Golf cart

Abstract

We offer a new golf cart that has never been seen before. [Solution] A golf cart 2 is equipped with a positioning processor 28a, an image processor 28b, an object detection processor 28c, and an AGV processor 28d, which are software components that constitute a system related to automated driving and a system related to safe driving. By adding a GPS module 26a, a camera 26b, a LiDAR 26c, and an AGV sensor 26d, which are hardware components that constitute a system related to automated driving and a system related to safe driving, a system related to automated driving and a system related to safe driving can be constructed. This makes it possible to provide a new golf cart that has never been seen before.

Description

[Technical Field]

[0001] The present invention relates to a golf cart, and more particularly to an improvement for expanding the uses of golf carts. [Background technology]

[0002] Conventionally, golf carts used on golf courses generally include manual driving (driving by the driver) and automatic driving (driving along the cart path while detecting low-frequency currents in cables buried in the cart path using an AGV sensor; hereinafter, this may be referred to as electromagnetic induction driving), as disclosed in Patent Document 1.

[0003] Furthermore, at golf courses where no cables are buried in the cart paths, golf carts that can only be driven manually are used. Naturally, these types of golf carts do not have hardware such as AGV sensors for automatic driving, nor software to process signals from the AGV sensors. For convenience, below, golf carts that can switch between manual and automatic driving will be referred to as multi-driving golf carts, and golf carts that can only be driven manually will be referred to as basic golf carts. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-268086 Summary of the Invention [Problem to be solved by the invention]

[0005] When building a new golf course, basic golf carts are often used to reduce initial investment. When renovating a golf course or to meet the needs of golf course users, golf carts may need to be replaced. For example, basic golf carts may be replaced with multi-travel golf carts or golf carts with enhanced safety support functions.

[0006] In this case, it will be necessary to replace the golf cart (either from a basic golf cart to a multi-role golf cart, or to replace it with a golf cart with more safety support features), which will not only require a large amount of capital, but will also have a negative impact on the environment if the old golf cart needs to be disposed of.

[0007] The inventors of the present invention have considered that in order to solve these problems, a golf cart different from the conventional ones is needed.

[0008] The present invention has been made in view of the above points, and its object is to provide a new golf cart that has never existed before. [Means for solving the problem]

[0009] The solution of the present invention to achieve the above object is based on a golf cart that can travel within a predetermined area of a golf course. This golf cart is comprised of hardware as a system element for constructing an automated driving system and software for processing information from the hardware. The hardware is not provided, and the software is not provided. Only the hardware A By adding this, the system related to the automated driving can be constructed. As described above, an interface for connecting the hardware is provided, and the pre-installed software is an automatic driving processing program that sets a driving route on the fairway of the golf course without using magnetic information from an electromagnetic induction line, and automatically drives the vehicle along the fairway while recognizing the surrounding environment based on information received from the hardware.

[0010] In the case of a golf cart that is equipped with only software as a system element for constructing an automated driving system, hardware for acquiring information processed by the software must be added (post-installed) when constructing the automated driving system within the golf cart. . In other words, an automated driving system can be built into a golf cart simply by adding system elements that are initially missing. This makes it possible to provide a new, unprecedented golf cart that already has some of the system elements that make up an automated driving system. Furthermore, once an automated driving system has been built, it is possible to later return the golf cart to its original state (a state in which some of the system elements that make up the automated driving system are included) by removing the hardware or erasing the software as required.

[0011] Further, another solution of the present invention for achieving the above object is as follows. The present invention is based on the premise that a golf cart is capable of traveling within a predetermined area of a golf course. The golf cart is pre-installed with only the hardware as system elements for constructing an automated driving system and software for processing information from the hardware, but not the software, and is equipped with a communication device for receiving the software via a communication network with an external device so that the automated driving system can be constructed by adding the software. The pre-installed hardware is a device for acquiring information to recognize the surrounding environment in order to set a driving route on a fairway of the golf course and automatically drive along the fairway without using magnetic information from electromagnetic induction lines. According to this specification, in the case of a golf cart that is pre-installed with only the hardware components that constitute an automated driving system, software that processes information from the hardware is added (software update) to build the automated driving system within the golf cart. In other words, the automated driving system can be built within the golf cart simply by adding the system components that were initially missing. This also allows for the provision of a new, unprecedented golf cart that is pre-installed with some of the system components that constitute an automated driving system. Furthermore, once the automated driving system has been built, it is possible to later return the golf cart to its original state (with some of the system components that constitute the automated driving system) by removing the hardware or erasing the software upon request. Another solution to the above problem is based on a golf cart capable of traveling within a predetermined area of a golf course, which includes hardware as system elements for constructing a safe driving system and software for processing information from the hardware, but does not include the hardware, and is provided with an interface for connecting the hardware so that the safe driving system can be constructed by adding the hardware, and the pre-installed software is a safe driving processing program that adds safety support functions, including at least a collision prevention function, during driving on long and middle holes of the golf course, but does not add the safety support functions during driving on short holes of the golf course. [Effects of the Invention]

[0019] In this invention, a golf cart is equipped with only one of the hardware and software system elements that constitute a system for automatic or safe driving, and the system for automatic or safe driving can be constructed by adding the missing hardware or software system elements, thereby providing a new golf cart that has never been seen before. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view showing the appearance of a golf cart according to an embodiment; [Figure 2] FIG. 2 is a block diagram showing an example of a schematic configuration of a control system of a golf cart according to an embodiment before upgrading. [Figure 3] FIG. 2 is a block diagram showing an example of a schematic configuration of a control system of an upgraded golf cart according to an embodiment. [Figure 4] 1 is a diagram showing a schematic configuration of a golf cart operation management system in which a golf cart according to an embodiment is used. [Figure 5] 1 is a block diagram showing a schematic configuration of a terminal device in a golf cart operation management system in which golf carts according to an embodiment are used. [Figure 6] 1 is a diagram for explaining each area partitioned in a range from the cart storehouse to the periphery of the first hole in a golf course to which a golf cart operation management system according to an embodiment is applied. [Figure 7] FIG. 10 is a block diagram showing an example of a schematic configuration of a control system of a golf cart according to a modified example before being upgraded. DETAILED DESCRIPTION OF THE INVENTION

[0021] An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, the present invention will be described as being applied to an electric golf cart. Note that the present invention is not limited to electric golf carts, but can also be applied to engine-driven golf carts. In addition, this embodiment will be described using an example in which only the software of the hardware and software that process information from the hardware as system elements that configure a system related to automatic driving and a system related to safe driving is pre-installed. Note that the case in which only the hardware of the hardware and software as system elements that configure a system related to automatic driving and a system related to safe driving is pre-installed will be described later in a modified example.

