Vehicle behavior display system

Abstract

To provide a vehicle behavior display system capable of accurately notifying other vehicles, a pedestrian and the like of a future behavior of an automatic driving vehicle, namely an operation mode, which are located in the vicinity of the automatic driving vehicle.SOLUTION: A vehicle behavior display system 100 comprises: an automatic driving control unit 10 that is mounted on an automatic driving vehicle VE and controls driving; a behavior display command unit 50 that issues a display command corresponding to a behavior based on a control by the automatic driving control unit 10 for the automatic driving vehicle VE existing in a parking lot PA as an example within a predetermined area; and a display device 70 that exists in the parking lot PA and performs a display based on a display command from the behavior display command unit 50.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle behavior display system that displays the behavior of, for example, an autonomously driven vehicle to the surrounding area. [Background technology]

[0002] For example, there is known an autonomous vehicle that displays its own behavior based on its own judgment (see Patent Document 1). Also, there is known an auto valet parking control system that determines a retreat location on the vehicle side and drives to that retreat location when a communication failure occurs between the management side and the vehicle side (see Patent Document 2).

[0003] However, in Patent Document 1, for example, the behavior of the autonomous vehicle is not judged by the party managing the behavior, and the display is not made using anything other than the vehicle itself, so there is a possibility that the notification will not be accurate in terms of making other vehicles, pedestrians, etc. in the vicinity aware of the behavior of the autonomous vehicle.Furthermore, Patent Document 2 discloses the control operation of the autonomous vehicle in auto valet parking, but does not mention the display of the behavior of the autonomous vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-59387 [Patent Document 2] Japanese Patent Application Publication No. 2019-164698 Summary of the Invention

[0005] The present invention has been made in consideration of the above-mentioned points, and aims to provide a vehicle behavior display system that can accurately notify other vehicles, pedestrians, etc. in the vicinity of an autonomously driven vehicle of the future behavior, i.e., operating mode, of the autonomously driven vehicle.

[0006] The vehicle behavior display system for achieving the above-mentioned objective comprises an autonomous driving control unit that is mounted on an autonomous vehicle and controls driving, a behavior display command unit that issues display commands corresponding to the behavior of autonomous vehicles located within a specified area based on control by the autonomous driving control unit, and a display device that is located within the specified area and displays based on the display commands from the behavior display command unit.

[0007] In the vehicle behavior display system, for example, it is possible to display the behavior of an autonomously driven vehicle on a display device located in a predetermined target area based on a display command from a party managing the behavior of the autonomously driven vehicle, and to accurately notify other vehicles, pedestrians, etc. in the vicinity of the autonomously driven vehicle of the future behavior (operational mode) of the autonomously driven vehicle. In this way, it is possible to make other vehicles, pedestrians, etc. in the vicinity aware of the future behavior of the autonomously driven vehicle, thereby making it possible to avoid or suppress collisions, traffic jams, deadlocks, etc.

[0008] In a specific aspect of the present invention, the behavior display command unit causes the display device to display the traveling direction of the autonomously driven vehicle in response to a display command. In this case, the traveling direction of the autonomously driven vehicle can be notified to those around the autonomously driven vehicle.

[0009] In another aspect of the present invention, the behavior display command unit is a control center that manages behavior based on control by the automatic driving control unit. In this case, content corresponding to the behavior management of the automatic driving control unit in the control center can be displayed on the display device.

[0010] In yet another aspect of the present invention, the behavior display command unit is a driving route determination unit that performs parking management in a parking area of ​​an auto valet parking lot as a predetermined area and determines a planned driving route for an autonomous vehicle that is present in the parking area. In this case, the planned driving route of the autonomous vehicle that is driving in the auto valet parking lot can be displayed on a display device.

[0011] In yet another aspect of the present invention, the behavior display command unit includes a determination unit as the travel route determination unit that determines whether a route change is necessary for the planned travel route, and when the determination unit determines that a route change is necessary, the planned travel route is changed and a display command corresponding to the changed travel route is output to the display device. In this case, the travel route corresponding to the route change can be displayed.

[0012] In yet another aspect of the present invention, when the determination unit determines that a route change is necessary, the behavior display command unit causes the display device to display, by a display command, a message that a detour route is being searched for until the changed driving route is determined. In this case, by displaying the message that a search is being performed, it is possible to notify those around the autonomous vehicle of the reason why the autonomous vehicle remains stopped, for example.

[0013] In yet another aspect of the present invention, the behavior display command unit manages the travel route of a public transportation system serving as an autonomous vehicle at an intersection serving as a predetermined area, and in this case, for example, can notify other vehicles, pedestrians, and the like present around the intersection of the upcoming direction of the public transportation system passing through the intersection.

[0014] In yet another aspect of the present invention, the display device includes a mobile terminal present within the predetermined area or a digital signage installed within the predetermined area, and in this case, the display device can reliably make other vehicles, pedestrians, and the like present within the predetermined area aware of the future behavior of the autonomous vehicle. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a conceptual diagram for explaining an outline of a parking lot (auto valet parking) in which a vehicle behavior display system according to a first embodiment has been introduced. [Figure 2] 1 is a block diagram showing an example of the configuration of a vehicle behavior display system; [Figure 3] FIG. 1 is a conceptual diagram showing an example of an outline of the operation of a vehicle behavior display system. [Figure 4]FIG. 1 is a conceptual diagram illustrating an example of a display device. [Figure 5] FIG. 10 is a conceptual diagram illustrating another example of a display device. [Figure 6] 10A and 10B are conceptual diagrams for explaining an example of the control operation of an autonomously driven vehicle in auto valet parking. [Figure 7] 10A and 10B are conceptual diagrams for explaining an example of the control operation of an autonomously driven vehicle in auto valet parking. [Figure 8] 10A and 10B are conceptual diagrams for explaining an example of the operation of the vehicle behavior display system in the control operation of an autonomously driven vehicle in auto valet parking. [Figure 9] FIG. 1 is a conceptual diagram for explaining an example of the operation of the vehicle behavior display system in the control operation of an autonomously driven vehicle in auto valet parking. [Figure 10] 3 is a conceptual diagram showing an example of a display operation by the vehicle behavior display system. FIG. [Figure 11] 1A and 1B are conceptual diagrams showing an example of a series of image modes displayed on a display device. [Figure 12] FIG. 2 is a block diagram for explaining the flow of operations in the vehicle behavior display system. [Figure 13] 10A to 10D are flowcharts illustrating a series of operations in the vehicle behavior display system. [Figure 14] FIG. 10 is a conceptual diagram for explaining another example of the operation of the vehicle behavior display system in the control operation of an autonomously driven vehicle in auto valet parking. [Figure 15] 1A to 1D are conceptual diagrams showing an example of a series of image modes displayed on a display device. [Figure 16] FIG. 10 is a conceptual diagram for explaining an outline of an intersection where a vehicle behavior display system according to a second embodiment has been introduced. [Figure 17](A) and (B) are conceptual front and side views showing an example of how a public transportation vehicle displays its own behavior, and (C) and (D) are conceptual front and side views showing an example of how an autonomous vehicle displays its own behavior. DETAILED DESCRIPTION OF THE INVENTION

