lane section 65 within the autonomous driving area 6. Hereinafter, the case where the vehicle traveling in the multi-lane section 65 is the autonomous vehicle 4 will be described as an example.

[0144] As shown in FIG. 7, in the automatic driving area 6, there is a multi-lane section 65 where the running route 7 is separated into a plurality of lanes including a first route 71 and a second route 72 between a third waiting point 84 and a fourth waiting point 85. In the multi-lane section 65, a first passing waiting point 841 is set on the first route 71, and a second passing waiting point 851 is set on the second route 72.

[0145] The security management system 22 transmits the detection results of the vehicle detectors 32 provided at the third waiting point 84 and the fourth waiting point 85 to the operation management system 21. Based on the detection results of each vehicle detector 32 received from the security management system 22, the operation management system 21 recognizes that there are automatic driving vehicles 4 with opposite traveling directions at each of the third waiting point 84 and the fourth waiting point 85. Then, the operation management system 21 transmits an operation route setting command DA1 for each of the third waiting point 84 and the fourth waiting point 85 to the security management system 22.

[0146] In this case, the security management system 22 sets a security condition with the first route 71 as the security route for one of the third waiting points 84 and the fourth waiting points 85, and sets a security condition with the second route 72 as the security route for the other fourth waiting point 85. Then, the security management system 22 transmits security condition information DB1 indicating the information of each set security condition to the operation management system 21.

[0147] When the operation management system 21 receives the security condition information DB1 from the security management system 22, it transmits an operation command DA2 to each automatic driving vehicle 4 parked at each of the third waiting point 84 and the fourth waiting point 85 via the ground station 31 and the on-vehicle station 42. Specifically, for the automatic driving vehicle 4 parked at the third waiting point 84, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 with the first route 71 as the security route. On the other hand, for the automatic driving vehicle 4 parked at the fourth waiting point 85, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 with the second route 72 as the security route.

[0148] The self-driving vehicle 4 parked at the third waiting point 84 automatically travels from the third waiting point 84 to the first passing waiting point 841 on the first route 71 based on the operation command DA2 and temporarily stops at the first passing waiting point 841. On the other hand, the self-driving vehicle 4 parked at the fourth waiting point 85 automatically travels from the fourth waiting point 85 to the second passing waiting point 851 on the second route 72 based on the operation command DA2 and temporarily stops at the second passing waiting point 851.

[0149] When the self-driving vehicle 4 that has temporarily stopped at the first passing waiting point 841 detects that the self-driving vehicle 4 that was parked at the fourth waiting point 85 has moved to the second route 72, it automatically travels along the first route 71 from the first passing waiting point 841 to the fourth waiting point 85 and stops at the fourth waiting point 85. The self-driving vehicle 4 waits in a stopped state at the fourth waiting point 85 until it receives the next operation command DA2.

[0150] On the other hand, when the self-driving vehicle 4 that has temporarily stopped at the second passing waiting point 851 detects that the self-driving vehicle 4 that was parked at the third waiting point 84 has moved to the first route 71, it automatically travels along the second route 72 from the second passing waiting point 851 to the third waiting point 84 and stops at the third waiting point 84. The self-driving vehicle 4 waits in a stopped state at the third waiting point 84 until it receives the next operation command DA2.

[0151] As described above, in the multiple-lane section 65 on the operation route 7, the self-driving vehicle 4 parked at the third waiting point 84 automatically travels along the first route 71, and the self-driving vehicle 4 parked at the fourth waiting point 85 automatically travels along the second route 72. In this case, even if the traveling directions of the respective self-driving vehicles 4 parked at the third waiting point 84 and the fourth waiting point 85 are in an opposing relationship, each self-driving vehicle 4 can automatically travel through the multiple-lane section 65 while avoiding collisions between vehicles and ensuring safety.

[0152] As shown in FIG. 7, in the multi-lane section 65, at least one detour route 73 may be set between the first route 71 and the second route 72. In this case, when at least one of the first route 71 and the second route 72 cannot be set as a security route, the security management system 22 sets security conditions for using the detour route 73 as a security route.

[0153] In the multi-lane section 65 on the operation route 7, due to operations by low-speed vehicles such as water sprinklers, a breakdown vehicle being parked, a part of the route being damaged, construction work being carried out, etc., lane restrictions may be imposed. In this case, the security management system 22 cannot set at least one of the first route 71 and the second route 72 as a security route. Therefore, as a countermeasure, the security management system 22 sets security conditions for using the detour route 73 set between the first route 71 and the second route 72 as a security route. Thereby, the automated driving vehicle 4 can be detoured along the detour route 73 so as to avoid the location where the lane restriction is imposed.

[0154] The embodiments of the present invention have been described above, but the present invention is not limited thereto, and for example, the following modified embodiments can be adopted.