[0022] -Golf cart description- The appearance of the golf cart according to this embodiment will be described. Although a golf course is equipped with multiple golf carts, the following description will be given using one golf cart as a representative example.

[0023] Fig. 1 is a side view showing the appearance of a golf cart 2 according to this embodiment. Fig. 2 is a block diagram showing an example of the schematic configuration of a control system of the golf cart 2 according to this embodiment. Fig. 2 shows the state of the golf cart 2 before a version upgrade, which will be described later.

[0024] As shown in FIG. 1, the golf cart 2 has a body 21, a pair of front wheels 22a, and a pair of rear wheels 22b. The body 21 includes a lower body 21a, pillars 21b, and a roof 21c. The pillars 21b are provided to extend upward from the four corners of the lower body 21a, and the roof 21c is attached to the upper ends of the pillars 21b. The pair of front wheels 22a and the pair of rear wheels 22b are rotatably mounted at the front and rear ends, respectively, of the lower body 21a to support the body 21. The golf cart 2 according to this embodiment employs a four-wheel independent suspension system to improve ride comfort.

[0025] A front seat 21d is provided in the approximate center of the lower body 21a, and a rear seat 21e is provided in the rear of the lower body 21a. This allows for a configuration that can accommodate four to five passengers. The golf cart 2 is not limited to this configuration; it may be configured with only the front seat 21d and accommodate only two passengers. Note that the golf cart 2 described in this embodiment has specific specifications, and various golf carts 2, such as those with or without various equipment, those equipped with only standard equipment, and those equipped with various options, are applicable to the present invention. Note that each seat 21d, 21e has a built-in seat heater to ensure comfort in winter. A steering wheel 21f is provided in front of the front seat 21d. During manual driving (for example, when driving on a fairway in fairway manual mode or full manual mode, as described below), the passenger seated in the front seat 21d operates the steering wheel 21f to steer the front wheels 22a. A carrier 21g for placing a golf bag or the like is provided at the rear end of the lower body 21a.

[0026] As shown in Figure 2, the golf cart 2 mainly includes a control device 23, a battery 24a, a drive motor 24b, a brake device 24c, a steering device 24d, an accelerator pedal 25a, a brake pedal 25b, and the steering wheel 21f. The golf cart 2 also includes a communication device 27 for communicating with external devices. These external devices will be described later. Each of these devices will be described below.

[0027] The control device 23 controls the operation of each part of the golf cart 2. This control device 23 is a generally known ECU (Electronic Control Unit) and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), backup RAM, etc. As will be described in detail later, the control device 23 includes an automatic driving function unit 23A and a driving mode switching function unit 23B as a set of function units constructed by a program.

[0028] A lithium ion battery is used as the battery 24a, but it is not limited to this and a lead battery, a nickel-metal hydride battery, a nickel-cadmium battery, or the like can also be used.

[0029] The drive motor 24b is connected to the drive shaft of the rear wheel 22b via a transmission. When the drive motor 24b is activated, its rotational force is transmitted to the rear wheel 22b via the transmission and the drive shaft, thereby driving the rear wheel 22b to rotate. During manual driving, the drive motor 24b is activated by the driver's depression of the accelerator pedal 25a. The output torque of the drive motor 24b increases as the accelerator pedal 25a is depressed more. During automatic driving (for example, when driving on a cart path in cart path full automatic mode, or when driving on a fairway in fairway automatic mode, as described below), the output torque of the drive motor 24b is automatically controlled depending on whether a starting condition or an acceleration condition is met.

[0030] A brake device 24c is provided on each of the front wheels 22a and the rear wheels 22b. The brake device 24c is configured, for example, as a disc brake device or a regenerative brake device. During manual driving, the brake device 24c is activated by the driver's depression of the brake pedal 25b, and applies braking force to each of the front wheels 22a and the rear wheels 22b. During autonomous driving, the brake device 24c is activated when a braking condition is met, and automatically applies braking force to each of the front wheels 22a and the rear wheels 22b, or to the rear wheels 22b. Furthermore, during braking of the golf cart 2, the drive motor 24b is driven, and the drive motor 24b functions as a generator and an electric brake (regenerative brake), converting the rotational force of the rear wheels 22b into electric power and simultaneously exerting braking force. This electric power (regenerative power) is supplied to the battery 24a, and the battery 24a is charged.

[0031] The steering device 24d is connected to the front wheels 22a of the golf cart 2 and steers the front wheels 22a. During manual driving, the steering device 24d operates in response to operation of the steering wheel 21f by the driver to steer the front wheels 22a. During automatic driving, the steering device 24d operates when a steering condition is met to automatically steer the front wheels 22a. In this manner, a steering clutch is employed in this embodiment as a configuration for switching between steering linked to operation of the steering wheel 21f and automatic steering by the steering device 24d. That is, during manual driving, the steering clutch is engaged and the steering device 24d operates in response to operation of the steering wheel 21f by the driver, whereas during automatic driving, the steering clutch is released and the front wheels 22a are automatically steered by the steering device 24d.

[0032] The accelerator pedal 25a and the brake pedal 25b are provided in front of the front seat 21d and are depressed by a driver seated in the front seat 21d. The depression amount of the accelerator pedal 25a is detected by an accelerator opening sensor. During manual driving, the drive motor 24b is activated in accordance with the detection value of this accelerator opening sensor. The depression amount of the brake pedal 25b is detected by a brake pedal sensor. During manual driving, the brake device 24c is activated in accordance with the detection value of this brake pedal sensor.

[0033] As described above, the steering wheel 21f is provided in front of the front seat 21d and is turned by the driver seated in the front seat 21d. During manual driving, the steering clutch is engaged as described above, and the front wheels 22a are steered according to the amount of operation of the steering wheel 21f.

[0034] The communication device 27 performs communication for transmitting and receiving various information with external devices (communication for transmitting and receiving various information with the terminal device 3 and the system management device 4 via the communication network 5 described later). The various information received by the communication device 27 is output to the control device 23.