[0016] [First embodiment] An example of the vehicle behavior display system according to the first embodiment will be described below with reference to Fig. 1 etc. Fig. 1 is a conceptual diagram for explaining an overview of a parking lot PA in which the vehicle behavior display system 100 according to this embodiment has been introduced.

[0017] In this embodiment, the parking lot PA is configured to perform parking using so-called auto valet parking. That is, communication is performed between a control center CC that manages the parking lot PA and the autonomously driven vehicle VE. In accordance with instructions from the control center CC, the autonomously driven vehicle VE autonomously drives to automatically enter and exit a designated parking location (vehicle compartment CR) within the parking area MA. In the illustrated example, when an occupant disembarks from the autonomously driven vehicle VE parked at a drop-off porte-cochere AR1 within the boarding / disembarking area AR, the unmanned autonomous vehicle VE begins communicating with the control center CC, which is composed of a server that handles various data, and drives to a designated vehicle compartment CR (e.g., vehicle compartment CRa) within the parking area MA in accordance with instructions from the control center CC. For example, when information such as the ID of the autonomously driven vehicle VE is transmitted to the control center CC from a smartphone or other device carried by the owner of the autonomously driven vehicle VE (the disembarking occupant), the unmanned autonomous driving operation for parking using the auto valet parking method described above is initiated. In addition, when the autonomous vehicle VE is leaving the depot, information regarding the call is sent from a smartphone or other device carried by the owner of the autonomous vehicle VE to the control center CC, which triggers the start of unmanned autonomous driving operations to move the corresponding autonomous vehicle VE to the boarding porte-cochere AR2.

[0018] In the example shown in the figures, for ease of explanation, when an autonomously driven vehicle VE enters a parking lot PA using auto valet parking, the autonomously driven vehicle VE travels from the exit porte-cochere AR1 through an aisle PT1 to reach parking area MA and parks in a designated parking space CR. Furthermore, when an autonomously driven vehicle VE leaves the parking space CR, the autonomously driven vehicle VE travels from the parking space CR to the entry porte-cochere AR2 through an aisle PT2. In other words, the route to parking area MA is one-way, and parking area MA is reserved for auto valet parking. However, the present invention is not limited to this example, and vehicle behavior display system 100 can also be applied to parking lots that do not have one-way streets.

[0019] In order to enable the above-described operations, the communication range DD1 between the control center CC and the autonomously driven vehicle VE includes the boarding / disembarking area AR, the parking area MA, and the passages PT1 and PT2 from the boarding / disembarking area AR to the parking area MA, as shown by the dashed lines.

[0020] In the above-described embodiment, as already mentioned, the parking area MA is exclusively for auto valet parking. In other words, general vehicles and pedestrians that are not subject to auto valet parking are prohibited from entering the parking area MA in principle. However, depending on the installation mode of the parking lot PA, it is not always possible to completely exclude general vehicles and pedestrians from the parking area MA, and there is a possibility that general vehicles, pedestrians, etc. may mistakenly enter the parking area MA. In such cases, there is a possibility of collisions, traffic jams, deadlocks, etc. occurring between the autonomously driven vehicle VE that is the parking target in the parking lot PA and general vehicles (vehicles other than the autonomously driven vehicle VE) or pedestrians that are not the parking target, and it is extremely important to avoid or suppress these occurrences.

[0021] In contrast to this, in this embodiment, a vehicle behavior display system 100 that displays the behavior of the autonomously driven vehicle VE is introduced in a parking lot PA where auto valet parking is performed, allowing ordinary vehicles and pedestrians to be aware of the behavior of the autonomously driven vehicle VE, thereby making it possible to avoid or mitigate such situations.

[0022] The vehicle behavior display system 100 according to this embodiment includes an automatic driving control unit 10, an imaging device 20, a determination device 30, a behavior display command unit 50 (control center CC), and a display device .

[0023] The automatic driving control unit 10 is a device that is installed in the automatic driving vehicle VE to perform driving control (travel control), and in this case, in particular, the automatic driving control unit 10 is capable of communicating with the behavior display command unit 50 (control center CC), thereby enabling it to support auto valet parking.

[0024] The imaging device 20 is configured as a camera (infrastructure camera) that captures images to monitor the parking lot PA. Although only one imaging device 20 is shown in the figure, multiple cameras can be installed within the parking lot PA to monitor the entire parking lot PA (particularly the parking area MA).

[0025] The determination device 30 analyzes image data captured by the imaging device 20 to determine whether an abnormality, such as the presence or absence of an obstacle on the path of the autonomously driven vehicle VE, has occurred within the parking lot PA. Specifically, the determination device 30 determines whether there are ordinary vehicles, pedestrians, etc., in the parking lot PA (particularly within the parking area MA), and whether obstacles to the autonomously driven vehicle VE, including these, pose a risk of collision with the autonomously driven vehicle VE. A typical configuration example of the determination device 30 is an electronic circuit or the like provided for each camera constituting the imaging device 20. The determination device 30 is capable of communicating with the behavior display command unit 50 and the autonomous driving control unit 10. If an abnormality or a risk of collision is detected as a result of analyzing the image data, the determination device 30 immediately transmits obstacle information, a stop command, or the like based on the confirmation and analysis results.