[0155] In the above embodiment, the mode in which the automated driving vehicle 4 transports the transported object made of granulated slag has been described, but it is not limited to such a mode. The automated driving vehicle 4 may be a vehicle that transports articles or people other than granulated slag as the transported object. When the automated driving vehicle 4 is a vehicle that transports people, the first to third work areas 62 to 64 within the automated driving area 6 are areas where people get on and off the automated driving vehicle 4.

[0156] In the above-described embodiment, the mode in which the management system 2 and the ground facility 3 including the ground station 31 are connected so as to be capable of wired communication via wired communication facilities such as an optical network within the automated driving area 6 has been described. However, the present invention is not limited to such a mode. The management system 2, the ground facility 3, and the automated driving vehicle 4 may be connected so as to be capable of wireless communication in accordance with communication standards dedicated to mobile devices such as 4G, 5G, and LTE, or may be connected via a wireless LAN. Further, wireless communication using the cloud may also be used.

[0157] In the above-described embodiment, the mode in which the management system 2 manages the safe operation of various vehicles including the automated driving vehicle 4 and the manually-driven vehicle 5A within the automated driving area 6 has been described. However, the present invention is not limited to such a mode. The management system 2 has an operator console installed in the central command room, and monitoring, determination, and operations (intervention operations, emergency response, registration of the manually-driven vehicle 5A, etc.) are performed. Therefore, the management system 2 may be provided with a communication / monitoring system such as a video system or a broadcast system for performing central monitoring.

[0158] In the above-described embodiment, the mode in which the operation management system 21 and the security management system 22 are realized by separate independent computer devices has been described. However, the present invention is not limited to such a mode. The operation management system 21 and the security management system 22 may be realized by one computer device.

[0159] In the above-described embodiment, the vehicle detector 32 is described as being realized by LiDAR. However, it is not limited to such an embodiment. The vehicle detector 32 may be a loop coil buried in the ground within the autonomous driving area 6, a camera, a wireless direction finder, RFID (Radio Frequency Identification), a camera for detecting a QR code (registered trademark), or the like. However, in the case of a wireless direction finder, it is necessary to attach a wireless tag (radio beacon) or the like to the vehicle to be detected. In the case of RFID, it is necessary to attach an RF tag to the vehicle. In the case of a camera for detecting a QR code (registered trademark), it is necessary to attach a sheet or the like with the QR code (registered trademark) printed thereon to the vehicle. Further, in order to detect the positions of various vehicles including the autonomous driving vehicle 4, a portable wireless communication device such as a tablet, an AirTag, or a GPS transmitter may be used. Furthermore, in order to detect the position of the autonomous driving vehicle 4, the measurement unit 43 mounted on the autonomous driving vehicle 4 may be used.

[0160] In the above-described embodiment, the embodiment in which the vehicle detector 32 is provided at each of the plurality of parking points 8 is described. However, it is not limited to such an embodiment. One vehicle detector 32 may be provided so as to aggregate the plurality of parking points 8.

[0161] In the above-described embodiment, the embodiment in which at least one of the traffic signal 33 and the guide display 34 as notification devices is installed in the autonomous driving area 6 in order to instruct the driver to drive the manual driving vehicle 5A is described. However, it is not limited to such an embodiment. For example, the notification device may be a patrol light (registered trademark) or the like. Further, as described above, a terminal device 5B such as a tablet that is detachable from the manual driving vehicle 5A is mounted, and recognizable data DE2 regarding security conditions such as a security route, a speed limit, driving permission, and driving stop for which driving of the manual driving vehicle 5A is permitted may be notified from the notification unit 5B3 of the terminal device 5B. The driver driving the manual driving vehicle 5A can drive the manual driving vehicle 5A while recognizing the security conditions indicated by the security condition information DB1 set by the security management system 22 based on the recognizable data DE2 notified by the terminal device 5B.

[0162] In the above embodiment, in the first work area 62 and the second work area 63, the mode of stopping the autonomous vehicle 4 at the work location according to the parking position designation command DD2 transmitted from the special vehicle 5 has been described, but it is not limited to such a mode. For example, sensors for vehicle detection such as LiDAR may be installed in the first work area 62 and the second work area 63 to detect the position of the special vehicle 5 by the sensors, and the autonomous vehicle 4 may be stopped at the work location according to the detected position. Further, the amount of the object to be transported loaded in the first work area 62 and the second work area 63 may be detected using this LiDAR.

[0163] In the above embodiment, the mode in which the special vehicle 5 is a manually operated vehicle 5A that travels by the driving operation of the driver or the remote operation by the operator has been described, but it is not limited to such a mode. The special vehicle 5 may be applied as an autonomous vehicle 4 capable of autonomous driving.