[0035] -Golf cart upgrade- Next, the version upgrade of the golf cart 2, which is a feature of this embodiment, will be described.

[0036] As mentioned above, when a golf course is renovated or when golf course users need to replace their basic golf carts with multi-roof golf carts, the basic golf carts and the multi-roof golf carts are not compatible with each other in the prior art, so the golf carts had to be replaced with multi-roof golf carts, which not only required a large investment but also had a negative impact on the environment when the basic golf carts had to be discarded.

[0037] In view of this, this embodiment provides a basic golf cart with only the software, which is a system element for constructing an automatic driving system, and the hardware for processing information from the hardware, so that a multi-driving golf cart can be constructed by upgrading the basic golf cart. By adding the hardware, which is a system element for constructing an automatic driving system, to this, a multi-driving golf cart can be constructed using the basic golf cart body 21 as is. The concept of automatic driving in this invention includes both the electromagnetically guided driving described above and automatic driving based on information from a GPS module 26a, a camera 26b, etc. (see FIG. 3), which will be described later (automatic driving not only on cart paths but also in other areas).

[0038] The golf cart 2 configured for the above-mentioned purpose includes, as pre-installed software (the automatic driving function unit 23A provided in the control device 23), a positioning processing unit (positioning processing program) 28a, an image processing unit (image processing program) 28b, an object detection processing unit (object detection program) 28c, and an AGV processing unit (AGV processing program) 28d. The positioning processing unit 28a, the image processing unit 28b, and the object detection processing unit 28c correspond to the automatic driving processing program (an automatic driving processing program that causes automatic driving different from electromagnetic guidance driving) referred to in the present invention and the safe driving processing program that constructs a system related to safe driving, which will be described later.

[0039] When a GPS module 26a (see FIG. 3) is added as a hardware system element, the positioning processing unit 28a receives a GPS signal from the GPS module 26a and determines the position of the golf cart 2. This determined position information of the golf cart 2 is used to set the driving route when the golf cart 2 is automatically driven.

[0040] When the camera 26b is added as a hardware system element, the image processing unit 28b processes the image information of the surroundings captured by the camera 26b to recognize surrounding objects. This information of recognized objects around the golf cart 2 is used for control purposes such as avoiding collisions with objects and preventing deviation from the driving route when the golf cart 2 is driven automatically or manually.

[0041] When the LiDAR 26c is added as a hardware system element, the object detection processing unit 28c receives information from the LiDAR 26c and generates object information (such as the size of the object and the distance to the object). This generated information about objects around the golf cart 2 is also used for control purposes such as avoiding collisions with objects and preventing deviation from the driving route when the golf cart 2 is traveling automatically or manually.

[0042] When an AGV sensor 26d is added as a hardware element of the system, the AGV processing unit 28d receives information from the AGV sensor 26d (magnetic information from an electromagnetic induction wire buried in the cart path) and electromagnetically guides the cart along the cart path.

[0043] The hardware, which is a system element that constitutes an autonomous driving system, includes the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d described above. Figure 3 is a block diagram showing an example of a schematic configuration of a control system of the golf cart 2 that has been upgraded by adding the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d. That is, the control device 23 not only includes the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d described above, but also includes interfaces to which signal lines extending from each of the hardware (GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d) are connected, and each of the hardware can be connected to these interfaces via the signal lines.

[0044] The GPS module 26a receives GPS signals transmitted from three or more (preferably four or more) satellites above the golf cart 2 and determines the position of the golf cart 2. The position information of the golf cart 2 determined by this GPS module 26a is output to the control device 23 (more specifically, the positioning processing unit 28a).

[0045] Camera 26b captures images of the surroundings of golf cart 2. Camera 26b is, for example, a stereo camera or a monocular camera, and may be a digital camera having an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). Image information of the surroundings captured by camera 26b is output to control device 23 (more specifically, image processing unit 28b).

[0046] The LiDAR 26c is an active sensor that uses light to detect objects around the golf cart 2, and detects objects by emitting detection light to the surroundings of the golf cart 2 and receiving light reflected by objects around the golf cart 2. Information about the objects detected by the LiDAR 26c (such as the size of the object and the distance to the object) is output to the control device 23 (more specifically, the object detection processing unit 28c).

[0047] The AGV sensor 26d detects low-frequency currents in cables buried in cart paths, etc. (such as cart paths, the area between the front of the clubhouse and the hole, and the area between the front of the clubhouse and the cart storage, which will be described later), and acquires information for electromagnetically guiding the golf cart 2 along the cart paths, etc. In other words, electromagnetic induction lines (not shown) for guiding the golf cart 2 are buried in the cart paths, etc., and these electromagnetic induction lines are magnetically detected by the AGV sensor 26d, and a detection signal is output from the AGV sensor 26d to an AGV processing unit 28d of the control device 23. When the golf cart 2 is to travel on the cart paths, etc. during automatic travel, the AGV processing unit 28d controls the steering device 24d based on the detection signal from the AGV sensor 26d. This enables the golf cart 2 to travel without deviating from the cart path.

[0048] In order to avoid damage to the sensing devices such as the aforementioned GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d due to contact with the ground while driving on the fairway, it is preferable to install them in a position where the risk of damage, dirt, or other problems occurring to the vehicle body 21 is low, provided that each sensing device is positioned so that it can function effectively.

[0049] In this way, by adding the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d, the golf cart 2 is upgraded from a basic golf cart to a multi-travel golf cart. In other words, the golf cart 2 is configured as an AGV system-constructed golf cart 2 that is capable of not only manual travel, but also automatic travel using GPS signals, image information, and object information, and electromagnetically guided travel using magnetic information detected by the AGV sensor 26d.

[0050] It should be noted that the hardware that constitutes the system elements for constructing an automated driving system does not necessarily need to include all of these components, but can be selectively installed as needed. Instead of or in addition to these components, a sonar or target sensor (a sensing device when using known target line painting technology) may be installed. In this case, software for processing information from the sonar or target sensor is provided in advance as a functional part of the control device 23.

[0051] -Golf cart operation management system- Next, we will explain the golf cart operation management system that uses the golf cart 2 configured as described above. The golf cart 2 according to the present invention is not only used in golf courses equipped with the golf cart operation management system described below, but can also be used in general golf courses.