[0026] The behavior display command unit 50 issues a display command to the display device 70 corresponding to the behavior of the autonomously driven vehicle VE that is present within the communication range DD1, which is a predetermined area, based on the control by the autonomous driving control unit 10. As described above, in this example, the control center CC functions as the behavior display command unit 50. From another perspective, the behavior display command unit 50 also manages the autonomous driving behavior of the autonomously driven vehicle VE based on the control by the autonomous driving control unit 10 as the control center CC in order to issue commands regarding behavior display. For this reason, first, the behavior display command unit 50 communicates with the autonomous driving control unit 10 to move the autonomous driving control unit 10 to a predetermined position (e.g., the vehicle compartment CR a), acquires position information of the autonomously driven vehicle VE from the autonomous driving control unit 10 to determine the position of the autonomously driven vehicle VE, and transmits a command signal for guidance to the autonomous driving control unit 10. Furthermore, in this embodiment, the behavior display command unit 50 determines whether to change the guidance destination of the autonomously driven vehicle VE based on obstacle information from the determination device 30. As described above, the behavior display command unit 50 performs parking management in the parking area MA, which is the parking area of ​​the auto valet parking as a predetermined area, and also functions as a driving route determination unit (driving route determination unit RD, which will be described later with reference to Figure 2) that determines the planned driving route of the autonomously driven vehicle VE that is present in the parking area MA.

[0027] Furthermore, in this embodiment, the behavior display command unit 50 transmits a display command including information regarding a guidance route and the like to the display device 70 to display the course of the autonomously driven vehicle VE on the display device 70. In particular, when the behavior display command unit 50 determines that a course change of the autonomously driven vehicle VE is necessary, it communicates with the autonomous driving control unit 10 regarding this and transmits information regarding a change in the behavior of the autonomously driven vehicle VE as a display command to the display device 70. In other words, the behavior display command unit 50 transmits a display command to the display device 70 corresponding to the behavior of the autonomously driven vehicle VE that is present in the parking area MA based on the control by the autonomous driving control unit 10, causing the display device 70 to perform a display operation that indicates the behavior of the autonomously driven vehicle VE. For example, the behavior display command unit 50 causes the display device 70 to display the traveling direction of the autonomously driven vehicle VE in accordance with the display command.

[0028] The display device 70 is located within the predetermined area (communication range DD1), particularly within the parking area MA, and performs a display operation based on a display command from the behavior display command unit 50, as described above. This allows other vehicles other than the parking target and pedestrians who accidentally enter the parking area MA to recognize the behavior of the autonomously driven vehicle VE. The display device 70 is a display component (hereinafter referred to as digital signage) composed of a liquid crystal panel, an organic EL panel, or the like, and is installed and fixed in a location within the parking lot PA that does not interfere with the progress of the autonomously driven vehicle VE. An example configuration of the display device 70 will be described later with reference to FIGS. 4 and 5, etc. In the example shown in FIG. 1, the display device 70 is shown in two locations within the parking area MA, but this is not limiting and the display device 70 can be installed in various locations within the parking lot PA (particularly the parking area MA) as long as it does not interfere with traffic. In addition to displaying information regarding the behavior of the autonomously driven vehicle VE, the display device 70 can also be configured to display information urging other vehicles and pedestrians to exit.

[0029] Hereinafter, a configuration example of the above-mentioned vehicle behavior display system 100 will be described in more detail with reference to the block diagram shown in Fig. 2. In particular, a configuration example in which the control center CC functions as the behavior display command unit 50 will be described.

[0030] As shown in the figure, the behavior display command unit 50 includes an external input unit 51, a judgment unit 52, a route generation unit 53, and an external output unit 54 to issue display commands to the display device 70 corresponding to behavior based on control by the automatic driving control unit 10.

[0031] The external input unit 51 is an interface unit for acquiring various information from the automatic driving control unit 10 and the determination device 30. That is, the behavior display command unit 50 acquires various information such as image data captured by the imaging device 20 and obstacle information as a result of analyzing the image data in the determination device 30 via the external input unit 51.

[0032] The determination unit 52 makes various determinations based on various data acquired from the external input unit. For example, the determination unit 52 determines a location (vehicle compartment CRa) where the autonomously driven vehicle VE should be parked based on position information about the autonomously driven vehicle VE transmitted from the autonomous driving control unit 10 and the parking situation within the parking area MA. That is, the determination unit 52 determines one vehicle compartment CRa that is optimal for parking the autonomously driven vehicle VE from among multiple vehicle compartments CR. The determination unit 52 also causes the route generation unit 53 to create a route for the autonomously driven vehicle VE as needed. The determination unit 52 also determines whether or not to change the route of the autonomously driven vehicle VE based on obstacle information from the determination device 30. That is, the determination unit 52 determines whether or not to change the route of the autonomously driven vehicle VE or the vehicle compartment CRa that has already been determined, based on changes in the situation grasped from the various information transmitted from the determination device 30.

[0033] The route generation unit 53 creates a route to the parking position (vehicle compartment CRa) of the autonomously driven vehicle VE. For example, for an autonomously driven vehicle VE that has been recognized by the determination unit 52 after communication with the autonomous driving control unit 10 has newly started, the route generation unit 53 generates route data (driving route) to the parking position (vehicle compartment CRa) determined by the determination unit 52.

[0034] Furthermore, in this embodiment, if the judgment unit 52 judges that a route change is necessary based on obstacle information, etc. from the judgment device 30, the route generation unit 53 performs a reroute, i.e., regenerates the route data (driving route), in response to a request from the judgment unit 52.

[0035] As described above, in the behavior display command unit 50, the judgment unit 52 works in cooperation with the route generation unit 53 to determine the need for a route change for the planned driving route, and if it is determined that a route change is necessary, it changes the planned driving route and functions as a driving route determination unit RD that outputs a display command corresponding to the changed driving route to the display device 70 via the external output unit 54 described later.

[0036] As described above, the external output unit 54 is an interface unit for outputting various instructions and commands to the outside based on the determination result of the determination unit 52. The external output unit 54 outputs information output from the behavior display command unit 50. Specifically, the external output unit 54 of the behavior display command unit 50 transmits route data (driving route) of the autonomously driven vehicle VE to the autonomous driving control unit 10, and further, if a route change is necessary, new route data (driving route) is transmitted. Furthermore, in this embodiment, the display command transmitted from the external output unit 54 to the display device 70 includes information related to the driving route of the autonomously driven vehicle VE. In particular, if a route change is necessary and new route data (driving route) is transmitted, the display device 70 displays a message that the autonomously driven vehicle VE is stopped for the route change and a message related to the changed route (reroute).