[0164] In the vehicle operation system 1 according to the above embodiment, the operation management system 21 may be configured to monitor environmental conditions such as rainfall and road surface conditions such as the presence of puddles in the autonomous driving area 6. In this case, the operation management system 21 may transmit an operation command DA2 including information on the speed limit according to the environmental conditions and road surface conditions to various vehicles including the autonomous vehicle 4. Further, the operation management system 21 may be configured to manage the operation of various vehicles including the autonomous vehicle 4 according to the road maintenance status such as road construction in the autonomous driving area 6.

[0165] In the above-described embodiment, the security management system 22 has been described in terms of setting, as security routes, routes between adjacent parking locations 8 in the traveling direction of various vehicles including the autonomous vehicle 4 at a plurality of parking locations 8. However, the present invention is not limited to such an aspect. The operation management system 21 may be configured to transmit an operation route setting command DA1 to the security management system 22 for instructing the setting of a batch route obtained by grouping a plurality of route sections when the plurality of route sections can be continuously configured in a route section between adjacent parking locations 8 in the traveling direction of various vehicles including the autonomous vehicle 4. In this case, the security management system 22 determines the safety of the batch route, and when the batch route is a route for which safety is ensured, sets a security condition for using the batch route as a security route, and transmits security condition information DB1 to the operation management system 21. For example, the security management system 22 may set, as a batch route, a route from the first departure location 8B in the first work area 62 to the third arrival location 8E in the third work area 64 via the multi-lane section 65, and set a security condition for using this batch route as a security route.

[0166] In this case, the operation management system 21 can issue a command for setting a unified batch route without issuing commands for all settings of a plurality of consecutive route sections to the security management system 22, and the request process for route setting is simplified. Then, the security management system 22 can quickly set, as a security route, a batch route composed of a route in a predetermined combination if there is a request process for route setting by grasping in advance the route sections that may be set in a batch.

[0167] Also, when for some reason, normal operation cannot be performed, or when a failure occurs in the operation management system 21, etc., the operator manually performs route setting from the console of the security management system 22. If it is possible to set a batch route when setting a plurality of consecutive routes, it also contributes to the prevention of human error.

[0168] In the above-described embodiment, when the vehicle detector 32 detects that a leading vehicle has arrived at another stop point 8 ahead of one stop point 8 while a trailing vehicle is stopped at one of the plurality of stop points 8, the security management system 22 determines the safety corresponding to the trailing vehicle and sets a security route. However, the embodiment is not limited to such a mode. For example, the passage of the leading vehicle through the route boundary 70 set between one stop point 8 and another stop point 8 may be detected by timer setting. In this case, under the condition of prohibiting overtaking, even if the vehicle detector 32 does not detect that the leading vehicle has arrived at another stop point 8, when the passage of the leading vehicle through the route boundary 70 is detected by timer setting, the operation management system 21 transmits an operation route setting command DA1 corresponding to the trailing vehicle to the security management system 22. When the security management system 22 receives the operation route setting command DA1 from the operation management system 21, it determines the safety corresponding to the trailing vehicle, sets a security condition, and transmits security condition information DB1 indicating the information of the security condition to the operation management system 21. Then, the operation management system 21 transmits an operation command DA2 including the security condition information DB1 to the trailing vehicle. When the trailing vehicle receives the operation command DA2 while stopped at one stop point 8, it can travel from one stop point 8 toward another stop point 8 under the condition of prohibiting overtaking of the leading vehicle.

Explanation of Signs

[0169] 1 Vehicle Operation System 2 Management System 21 Operation Management System 22 Security Management System 32 Vehicle Detector 33 Traffic Signal (Notification Device) 34 Guidance Display (Notification Device) 4 Autonomous Vehicle 5 Special Vehicle 5A Manually Operated Vehicle 5B Terminal Device 6 Autonomous Driving Area 61 Interchange Area 611 Interchange 62 First Working Area 63 Second Working Area 64 Third Working Area 65 Multi-Lane Section 7 Running Route 71 First Route 72 Second Route 73 Detour Route 8 Parking Location 8G Temporary Parking Location 91 First Working Location 92 Second Working Location 93 Third Working Location

Claims

1. An autonomous vehicle capable of autonomously driving along a preset route within an autonomous driving area; A manually operated vehicle driven by a driver; A driving management system that manages the driving of various vehicles, including the autonomous vehicles and the manually driven vehicles, within the autonomous driving area; A safety management system that manages the safety of the various vehicles within the automated driving area, The operation management system transmits an operation route setting command to the safety management system, the operation route setting command indicating a command requesting setting of a route when the various vehicles travel on the operation route; When the safety management system receives the operation route setting command, it sets a safety route within the operation route that ensures safety and enables collisions between vehicles to be avoided without other vehicles being present on the route when the various vehicles are traveling, and safety conditions including a speed limit, based on position information of the various vehicles within the automatic driving area, and transmits safety condition information indicating information on the safety conditions to the operation management system; When the operation management system receives the safety condition information, the operation management system transmits an operation command including the safety condition information to the various vehicles, A vehicle operation system, wherein the autonomous vehicle, when receiving the operation command, is capable of automatically driving along the safety route in accordance with the safety conditions indicated in the safety condition information.