[0052] FIG. 4 is a diagram showing the schematic configuration of a golf cart traffic management system 1. As shown in FIG. 4, the golf cart traffic management system 1 includes multiple golf carts 2, a terminal device (e.g., a personal computer) 3 owned by the golf course operator, and a system management device 4 owned by the system manufacturer that provides the golf cart traffic management system 1 and the golf carts 2. Note that while FIG. 4 shows only four golf carts 2, an actual golf course will have several dozen golf carts 2. A predetermined communication network 5 is used to enable communication between the golf carts 2, the terminal device 3, and the system management device 4. Examples of this communication network 5 include a mobile phone network with multiple base stations, the Internet, and a dedicated communication network. Note that the golf cart traffic management system 1 is not limited to the one shown in FIG. 4 and may be configured with multiple golf carts 2 and the terminal device 3 (without the system management device 4), or may be configured with multiple golf carts 2 and the system management device 4 (without the terminal device 3). Furthermore, the golf cart operation management system 1 may be constructed in each of the plurality of golf carts 2, 2, . . . (without requiring the terminal device 3 or the system management device 4).

[0053] -Terminal device configuration- Next, a description will be given of the terminal device 3 owned by the operator of the golf course. This terminal device 3 is installed, for example, in the master room of the golf course.

[0054] 5 is a block diagram showing a schematic configuration of the terminal device 3 used in the golf cart operation management system 1. The terminal device 3 is configured as a general personal computer. The terminal device 3 may also be a tablet, smartphone, dedicated device, etc.

[0055] As shown in FIG. 5, the terminal device 3 includes, as its functional units, an input unit 31, a master information storage unit 32, a master information change unit 33, a transmission information selection unit 34, and a transmission unit 35.

[0056] The input unit 31 acquires information from a keyboard, a pointing device, a communication network, etc., which are input by the golf course manager.

[0057] The information acquired by this input unit 31 includes operation pattern information (described later, for example, information collected from a golf cart 2 (one golf cart 2 that travels within the golf course and acquires various information when the system is introduced) when the system is introduced, described later). This information is stored as master information in the master information storage unit 32. This master information is sent to each golf cart 2 (for example, when the system is introduced), and is then stored in an operation pattern storage unit 23a (described later) in each golf cart 2 (details of the operation pattern information stored in the golf cart 2 will be described later).

[0058] Further, the information acquired by the input unit 31 also includes information for changing various pieces of information stored in the master information storage unit 32. When this information is acquired, the master information (information stored in the master information storage unit 32) is rewritten by the master information change unit 33. Circumstances in which this master information is changed include, for example, when the grass on some holes is undergoing care and golf carts 2 are not allowed to enter those grassy areas, when some cart paths are under repair and cannot be used, when the settings of hazard areas within the course need to be changed, or when the settings of the travel speed of golf carts 2 in each area need to be changed, and so on. In these cases, the master information is changed by inputting information from a keyboard, pointing device, or the like operated by the golf course operator.

[0059] Further, the information acquired by the input unit 31 also includes status information received from each golf cart 2, 2, . . . via the communication network 5.

[0060] The transmission information selection unit 34 is a functional unit that selects information for selecting an operation pattern for each golf cart 2, 2, ... (for example, information for selecting an operation pattern for rainy weather, etc.) In other words, it selects information corresponding to information input by the golf course operator through an input operation as transmission information and outputs it to the transmission unit 35.

[0061] The transmitting unit 35 has a function of transmitting information from the master information storage unit 32 and the transmission information selection unit 34 to each of the golf carts 2. Specifically, it has a function of transmitting to each of the golf carts 2, 2, ... the master information that was collected from the golf carts 2 at the time of system installation and stored in the master information storage unit 32, transmitting to each of the golf carts 2, 2, ... the master information that was changed in the master information change unit 33, and transmitting to each of the golf carts 2, 2, ... the information selected in the transmission information selection unit 34 as information for selecting an operation pattern for each of the golf carts 2, 2, ... (for example, information for selecting an operation pattern for rainy weather, etc.)

[0062] -Driving mode switching function unit- As described above, the control device 23 of the golf cart 2 includes the driving mode switching function unit 23B. The driving mode switching function unit 23B includes an operation pattern storage unit 23a, a receiving unit 23b, an operation pattern extraction unit 23c, a driving mode switching unit 23d, a control command signal generation unit 23e, and an output unit 23f.

[0063] The operation pattern storage unit 23a stores a plurality of operation patterns, each of which is configured by assigning a driving mode to a plurality of areas within a golf course that have been pre-divided. In other words, the operation pattern storage unit 23a stores a plurality of operation patterns that have been arbitrarily created in advance. Specifically, the plurality of areas within a golf course that have been pre-divided include holes, joint areas (roads connecting each hole), the area between the front of the clubhouse and the hole, the area between the front of the clubhouse and the cart shed, and the area inside the cart shed. Holes are also divided into a plurality of areas, such as fairways and cart paths (cart paths laid along the side of the hole from the tee to the green).

[0064] FIG. 6 is a diagram illustrating the various areas defined in the area from the cart shed CS to the area around the first hole H1 in a golf course to which the golf cart operation management system 1 is applied. In FIG. 6, each area is indicated by a dashed line. As shown in FIG. 6, the predefined areas within the golf course include an area HA within the first hole H1, a joint area JA, an area A1 between the front of the clubhouse CH and the first hole H1, an area A2 between the front of the clubhouse CH and the cart shed CS, and an area A3 within the cart shed CS. The area HA within the first hole H1 is also defined into multiple areas, such as a fairway FW and a cart path CP. While FIG. 6 shows the areas defined within the first hole H1, similar areas are defined on the other holes. It should be noted that not all of these areas are required to define the golf course; areas may be defined as needed. Other areas may be defined instead of or in addition to these areas.

[0065] Here, we will explain how to set the operation pattern when introducing the golf cart operation management system 1 to a golf course. First, using one golf cart 2, actually drive the cart path CP of the golf course while linking it with GPS location information, and identify and store the driving areas and sections. Then, a driving mode is assigned to each driving area and section, and a driving pattern (usually two types: OK / NOT for fairway entry) is set by combining these modes. The master information created in this way is uploaded to the terminal device 3 and stored in the master information storage unit 32. The master information is also simultaneously transmitted to the other golf carts 2, 2, . . ., where it is downloaded by each golf cart 2, 2, . . . and stored in the operation pattern storage unit 23a. Note that the method of identifying and storing the driving areas and sections is not limited to the above-mentioned methods, and may include identifying area and section boundaries by using sign recognition with a camera or by using detection / non-detection information for electromagnetic induction lines.