[0037] Here, with reference to the conceptual diagram shown in FIG. 3 , an example of the outline of the operation of the above-described vehicle behavior display system 100 will be summarized. First, as a premise, communication is performed between the autonomous driving control unit 10 and the behavior display command unit 50, and processing for auto valet parking is performed. That is, the autonomous driving control unit 10 controls the autonomously driven vehicle VE in accordance with a command signal received from the behavior display command unit 50 as a control center CC. Then, the behavior display command unit 50, a component of the vehicle behavior display system 100, sends a display command to the display device 70 as necessary, causing the display device 70 to display the behavior of the autonomously driven vehicle VE. As a result, the vehicle behavior display system 100 can display the behavior of the autonomously driven vehicle VE on the display device 70 located in the target parking area MA based on a display command from the control center CC (behavior display command unit 50), which manages the behavior of the autonomously driven vehicle VE. Therefore, for example, other vehicles, pedestrians, and the like that have erroneously entered the parking area MA and are currently located around the autonomously driven vehicle VE can be accurately notified of the future behavior (operational mode) of the autonomously driven vehicle VE. This makes it possible to avoid or suppress collisions, traffic jams, deadlocks, etc. between the autonomous vehicle VE and other vehicles or pedestrians.

[0038] Here, various configurations of display device 70 are possible depending on the installation environment. For example, as in an example conceptually shown in FIG. 4, display device 70 may be installed in a parking lot PA (within a parking area MA) suspended from above so as not to obstruct the passage of the autonomously driven vehicle VE. Alternatively, as in an example conceptually shown in FIG. 5, display device 70 may be configured by installing and fixing a display device such as digital signage on the ground in an area MAe of the parking lot PA (within a parking area MA) that is outside the passage area of ​​the autonomously driven vehicle VE. By adopting the above configuration, for example, the behavior of the autonomously driven vehicle VE can be displayed to ordinary vehicles and pedestrians that have mistakenly entered the parking lot PA (within a parking area MA), thereby avoiding or suppressing collisions, traffic jams, deadlocks, and the like. Furthermore, by installing determination device 30 and imaging device 20 so as to be able to monitor the entire parking lot PA, vehicle behavior display system 100 may be configured to determine whether an abnormality, such as the presence or absence of an obstacle, has occurred on the path of the autonomously driven vehicle VE. In this manner, the present system can be used in a parking lot where autonomous vehicles VE and general vehicles are mixed.

[0039] An example of the control operation of an autonomously driven vehicle VE in auto valet parking will be described below with reference to Figure 6 etc. Here, as shown in Figures 6(A) and 6(B) etc., an example of the behavior display performed for an autonomously driven vehicle VEa, which is one autonomously driven vehicle VE, when a general vehicle VEx mistakenly enters a parking area MA of a parking lot PA will be described.

[0040] 6(A), autonomously driven vehicle VEa is assumed to be traveling autonomously under the control of autonomous driving control unit 10, following instructions from control center CC, which also serves as behavior display command unit 50, with one preset vehicle compartment CRa among multiple vehicle compartments CR as its parking position (destination), and with arrow AA1 as its planned travel route. More specifically, in the illustrated example, autonomously driven vehicle VEa is traveling along passage PT1, and as indicated by arrow AA1, the route is set to take the autonomously driven vehicle VEa toward the destination vehicle compartment CRa through central passage MS1 of parking area MA in parking lot PA.

[0041] In contrast, as shown in FIG. 6(B), if the determination device 30, which monitors the central passage MS1, detects the presence of a general vehicle VEx on the central passage MS1 while the autonomous vehicle VEa is still traveling on passage PT1 and before it reaches the central passage MS1, the control center CC is notified of this. In this case, the control center CC determines that the planned travel route (arrow AA1) of the autonomous vehicle VEa is unusable and first notifies the autonomous driving control unit 10 of a stop command. Furthermore, the control center CC searches for another new route candidate, as shown in FIG. 7(A). That is, taking into account the parking situation in the parking lot PA, the control center CC again searches for a candidate destination CRp from among the multiple parking spaces CR and a travel route to the candidate CRp (arrows CP1 and CP2). As shown in Figure 7(B), when the control center CC determines one of the candidate compartments CRp as a new parking position (destination) as a result of the search, it notifies the autonomous driving control unit 10 mounted on the autonomously driven vehicle VEa of a planned driving route (arrow AA2) toward the newly determined destination compartment CRa. As a result, the autonomously driven vehicle VEa resumes autonomous driving along the newly set planned driving route indicated by arrow AA2.

[0042] In the above aspect, the control center CC, as the behavior display command unit 50, may issue a display command to the display device 70 in the situation shown in Fig. 6(B), for example, to display a notification to the general vehicle VEx to continue going straight down the central passage MS1 and quickly exit the parking area MA. Furthermore, in the situation shown in Fig. 7(A) or 7(B), for example, the control center CC, as the behavior display command unit 50, may also display on the display device 70 the driving route of the automatically driven vehicle VEa (arrow AA2, which is the changed driving route), thereby clearly indicating to the general vehicle VEx that the automatically driven vehicle VEa will not obstruct the continued driving (straight driving) of the general vehicle VEx.

[0043] Next, another example of the control operation of the autonomously driven vehicle VE in auto valet parking will be described with reference to Fig. 8 etc. In particular, an example will be described in which the control center CC that performs the control operation of the autonomously driven vehicle VE operates as the behavior display command unit 50.

[0044] Unlike the previous example, the example shown in FIG. 8(A) illustrates a case where the determination device 30 detects the presence of a general vehicle VEx on the central passage MS1 after the autonomously driven vehicle VEa reaches the central passage MS1. That is, FIG. 8(A) illustrates a case where the autonomously driven vehicle VEa autonomously drives along the initially scheduled driving route indicated by the arrow AA1 and detects a general vehicle VEx while already traveling on the central passage MS1. In this case, the analysis result by the determination device 30 indicates the possibility of a collision, and the control center CC serving as the behavior display command unit 50 is notified of this fact, and the analysis result is also notified to the autonomously driven vehicle VEa (autonomous driving control unit 10). Specifically, the determination device 30 issues a stop command to the autonomously driven vehicle VEa to avoid a collision with the general vehicle VEx.