2. The autonomous vehicle includes: A driving mode can be switched between an automatic driving mode in which the vehicle automatically travels along the travel route and a manual driving mode in which the vehicle travels along the travel route through a driver's driving operation; When the operation command is received in the automatic driving mode, the vehicle automatically travels along the safety route in accordance with the safety conditions indicated by the safety condition information; 2. The vehicle operation system of claim 1, comprising: a communication control unit that receives the operation commands in preparation for the case where the manual operation mode is set and the vehicle is driven by the driver's driving operation; a conversion information storage unit that stores conversion information that corresponds the operation commands to recognizable data that can be recognized by the driver; a conversion unit that converts the operation commands received by the communication control unit into the recognizable data by referring to the conversion information; and an alarm unit that alarms the recognizable data converted by the conversion unit.

3. 2. The vehicle operation system according to claim 1, wherein the manually operated vehicle is equipped with a terminal device that receives the operation command, converts the operation command into recognizable data that can be recognized by the driver, and notifies the driver of the converted recognizable data.

4. When there are various types of vehicles stopped at a stop point set in advance on the driving route, the driving management system transmits the driving route setting command to the safety management system to instruct the setting of a route beyond the stop point on the driving route, The safety management system sets the safety conditions including the safety route and the speed limit that ensure safety on the route beyond the stopping point on the operation route, and transmits the safety condition information to the operation management system; The vehicle operation system according to claim 1 , wherein the operation control system transmits the operation command to the various vehicles parked at the stopping point when the safety condition information is received.

5. A plurality of stop points are set on the travel route, The operation management system recognizes the presence of the various vehicles at each of the plurality of stop points based on detection results of vehicle detectors installed at the plurality of stop points, and transmits the operation route setting command for each of the plurality of stop points to the safety management system; The vehicle operation system of claim 4, wherein the safety management system determines, for each of the plurality of stop points, whether a route between adjacent stop points in the traveling direction of the various vehicles is a safety route, and transmits the safety condition information for each of the plurality of stop points to the operation management system.

6. The traffic management system includes: a temporary stop point where the various vehicles can be temporarily stopped is set in a position adjacent to the stop point, separate from the stop point; 6. The vehicle operation system according to claim 5, wherein the various vehicles that stop at the temporary stop point are regarded as being stopped at the stop point.

7. A vehicle that travels along a preset driving route within an autonomous driving area, the driving mode of which can be switched between an autonomous driving mode and a manual driving mode, the autonomous driving vehicle travels along the driving route automatically when set to the autonomous driving mode, and travels along the driving route under the driving operation of a driver when set to the manual driving mode, the autonomous driving vehicle being managed by a driving management system after safety is managed by a safety management system together with a manually driven vehicle driven by a driver, In preparation for a case where the manual driving mode is set and the vehicle is driven by the driver's driving operation, a communication control unit that receives an operation command including a safety route and a speed limit that is ensured to prevent collisions between the various vehicles when the various vehicles are traveling on the operation route without other vehicles being present on the route based on position information of the various vehicles, the automatic driving vehicle and the manually driven vehicle, and transmits an operation command including safety condition information indicating information on the safety condition; and a conversion information storage unit that stores conversion information that associates the driving command with recognizable data that can be recognized by the driver; a conversion unit that converts the operation command received by the communication control unit into the recognizable data by referring to the conversion information; An autonomous driving vehicle comprising: an alarm unit that alarms the recognizable data converted by the conversion unit.

8. A program that causes one or more processors to execute the processes performed by the safety management system and the operation management system, including a terminal device mounted on a manually operated vehicle operated by a driver, the safety of which is managed by a safety management system, together with an autonomous vehicle that automatically travels along a preset operation route within an autonomous driving area, and the operation management system, A process in which the safety management system sets a safety route within the driving route that ensures safety and enables collisions between the various vehicles to be avoided without other vehicles being present on the route and safety conditions including speed limits based on position information of the various vehicles, the automatic driving vehicle and the manually driven vehicle within the automatic driving area, and when an operation command including safety condition information indicating information on the safety conditions is transmitted by the operation management system, the terminal device receives the operation command; A process of converting the driving command into the recognizable data by referring to conversion information associated with the recognizable data that can be recognized by the driver; and a process of the terminal device notifying the converted recognizable data.

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