[0066] Next, a specific example of an operation pattern in which a driving mode is assigned to each of the pre-defined areas will be described.

[0067] The driving modes defined for each operation pattern include cart path full auto mode, fairway auto mode, fairway manual mode, and full manual mode, and one of these driving modes is selected and assigned to each area to create the operation pattern. In other words, each operation pattern is stored in the operation pattern storage unit 23a of the golf cart 2 as information in which a driving mode is assigned to each of the multiple areas within the golf course.

[0068] Below, an overview of each driving mode will be explained.

[0069] The cart path full auto mode is a mode in which a driving route is set on the cart path CP and paved areas within each pre-defined area, and the cart automatically drives (manual driving is prohibited), preventing driving outside of the driving route. This cart path full auto mode is a driving mode designed to protect the grass if it rained the previous day or if it rains early in the morning of the day. In addition, when driving on the cart path CP in this cart path full auto mode, the golf cart 2 starts and stops according to the operation of switches (start switch and stop switch) equipped on the golf cart 2 or the operation of a remote control carried by the golfer.

[0070] The fairway auto mode is a mode in which the golf cart 2 automatically travels along a predetermined route set on each predefined area of the fairway FW. In this fairway auto mode, the destination of the golf cart 2 (the golf cart 2's stopping position) when automatically traveling along the fairway FW can be the point where the fairway travel ends (the cart path CP or the entry point into the joint area JA) or the position of the golfer or caddie holding the remote control on a predetermined route (a position a predetermined distance before the remote control's position). Alternatively, any location can be set as the destination by operating the remote control. In this fairway auto mode, it is preferable to travel along the center of the fairway FW to facilitate GPS signal reception by the GPS module 26a. That is, if trees TR are planted on the sides of the fairway FW as shown in FIG. 5, it is expected that GPS signals will be difficult to receive around the trees TR even on the fairway FW. Therefore, it is preferable to travel along the center of the fairway FW. However, if multiple golf carts 2, 2, ... are driven continuously along the same route in the center of the fairway FW, there is a concern that the grass on that route may be damaged, so it is preferable that each golf cart 2, 2, ... is driven while slightly shifting its route. As mentioned above, even on the fairway FW, there are areas where it is difficult to receive GPS signals, and this differs from golf course to golf course and from hole to hole, so it is preferable to set in advance the areas that are considered to be fairway FW, taking into account the existence of areas where it is difficult to receive GPS signals. Also, in anticipation of areas where it is difficult to receive GPS signals or when the signal is interrupted, it is preferable to use cameras, LIDAR, IMU ( I nertial M assurance U It is preferable to integrate technologies such as an inertial measurement unit (IT) to create a system that does not rely solely on GPS. Even in this fairway auto mode, the golf cart 2 starts and stops when traveling on the cart path CP according to the operation of switches (start switch and stop switch) equipped on the golf cart 2 or the operation of a remote control carried by the golfer.

[0071] The fairway manual mode is a mode in which the golf cart can freely drive manually within each pre-demarcated area of the fairway FW, excluding no-driving areas, hazard areas, etc. Furthermore, if the golf cart enters a cart path CP within that area, the mode is forced to switch to automatic driving and manual driving is not possible. This fairway manual mode is selected when driving onto the fairway FW is permitted on sunny days, etc., and when golfers want to enjoy manual driving on the fairway FW. Furthermore, this fairway manual mode is a driving mode that offers great benefits to golfers, as it allows the golf cart 2 to drive up close to the ball by manual driving, significantly shortening the distance the golfer has to walk.

[0072] The full manual mode is a mode in which all areas of the golf course, such as the pre-demarcated areas of the fairway FW, cart path CP, other paved areas, etc., are manual driving. This full manual mode is selected on sunny days, etc., when golfers are allowed to enter the fairway FW and enjoy manual driving, and is selected in areas where there are no dangerous areas in the pre-demarcated areas of the cart path CP or joint area JA.

[0073] In each of the driving modes described above, either manual driving or automatic driving is specified, focusing mainly on certain areas (fairway FW, cart path CP, joint area JA, etc.), but either manual driving or automatic driving may also be specified for each of the other areas (area A1 between in front of the clubhouse CH and hole 1 H1, area A2 between in front of the clubhouse CH and cart locker CS, and area A3 inside the cart locker).

[0074] In addition, in any of the driving modes described above, a safety support function can be added that controls the brake device 24c and steering device 24d based on information received from the camera 26b, LiDAR 26c, etc. (e.g., information on the presence or absence of an obstacle ahead). For example, in both the automatic driving mode and the manual driving mode, when an obstacle (such as a person, another golf cart 2, a golf course maintenance vehicle, or a tree) is present ahead of the golf cart 2 and the distance to the obstacle reaches or falls below a predetermined value, the brake device 24c is activated to apply braking force to each of the front wheels 22a and the rear wheels 22b, or to the rear wheels 22b (collision prevention function). Before activating the brake device 24c, a warning may be displayed on a monitor screen (e.g., a golf cart navigation screen) mounted on the golf cart 2, or a warning sound may be emitted to the occupant. Furthermore, if contact with the obstacle can be avoided by steering and changing the driving path by steering will not cause any problems, the steering device 24d is activated to steer the front wheels 22a. Other safety support functions may include not only a collision prevention function but also a tipping prevention function, a hazard area intrusion prevention function, etc. The tipping prevention function may include equipping the golf cart 2 with an angle sensor (a sensor that detects the tilt of the body 21), determining whether or not there is a possibility of tipping based on the detection signal from this angle sensor and the traveling speed of the golf cart 2, and automatically slowing down if there is a possibility of tipping. The hazard area intrusion prevention function may include slowing down or stopping the golf cart before areas such as tee grounds, greens, sand hazards, areas under grass maintenance, trees, cliffs, ponds, steep slopes, and extremely uneven surfaces.