[0045] In response to the above, as shown in FIG. 8(B), the control center CC, while confirming that autonomously driven vehicle VEa has stopped, searches for another new route candidate, that is, searches for a candidate destination CRp from among the multiple vehicle compartments CR, and a route to the candidate CRp (arrows CP1 and CP2) while taking into account the parking situation in parking lot PA. Furthermore, at this time, the control center CC, as vehicle behavior display system 50, outputs a corresponding display command to the display device 70 to display on the display device 70 that a new driving route is being searched for to avoid a collision with autonomously driven vehicle VEa. Note that, when the determination unit 52 (see FIG. 2) determines that a route change is necessary, the behavior display command unit 50 can use the display command to cause the display device 70 to display the fact that a detour route is being searched for, and maintain this state, until the changed driving route is confirmed.

[0046] Furthermore, when the vehicle behavior display system 50 (control center CC) determines one of the candidate compartments CRp as a new parking position (destination) as a result of the above search, it notifies the autonomous driving control unit 10 mounted on the autonomous vehicle VEa of the planned driving route (arrow AA2) toward the newly determined destination compartment CRa, as shown in Fig. 9, and outputs a corresponding display command to the display device 70 to display the newly set planned driving route on the display device 70. This allows the driver of the general vehicle VEx to understand the behavior of the autonomously driven vehicle VEa that is approaching from the display device 70, as illustrated in Fig. 10, for example.

[0047] 11, the display device 70 displays a series of displays, from a display indicating that the autonomously driven vehicle VEa will be stopped to avoid a collision (state α1), to a display indicating that a search for a reroute, i.e., that the vehicle will continue to be stopped (state α2), and further a display indicating the driving direction after the reroute (state α3). In other words, the behavior of the autonomously driven vehicle VEa relative to the general vehicle VEx can be clearly displayed.

[0048] An example of the flow of operations in the vehicle behavior display system 100 configured as described above will be described below with reference to the block diagram shown in Fig. 12. As described above and as shown in the figure, the vehicle behavior display system 100 is configured with an automatic driving control unit 10, an imaging device 20, a determination device 30, a behavior display command unit 50 (control center CC), and a display device 70.

[0049] First, regarding the imaging device 20 and the determination device 30, which are infrastructure-side facilities, the imaging device 20, which is configured as an infrastructure camera, continuously captures images of a monitoring target area, extracts obstacles such as ordinary vehicles VEx from the image data acquired by the image capture, and further extracts their positions and speeds, and outputs the extraction results to the determination device 30. The determination device 30 is an infrastructure-to-vehicle (I2V) system, i.e., provides information from the infrastructure side to the vehicle side. As an I2V system, the determination device 30 transmits a determination result based on information acquired from the imaging device 20, etc., to the autonomously driven vehicle VEa, i.e., to the autonomous driving control unit 10. Note that the determination device 30 receives information on the position and speed of the autonomously driven vehicle VEa from the autonomous driving control unit 10 in advance via short-range wireless communication. This allows the determination device 30 to predict a collision between an obstacle such as ordinary vehicles VEx and the autonomously driven vehicle VEa based on information from the imaging device 20 and the autonomous driving control unit 10. Furthermore, when the determination device 30 determines that there is a possibility of a collision as a result of the collision prediction determination, it issues a command to the automatically driven vehicle VEa to stop in order to avoid the collision.

[0050] Furthermore, the determination device 30 outputs various information acquired from the imaging device 20 and the determination results made by the determination device 30 as obstacle information and the like to the behavior display command unit 50 (control center CC).

[0051] Meanwhile, the behavior display command unit 50, which serves as the control center CC, provides the automatic driving control unit 10 with information for parking (guiding) the automatically driven vehicle VEa at a predetermined position, i.e., notifies the automatic driving control unit 10 of a driving route. At this time, the behavior display command unit 50 changes the guidance content as necessary based on various information, such as the obstacle information transmitted from the determination device 30, and provides the automatically driven control unit 10 with information about new guidance based on the results of the change (a newly set driving route). Furthermore, the behavior display command unit 50 outputs a display command to the display device 70 to cause the display device 70 to display, as necessary, the guidance of the automatically driven vehicle VEa, i.e., the behavior of the automatically driven vehicle VEa. In addition to the display by the display device 70, the automatically driven vehicle VEa may directly display its behavior to the ordinary vehicle VEx as a behavior display by the automatically driven vehicle VEa to the ordinary vehicle VEx. For example, while a turn signal display for the left and right directions is common, this is not limiting, and a configuration in which a display unit or the like is provided on the automatically driven vehicle VEa is also conceivable (an example will be described later with reference to FIG. 17 ).

[0052] An example of each unit in the vehicle behavior display system 100 and a series of operations thereof will be described below with reference to the flowcharts of Figures 13(A) to 13(D). Of the figures, Figure 13(A) is a flowchart showing an example of the operation of the behavior display command unit 50 (control center CC), Figure 13(B) is a flowchart showing an example of the operation of the display device 70, Figure 13(C) is a flowchart showing an example of the operation of the automatic driving control unit 10 (automatically driven vehicles VE, VEa), and Figure 13(D) is a flowchart showing an example of the operation of the determination device 30.

[0053] First, as shown in FIG. 13(A), when the behavior display command unit 50 (control center CC) starts operation, it first detects a vehicle to be guided to a parking position (step S101). That is, as the control center CC that manages parking, the behavior display command unit 50 communicates with the automatic driving control unit 10 of the automatic driving vehicle VEa (VE) that is to be guided to park, and confirms the presence of the vehicle. In step S101, when the automatic driving control unit 10 detects the automatic driving vehicle VEa (VE) that is the target (step S101: Yes), the behavior display command unit 50 determines a parking position (vehicle compartment CRa) for the automatic driving vehicle VEa and sets a driving route to the parking position (step S102), and instructs the automatic driving control unit 10 to perform autonomous driving along the set driving route (step S103).

[0054] After the instruction in step S103, the behavior display command unit 50 checks whether the autonomously driven vehicle VEa has reached the parking position (vehicle compartment CRa), which is the destination position (step S104). That is, the behavior display command unit 50 checks whether a signal indicating arrival at the destination position, such as parking completion, has been received from the autonomous driving control unit 10. If arrival at the destination position, such as parking completion, is confirmed in step S104 (step S104: Yes), the behavior display command unit 50 ends the series of processes and repeats the operations from step S101 again to provide guidance to a new autonomously driven vehicle VE.

[0055] On the other hand, if it is not confirmed in step S104 that the destination position has been reached (step S104: No), the behavior display command unit 50 checks whether it is necessary to stop (temporarily stop) the automatically driven vehicle VEa (step S105).

[0056] If it is determined in step S105 that the vehicle needs to be stopped (step S105: Yes), the behavior display command unit 50 further determines whether or not the traveling route needs to be changed (step S106).

[0057] In step S106, if it is determined that the travel route needs to be changed (step S106: Yes), the behavior display command unit 50 resets the travel route (step S107).

[0058] Here, typical examples of when it is necessary to stop the autonomously driven vehicle VEa in step S105 or when it is necessary to change the driving route in step S106 include, as described above, when a general vehicle VEx is detected and this creates a situation that affects the driving route of the autonomously driven vehicle VEa.

[0059] When the driving route is reset in step S107, the behavior display command unit 50 notifies the autonomous driving control unit 10 of the autonomous driving vehicle VEa of information about the newly set driving route. That is, the behavior display command unit 50 instructs the autonomous driving control unit 10 to perform autonomous driving along the newly set driving route (step S108).

[0060] After the instruction in step S108 or if it is determined in step S105 that stopping is not necessary (step S105: No), behavior display command unit 50 returns to step S104 to check whether automatically driven vehicle VEa has reached the parking position (vehicle compartment CRa), which is the destination position. Also, if it is determined in step S106 that changing the driving route is not necessary (step S106: No), the process waits until the stop is released (step S109) and then returns to step S104.

[0061] During the series of operations in the behavior display command unit 50 described above, for example, if it is determined in step S105 that it is necessary to stop the automatically driven vehicle VEa (step S105: Yes), the behavior display command unit 50 serving as the control center CC will notify the automatically driven control unit 10 of a stop command. At this time, the behavior display command unit 50 will also notify the display device 70 of this fact as necessary. In other words, it issues a display command to cause the display device 70 to display that the automatically driven vehicle VEa will stop.

[0062] Also, for example, in step S107, when resetting of the driving route starts, the behavior display command unit 50 notifies the display device 70 of a display command to display that a new route is being searched for. Furthermore, in step S108, when the behavior display command unit 50 as the control center CC instructs the automatic driving control unit 10 to perform autonomous driving along the newly set driving route, at this time, the behavior display command unit 50 also notifies the display device 70 of a display command to display this together with information about the new driving route.

[0063] Next, as shown in Fig. 13(B), when the display device 70 starts operation, it first continues to check whether or not a display command has been received from the behavior display command unit 50 (step S201). If a display command is received (step S201: Yes), it performs a display operation according to the command (step S202), and then returns to step S201 to check whether or not a new display command has been received. The display device 70 repeats the above operations. Note that the specific content of the display command received in step S201 is as described with reference to Fig. 13(A).

[0064] Next, as shown in Figure 13 (C), in order to become a target for parking by valet parking, the automatic driving control unit 10 first transmits information to the behavior display command unit 50 (control center CC) to obtain guidance for parking (information on the driving route), and continues to do so until it is confirmed whether communication has started (step S301).

[0065] In step S301, when it is confirmed that communication with the behavior display command unit 50 (control center CC) has been established (step S301: Yes), the automatic driving control unit 10 continues to do so until it is confirmed whether or not it has received information about the driving route to the parking position (vehicle compartment CRa) for the automatic driving vehicle VEa in which it is installed from the behavior display command unit 50 (step S302).

[0066] In step S302, when the driving route is received (step S302: Yes), the automatic driving control unit 10 performs autonomous driving (automatic driving) along the driving route (step S303). Note that here, if a determination device 30 is present within a range where short-distance communication is possible, the automatic driving control unit 10 provides the determination device 30 with information on the driving route together with its own position, etc.

[0067] Next, the autonomous driving control unit 10 checks whether the autonomous driving vehicle VEa has reached the parking position (vehicle compartment CRa), which is the destination position, as a result of traveling in step S303 (step S304). If it is confirmed in step S304 that the autonomous driving vehicle VEa has reached the destination position (step S304: Yes), the autonomous driving control unit 10 ends the series of processes. At this time, the autonomous driving control unit 10 sends a signal (completion signal) to the behavior display command unit 50 indicating that the autonomous driving vehicle VEa has reached the destination position, such as parking completion.

[0068] On the other hand, if it is not confirmed in step S304 that the destination position has been reached (step S304: No), i.e., if the destination position has not yet been reached, the automatic driving control unit 10 checks whether a stop command has been received from the parking lot (step S305).

[0069] Here, the stop command is assumed to be issued, for example, when it is determined in step S105 of the behavior display command unit 50 that it is necessary to stop, or when it is issued based on the possibility of a collision from the determination device 30 described later (typically, as shown with reference to Figure 8, etc.).

[0070] If it is determined in step S305 that there is a stop command (step S305: Yes), the autonomous driving control unit 10 stops (temporarily stops) the autonomously driven vehicle VEa (step S306). Furthermore, the autonomous driving control unit 10 checks whether there is a change in the driving route (step S307). A case in which the driving route is changed may be, for example, as described above, when an instruction to cause the autonomous driving control unit 10 to perform autonomous driving along a newly set driving route is given in step S108 for the behavior display command unit 50 serving as the control center CC.

[0071] If it is confirmed in step S307 that the driving route has been changed (step S307: Yes), the automatic driving control unit 10 changes the driving route and resumes autonomous driving (automatic driving) on ​​the changed route (step S308), and returns to processing from step S303.

[0072] On the other hand, if it is confirmed in step S305 that there is no stop command (step S305: No), the automatic driving control unit 10 returns to the processing from step S303 without performing any special processing. That is, the automatic driving control unit 10 continues the autonomous driving (automatic driving) along the same route.

[0073] 13(D), when the determination device 30 starts its operation, it first checks whether or not an object such as a vehicle exists within the monitoring range (or simply the monitoring range) of the linked image capture device 20 (step S401). Note that, as described above, the presence of a vehicle such as a general vehicle VEx or an autonomous vehicle VE (VEa) can be detected by analyzing image data.