[0075] Note that this safety support function does not necessarily need to be added to all driving modes. For example, the safety support function may be added to an automatic driving mode, and the safety support function may be selectable for a manual driving mode. For example, in the fairway manual mode, the safety support function is activated to prevent accidents such as collisions, falls, and trips during manual driving. In the full manual mode, the safety support function may be selectable for use. The safety support function may also be added to all holes, or may be added to long and middle holes and not to short holes.

[0076] The system that provides the above-described safety support functions is the safe driving system of the present invention, and is constructed using the software and hardware described above. In other words, the software (positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d) that serve as system elements for providing the safety support functions is already provided, and the system for safe driving is constructed by adding the hardware (GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d). In other words, by adding the hardware, the golf cart 2 is upgraded from a basic golf cart to one with advanced safety support functions.

[0077] In addition, in Cart Path Full Auto Mode and Fairway Auto Mode, the golfer can operate the remote control carried by him / her to start and stop the golf cart 2. In addition, by operating the switches (start switch and stop switch) equipped on the golf cart 2, the driver can "stop" and "start" at the location he / she intends.

[0078] In addition, in the cart path full auto mode and fairway auto mode, the vehicle is designed to have a function to follow the leading golf cart 2. This following function is a function that automatically stops the vehicle when the collision prevention sensor detects an obstacle (person, object, other golf cart) a certain distance ahead on the road during automatic driving, and then automatically starts again when the obstacle is removed.

[0079] Each driving mode is defined as described above, and examples of operation patterns that are generated by allocating a driving mode to each region include the following.

[0080] <Operation Pattern A> Operation pattern A is an operation pattern for when the weather and turf conditions are good and fairway driving is possible. In operation pattern A, for example, fairway auto mode is assigned as the driving mode for area HA (including both the fairway FW and cart path CP) within each hole, and cart path full auto mode is assigned as the driving mode for joint area JA. Additionally, while any driving mode can be assigned to area A1 between the front of the clubhouse CH and the hole, area A2 between the front of the clubhouse CH and the cart shed CS, and area A3 within the cart shed CS, in this embodiment, an automatic driving mode is assigned.

[0081] <Operation Pattern B> Operation pattern B is an operation pattern for when the weather and grass conditions are bad and driving on the fairway is not possible. In other words, operation pattern B is an operation pattern in which the golf cart 2 is prohibited from entering the fairway FW in order to protect the grass on the fairway FW.

[0082] Specifically, in operation pattern B, for example, cart path full auto mode is assigned as the driving mode for cart path CP, and cart path full auto mode is also assigned as the driving mode for joint area JA. Furthermore, the driving modes for area A1 between the front of clubhouse CH and the hole, area A2 between the front of clubhouse CH and cart warehouse CS, and area A3 inside cart warehouse CS can be assigned arbitrarily, but in this embodiment, an automatic driving mode is assigned.

[0083] <Operation Pattern C> Another example of an operation pattern is operation pattern C below. Like operation pattern A, operation pattern C is an operation pattern for when the weather and turf conditions are good and fairway driving is possible. In operation pattern C, for example, fairway manual mode is assigned as the driving mode for area HA (including both the fairway FW and cart path CP) within each hole, and cart path full auto mode is assigned as the driving mode for joint area JA. Furthermore, the driving modes for area A1 between the front of the clubhouse CH and the hole, area A2 between the front of the clubhouse CH and the cart shed CS, and area A3 within the cart shed CS can be assigned arbitrarily, but in this embodiment, an automatic driving mode is assigned.

[0084] In the operation patterns described above, the same driving mode is assigned to each hole, but different driving modes may be assigned to each hole. For example, fairway auto mode may be assigned to long and middle holes, while fairway manual mode or cart path full auto mode may be assigned to short holes.

[0085] The receiving unit 23b of the golf cart 2 receives information (information for selecting an operation pattern) transmitted from the transmitting unit 35 of the terminal device 3 via the communication device 27. The receiving unit 23b of the golf cart 2 can also receive other information, such as master information at the time of system installation, master information when the master information has been rewritten, and command information in response to any trouble that may have occurred (for example, power-off information, remote operation command information, etc.).

[0086] The operation pattern extraction unit 23c extracts operation pattern information corresponding to the information received by the receiving unit 23b (information input by the golf course operator, such as weather information) from each operation pattern stored in the operation pattern storage unit 32. For example, when the receiving unit 23b acquires information for extracting operation pattern A (such as information on a pattern in which manual driving is performed within each hole on a fine day and automatic driving is performed at joint sections), the operation pattern extraction unit 23c extracts operation pattern A from each operation pattern stored in the operation pattern storage unit 32, and defines the driving modes assigned to each area in this operation pattern A as the driving modes of each golf cart 2, 2, ...

[0087] The driving mode switching unit 23d recognizes the driving mode corresponding to the area in which the golf cart 2 is currently traveling based on the information received by the receiving unit 23b, and if the current driving mode of the golf cart 2 differs from the driving mode based on the received information, it outputs a signal to automatically switch to the driving mode corresponding to the received information.

[0088] The control command signal generator 23e generates command signals to be output to the drive motor 24b, the brake device 24c, and the steering device 24d based on the signal from the driving mode switcher 23d. Specifically, if the driving mode corresponding to the current driving area is a mode for performing automatic driving, the control command signal generator 23e generates command signals for performing automatic driving, whereas if the driving mode corresponding to the current driving area is a mode for performing manual driving, the control command signal generator 23e generates command signals corresponding to the operation amounts of the accelerator pedal 25a, the brake pedal 25b, and the steering wheel 21f.

[0089] The output unit 23f receives the control command signal output by the control command signal generation unit 23e and outputs the control command signal to the drive motor 24b, the brake device 24c, and the steering device 24d, respectively. As a result, the drive motor 24b is activated to start and run the golf cart 2, the brake device 24c is activated to apply braking force, and the steering device 24d is activated to steer the front wheels 22a.

[0090] -Operation example- Next, an example of operation of the golf cart operation management system 1 configured as described above will be described. Here, to facilitate understanding of the invention, an example of operation when fairway driving is possible and when fairway driving is not possible will be described. In other words, the case where an operation pattern when fairway driving is possible and an operation pattern when fairway driving is not possible will be described.