[0074] The determination device 30 continues to check for the presence of an object in step S401, and when the presence of an object is confirmed (step S401: Yes), it transmits the confirmed content as obstacle information to the behavior display command unit 50 serving as the control center CC (step S402). At the same time, the determination device 30 checks whether or not information about the driving route has been provided from the automatic driving control unit 10 (step S403). That is, as described above, for example, if an automatically driven vehicle VEa is present within a range where short-distance communication is possible, information about the driving route along with information about the position of the automatically driven vehicle VEa will be provided from the automatic driving control unit 10 mounted on this vehicle.

[0075] In step S403, if it is determined that no information about the travel route has been provided (step S403: No), the determination device 30 returns to step S401 and starts checking for the presence of a new object.

[0076] On the other hand, when it is confirmed in step S403 that the travel route information has been provided (step S403: Yes), the determination device 30 performs collision prediction (step S404) and determines whether there is a possibility of a collision (step S405). That is, the determination device 30 determines whether there is a possibility of a collision between the vehicle (e.g., the autonomous vehicle VEa) for which the travel route information has been provided and another object (such as a general vehicle VEx) or not.

[0077] In step S405, if it is determined that there is a possibility of a collision occurring (step S405: Yes), the determination device 30 notifies the automatic driving control unit 10 of a stop command (step S406).

[0078] At the same time, the determination device 30 transmits information indicating that a stop command has been issued to the behavior display command unit 50 serving as the control center CC as obstacle information (step S407), and the process returns to step S401. In this case, the behavior display command unit 50, which has received the notification of the obstacle information, recognizes that the autonomously driven vehicle VEa is in a state that requires it to stop, and performs processing such as changing the driving route depending on the situation.

[0079] On the other hand, if it is determined in step S405 that there is no possibility of a collision occurring (step S405: No), the determination device 30 returns to step S401 without performing any particular process.

[0080] The determination device 30 repeats the above series of operations as long as monitoring is required in the parking lot PA.

[0081] As described above, each unit of the vehicle behavior display system 100 operates independently while also cooperating with each other, thereby enabling management within the parking lot and display of the desired vehicle behavior.

[0082] Another example of the operation of the vehicle behavior display system 100 in the control operation of an autonomously driven vehicle in auto valet parking will be described below with reference to the conceptual diagram shown in Fig. 14. Note that Fig. 14 is a diagram corresponding to, for example, Fig. 8(A) and the like.

[0083] In the example described above with reference to Fig. 8(A) etc., the target of monitoring using the imaging device 20 was mainly vehicles, but as already mentioned, pedestrians etc. can also be targets to be detected. The example shown in Fig. 14 shows a case where a pedestrian PE who should not be in the parking lot PA (parking area MA) is mistakenly present in the parking lot PA (parking area MA).

[0084] 8(A), the illustrated case shows a case where the presence of a pedestrian PE is detected on the central passage MS1 after the automatically driven vehicle VEa reaches the central passage MS1. In this case as well, the determination device 30 indicates the possibility of a collision, and under the control of the behavior display command unit 50 (control center CC), the automatically driven vehicle VEa changes from the originally planned driving route indicated by the arrow AA1 to another route.

[0085] Also in this case, when the route is changed, vehicle behavior display system 50 displays a series of displays related to the behavior of automatically driven vehicle VEa on display device 70. In this case, it is possible to use a display device 70 that is installed and fixed in advance within the venue, or a portable terminal TI carried by pedestrian PE present within the venue as display device 70. That is, as shown in FIG. 15(A) among FIGS. 15(A) to 15(D), the behavior of automatically driven vehicle VEa may be displayed as an image GG on the display unit DS of portable terminal TI. More specifically, the image GG may be displayed as a series of movements as shown in FIGS. 15(B) to 15(D), thereby allowing pedestrian PE to recognize the behavior of automatically driven vehicle VEa and avoid a collision, etc.

[0086] The notification to the mobile terminal TI can be in various forms, but for example, it is expected that the behavior display command unit 50 (control center CC) will send the above-mentioned notification via wireless communication to a mobile terminal TI such as a smartphone on which an app for the parking lot PA and various facilities associated with the parking lot PA has been installed.

[0087] As described above, vehicle behavior display system 100 according to this embodiment includes an autonomous driving control unit 10 mounted on autonomous vehicle VE to control its operation; a behavior display command unit 50 that issues display commands corresponding to the behavior of autonomous vehicle VE located in a parking lot PA (an example of a predetermined area) based on control by autonomous driving control unit 10; and a display device 70 located in the parking lot PA that displays information based on the display command from behavior display command unit 50. Vehicle behavior display system 100 can, for example, display the behavior of autonomous vehicle VE on display device 70 located in the target parking lot PA based on a display command from a party managing the behavior of autonomous vehicle VE. This allows other vehicles (general vehicles VEx) and pedestrians PE, etc., located near autonomous vehicle VE to be accurately notified of the autonomous vehicle VE's future behavior (operational state). By making the autonomous vehicle VE's future behavior known to other vehicles, pedestrians, etc. in the vicinity, collisions, traffic jams, deadlocks, etc. can be avoided or suppressed.

[0088] Second Embodiment An example of a vehicle behavior display system according to the second embodiment will be described below with reference to Fig. 16. The vehicle behavior display system 100 according to this embodiment differs from the first embodiment, which is installed in a parking lot PA (see Fig. 1, etc.), in that it is installed at an intersection CS. Components similar to those in the first embodiment are given the same reference numerals, and detailed explanations thereof will be omitted.

[0089] Fig. 16 is a conceptual diagram showing an example configuration of a vehicle behavior display system 100 according to this embodiment, and corresponds to Fig. 1 and other figures. In this embodiment, the behavior of an autonomously driven vehicle VE passing through an intersection CS is displayed on a display device 70 or the like installed at the intersection CS, which is an example of a predetermined area. In this case, the behavior display command unit 50 displays the driving path (direction of travel) of the autonomously driven vehicle VE as a display of the behavior of the autonomously driven vehicle VE at the intersection CS, which is the predetermined area.

[0090] As a more specific example, the autonomous vehicle VE is assumed to be a bus (routed bus), which is one form of public transportation. In this case, the autonomous vehicle VE is assumed to be either manned or unmanned (unmanned in the sense of having no driver). However, the present invention is not limited to this and can also be applied to autonomous vehicles VE other than buses.