[0091] First, if fairway driving is possible, the golf course operator operates the terminal device 3 installed in the master room early in the morning (before the golf course opens) to select a driving pattern that allows fairway driving, and the selected driving pattern information is transmitted from the transmitter 35 to all golf carts 2, 2, .... Then, in the golf carts 2, 2, ... that receive this information, the driving pattern extraction unit 23c extracts a driving pattern suitable for fairway driving from the driving patterns stored in the driving pattern storage unit 23a in accordance with the selected information. Then, in accordance with the operation of the driving mode switching unit 23d and the control command signal generation unit 23e, driving is controlled by switching to a driving mode appropriate for each area. For example, if the aforementioned driving pattern A is selected, the driving mode for the area HA (including both the fairway FW and the cart path CP) within each hole is set to fairway auto mode, and the driving mode for the joint area JA is set to cart path full auto mode. When the driving mode is automatically switched in this way, the driver of the golf cart 2 must be notified of this. For this reason, the current driving mode is displayed on a monitor screen mounted on the golf cart 2. The display content on this monitor screen may be set to indicate whether the vehicle is currently in manual driving or automatic driving, or may be set to indicate which of the above-mentioned driving modes (cart path full automatic mode, fairway automatic mode, fairway manual mode, and full manual mode) the vehicle is in. In this case, since it is expected that the driver may not understand the contents of each driving mode, it is preferable to display on the monitor screen the areas in which manual driving is possible and the areas in which automatic driving is performed in the current driving mode to encourage the driver's understanding.

[0092] On the other hand, if fairway driving is not permitted, the golf course operator operates the terminal device 3 early in the morning to select a driving pattern that does not permit fairway driving, and the selected driving pattern is transmitted from the transmitter 35 to all golf carts 2, 2, .... The golf carts 2, 2, ... then receive this information, and the driving pattern extractor 23c extracts a driving pattern that does not permit fairway driving from among the driving patterns stored in the driving pattern memory 23a. Then, the driving mode is controlled by switching to a driving mode appropriate for each area in accordance with the operation of the driving mode switching unit 23d and the control command signal generator 23e. For example, if the aforementioned driving pattern B is selected, the driving mode for area HA within each hole is set to cart path full-auto mode, and entry onto the fairway FW is prohibited. The driving mode for joint area JA is also set to cart path full-auto mode. In this case, the current driving mode is displayed on the monitor screen mounted on the golf cart 2.

[0093] -Effects of the embodiment- As described above, in this embodiment, the golf cart 2 is equipped with only the software (at least one of the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d) that constitutes the system elements for constructing the automated driving system and the safe driving system. The automated driving system and the safe driving system are constructed by adding the hardware (at least one of the GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d that corresponds to the software) that constitutes the system elements that are not equipped with the software. Therefore, for example, when building a new golf course, golf carts without automated driving functions or advanced safety support functions may be used to reduce initial investment. However, when renovating the golf course or to meet the needs of golf course users, the same golf carts 2 can be upgraded to automated driving golf carts 2 or golf carts 2 with advanced safety support functions, eliminating the need to replace golf carts. This avoids the need for large investments and also avoids the need to discard golf carts used at the time of the golf course's construction, thereby avoiding adverse environmental impacts. In addition, the golf cart 2 (the upgraded golf cart 2 according to the embodiment) can be moved to another golf course that needs an autonomous golf cart 2 or a golf cart 2 with advanced safety support functions. Furthermore, by removing the hardware or deleting (uninstalling) the software upon request, the golf cart 2 can be returned to its original state (a state in which some of the system elements that constitute the autonomous driving system and the safe driving system are included). This makes it possible to provide a new golf cart 2 that has never been seen before.

[0094] -Variations- Next, a modified example will be described. In the above-described embodiment, an example was given in which, of the hardware as system elements that construct a system related to automated driving and a system related to safe driving, and the software that processes information from the hardware, only the software is provided in advance. In this modified example, instead, of the hardware and software as system elements that construct a system related to automated driving and a system related to safe driving, only the hardware is provided in advance.

[0095] Figure 7 is a block diagram showing an example of the schematic configuration of the control system of the golf cart 2 according to this modification before the upgrade. As shown in Figure 7, the golf cart 2 according to this modification is equipped with a GPS module 26a, a camera 26b, a LiDAR 26c, and an AGV sensor 26d as hardware elements that constitute the system related to autonomous driving and the system related to safe driving before the upgrade. These pieces of hardware have been described above, so a description thereof will be omitted here.

[0096] In this modification, the software that constitutes the system elements for constructing the automated driving system and the safe driving system includes the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d described above. Figure 3 shows a state in which each piece of software has been added to the golf cart 2 equipped with the control system shown in Figure 7. Means for adding this software include installing the software in the RAM or the like of each golf cart 2 from the terminal device 3 or the system management device 4 via the communication network 5, connecting a computer to the control device 23 of the golf cart 2 and installing the software in the RAM or the like, or connecting a storage medium (SD card, USB memory, etc.) that stores the software to the control device 23 of the golf cart 2, etc.

[0097] In this way, by adding the positioning processing unit 28a, image processing unit 28b, object detection processing unit 28c, and AGV processing unit 28d, the golf cart 2 is upgraded from a basic golf cart to a multi-travel golf cart. In other words, the golf cart 2 is configured as a golf cart 2 that can not only be driven manually, but also automatically using GPS signals, image information, and object information, and can be electromagnetically guided using magnetic information detected by the AGV sensor 26d. In addition, the golf cart 2 is upgraded from a basic golf cart to a golf cart 2 with advanced safety support functions.

[0098] Even in this modification, the hardware components that constitute the automated driving system and the safe driving system do not necessarily need to be all included, but may be selectively installed as needed. Also, sonar, target sensors, etc. may be included instead of or in addition to these hardware components. In this case, new software for processing information from the sonar or target sensors will be added.

[0099] In this modification, as in the above-described embodiment, the golf cart 2 is provided with only the hardware components that constitute the automated driving system and the safe driving system, and the automated driving system and the safe driving system are constructed by adding software components that are not provided with the golf cart 2. This allows the provision of a new golf cart 2 that has never been seen before.

[0100] -Other embodiments- The present invention is not limited to the above-described embodiment and modified examples, and all modifications and applications that fall within the scope of the claims and equivalents thereto are possible.

[0101] For example, in the above embodiment, the golf cart 2 is upgraded by adding only the respective hardware to the golf cart 2 that is pre-installed with the respective software. In the above modification, the golf cart 2 is upgraded by adding only the respective software to the golf cart 2 that is pre-installed with the respective hardware. The present invention is not limited to this. The golf cart 2 may be upgraded by adding hardware corresponding to the respective software to a golf cart 2 that is pre-installed with only some of the above-described software and only some of the above-described hardware, and then adding software corresponding to the respective hardware. For example, the golf cart 2 may be upgraded by adding the GPS module 26a and the camera 26b as hardware and the object detection processor 28c and the AGV processor 28d as software to a golf cart 2 that is pre-installed with the positioning processor 28a and the image processor 28b as software and the LiDAR 26c and the AGV sensor 26d as hardware.

[0102] Furthermore, in the above embodiment and modified example, the golf cart operation management system 1 is configured using a plurality of golf carts 2, 2, ... and an operation management device (terminal device 3 and system management device 4). The present invention is not limited to this, and the golf cart operation management system 1 may be configured in each of the plurality of golf carts 2, 2, ... (an operation management device is not required). In this case, the information used by the operation pattern extraction unit 23c to extract an operation pattern is input directly to each golf cart 2, 2, .... Specifically, a terminal device may be connected to each golf cart 2, 2, ... to input information, or each golf cart 2, 2, ... may be provided with an operation unit for inputting information.

[0103] Furthermore, in the above embodiment and modified example, the operation pattern storage unit 23a, operation pattern extraction unit 23c, driving mode switching unit 23d, and control command signal generation unit 23e are each provided in the golf cart 2. However, the present invention is not limited to this, and the operation pattern storage unit 23a and the operation pattern extraction unit 23c may be provided in the terminal device 3, or the operation pattern storage unit 23a, operation pattern extraction unit 23c, driving mode switching unit 23d, and control command signal generation unit 23e may each be provided in the terminal device 3.

[0104] In addition, in the above-described embodiment and modified example, the selectable driving modes are the fairway manual mode, the full manual mode, the cart path full auto mode, and the fairway auto mode. However, the present invention is not limited to this, and other modes may be applied instead of or in addition to these driving modes.

[0105] Furthermore, in the above embodiment and modified example, the golf course operator operates the terminal device 3 to transmit information (weather information, etc.) for selecting an operation pattern to each of the golf carts 2, 2, .... The present invention is not limited to this, and an administrator of the system manufacturer may operate the system management device 4 to transmit information for selecting an operation pattern to each of the golf carts 2, 2, .... Furthermore, information for selecting an operation pattern may be transmitted to each of the golf carts 2, 2, ... from both the terminal device 3 and the system management device 4. In this case, it is preferable to determine in advance which of the information from the terminal device 3 and the information from the system management device 4 will be given priority.

[0106] Furthermore, the embodiments and other matters disclosed in this specification can also be understood as the technical ideas described in the following supplementary notes.

[0107] (Appendix 1) A golf cart that can travel within a predetermined area of a golf course, A golf cart characterized in that only one of the system elements, hardware as a system element for constructing an automated driving system and software for processing information from the hardware, is pre-installed, and the automated driving system is constructed by adding the missing system element of the hardware or software.

[0108] (Appendix 2) A golf cart that can travel within a predetermined area of a golf course, A golf cart characterized in that only one of the system elements, hardware as a system element for constructing a system related to safe driving and software for processing information from the hardware, is pre-installed, and the system related to safe driving is constructed by adding the missing system element of the hardware or software.

[0109] (Appendix 3) In the golf cart described in Appendix 1, The system for automated driving is an AGV system for electromagnetically guiding a cart along a path within a golf course, the hardware is an AGV sensor, and the software is an AGV processing program that causes the cart to travel by electromagnetic guidance based on information received from the AGV sensor.

[0110] (Appendix 4) In the golf cart described in Appendix 1, The system for autonomous driving is an autonomous driving system for autonomously driving a golf cart within a golf course while recognizing the environment around the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is an autonomous driving processing program that causes the golf cart to autonomously drive based on information received from the hardware.

[0111] (Appendix 5) In the golf cart described in Appendix 2, The system for safe driving is a safe driving system that controls a golf cart within a golf course while recognizing the environment around the golf cart, the hardware includes at least one of a GPS module, a camera, and a LiDAR, and the software is a safe driving processing program that causes the golf cart to drive safely based on information received from the hardware. [Industrial Applicability]

[0112] The present invention is applicable to golf carts that allow for upgrades to systems related to automatic driving and safe driving. [Explanation of symbols]

[0113] 2. Golf carts 26a GPS module (hardware) 26b Camera (hardware) 26c LiDAR (hardware) 26d AGV sensor (hardware) 28a Positioning processing section (software) 28b Image processing section (software) 28c Object detection processing section (software) 28d AGV processing section (software)

Claims

1. A golf cart that can travel within a predetermined area of a golf course, Of the hardware as system elements that construct a system related to automated driving and the software that processes information from the hardware, the hardware is not provided, and only the software is provided in advance, and an interface is provided for connecting the hardware so that the system related to automated driving can be constructed by adding the hardware, The pre-installed software is an automatic driving processing program that sets a driving route on the fairway of the golf course without using magnetic information from electromagnetic induction lines, and automatically drives the golf cart along the fairway while recognizing the surrounding environment based on information received from the hardware.

2. A golf cart that can travel within a specified area of a golf course, Of the hardware as system elements that construct a system related to automated driving and software that processes information from the hardware, the software is not provided, but only the hardware is provided in advance, and a communication device is provided that receives the software by communication with an external device via a communication network so that the system related to automated driving can be constructed by adding the software, The golf cart is characterized in that the pre-installed hardware is a device that acquires information to recognize the surrounding environment in order to set a driving route on the fairway of the golf course and automatically drive along the fairway without using magnetic information from an electromagnetic induction line.

3. A golf cart that can travel within a specified area of a golf course, Of the hardware and software that process information from the hardware as system elements that constitute a system related to safe driving, the hardware is not provided, but only the software is provided in advance, and an interface is provided for connecting the hardware so that the system related to safe driving can be constructed by adding the hardware, The golf cart is characterized in that the pre-installed software is a safe driving processing program that adds safety support functions including at least a collision prevention function when driving on long holes and middle holes of the golf course, and does not add the safety support functions when driving on short holes of the golf course.

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