[0091] In the illustrated example, the display devices 70 are provided at each corner of the intersection CS, i.e., in locations close to the crosswalk, making them easily visible to pedestrians and the like at and around the intersection CS. A more specific configuration example of the display device 70 may be a fixedly installed display device configured as, for example, digital signage, as described with reference to FIG. 5 . Even in this case, it may be possible to use a mobile terminal TI carried by a pedestrian PE at the intersection CS as the display device 70. As a display mode, a partially enlarged display unit DS of the display device 70 or the mobile terminal TI may be used, which displays an image showing the current situation with arrows, text, and the like indicating the future behavior of the autonomous vehicle VE.

[0092] In addition, in the above-mentioned embodiment, in addition to the right / left turns and straight-ahead movement of the autonomous vehicle VE, it is also possible to notify information regarding stopping at a bus stop near the intersection CS (for example, whether or not the vehicle will stay overnight at the bus stop).

[0093] Furthermore, with regard to the mobile terminal TI, it is conceivable to send the above notification to, for example, a smartphone or the like on which an app of a company that operates a bus (routed bus) is installed. In this case, as an example of an operational mode, it is conceivable to send a simultaneous transmission to the above-mentioned mobile terminals TI present at the intersection CS and in the vicinity thereof via, for example, short-range wireless communication provided in advance at the intersection CS, in accordance with a command from the behavior display command unit 50 that has detected that the autonomously driven vehicle (bus) VE is approaching the intersection CS. By adopting such a mode, it is possible to make a prompt and reliable notification.

[0094] In this embodiment as well, by accurately informing the autonomous vehicle VE of its future behavior (operational state), it becomes possible to avoid or suppress collisions with surrounding pedestrians, etc. In particular, in this embodiment, it is possible to avoid or suppress collisions at traffic hubs such as intersections.

[0095] 〔others〕 The present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the present invention.

[0096] First, in addition to the above, the autonomous vehicle VE itself may also display its future behavior (operational state). Specifically, as shown in FIG. 17, a display unit DSa may be provided on the front or side of the autonomous vehicle VE. More specifically, FIGS. 17(A) and 17(B) are conceptual front and side views illustrating an example of how a bus, as an example of public transportation, displays its own behavior. In this case, the autonomous vehicle VE, which is a bus, has a display unit DSa for displaying its own behavior by using a destination display board or by providing a panel member on its side. For example, in the example shown as the second embodiment, in addition to displays on display devices 70 installed at each corner of the intersection CS and on a mobile terminal TI carried by a pedestrian PE, the autonomous vehicle VE itself may also display a display indicating its behavior on a display unit DSa as it passes through the intersection CS, as shown in the figure. 17(C) and 17(D) are conceptual front and side views showing an example of a manner in which the vehicle's own behavior is displayed by a normal autonomous vehicle VE that is not a public transportation system or the like. In this case, for example, it is conceivable to provide the display unit DSa in a portion of the autonomous vehicle VE that will not interfere with human driving. In addition to the above, as in the example shown as the first embodiment, it is also conceivable to use a window portion of the autonomous vehicle VE as the display unit DSb using a liquid crystal panel, projection, or the like, in consideration of the possibility of unmanned driving.

[0097] Furthermore, among the above, for example, the shape of the parking lot PA in the first embodiment is merely an example, and the present invention is not limited to this and can be applied to parking lots of various shapes and structures. Various configurations are also conceivable for the intersection in the second embodiment. It is also conceivable that the present invention can be applied to places other than intersections, such as railroad crossings and their surrounding areas.

[0098] Furthermore, in the above, in the first embodiment, the autonomously driven vehicle VE (VEa) is brought to a stop and then the route is changed as necessary, but this is not limited to this, and it may also include, for example, a situation in which the route is changed while the vehicle is traveling without stopping.

[0099] Furthermore, in the above description, notification by display has been explained, but in addition to this, a mode in which notification (announcement) by sound is also performed may be considered. [Explanation of symbols]

[0100] 10...Autonomous driving control unit, 20...Imaging device, 30...Determination device, 50...Behavior display command unit, 51...External input unit, 52...Determination unit, 53...Route generation unit, 54...External output unit, 70...Display device, 100...Vehicle behavior display system, AA1, AA2...Arrow, AR...Getting in and out area, CC...Control center, CP1, CP2...Arrow, CR, CRa...Vehicle compartment (parking position), CRp...Candidate, CS...Intersection, DD1...Communication range, DS...Display unit, DSa, DSb...Display unit, GG...Image, MA...Parking range, MAe...Area, MS1...Central aisle, PA...Parking lot, PE...Pedestrian, PT1, PT2...Aisle, RD...Driving route determination unit, TI...Mobile terminal, VE, VEa...Autonomous driving vehicle, VEx...General vehicle, α1-α3...State

Claims

1. an autonomous driving control unit that is mounted on the autonomous driving vehicle and controls driving; a behavior display command unit that issues a display command corresponding to the behavior of the autonomously driven vehicle that is present within a predetermined area based on the control by the autonomous driving control unit; and a display device including a display member installed and fixed within the predetermined area, receiving the display command from the behavior display command unit and performing a display based on the display command on the display member; A vehicle behavior display system comprising:

2. The vehicle behavior display system according to claim 1 , wherein the behavior display command unit causes the display device to display the traveling direction of the autonomously driven vehicle in response to the display command.

3. The vehicle behavior display system according to claim 1 , wherein the behavior display command unit is a control center that manages behaviors based on control by the automatic driving control unit.

4. The vehicle behavior display system according to any one of claims 1 to 3, wherein the behavior display command unit is a driving route determination unit that performs parking management in a parking area of ​​an auto valet parking system as the predetermined area and determines a planned driving route for the autonomous vehicle that is present in the parking area.

5. 5. The vehicle behavior display system according to claim 4, wherein the behavior display command unit includes, as the driving route determination unit, a determination unit that determines whether a route change is necessary for the planned driving route, and when the determination unit determines that a route change is necessary, the planned driving route is changed and the display command corresponding to the changed driving route is output to the display device.

6. 6. The vehicle behavior display system according to claim 5, wherein, when the determination unit determines that a route change is required, the behavior display command unit causes the display device to display, by the display command, a message indicating that a detour route is being searched for until the changed driving route is determined.

7. The vehicle behavior display system according to any one of claims 1 to 3, wherein the behavior display command unit manages a travel route of the public transportation system as the autonomous driving vehicle at an intersection as the predetermined area.

8. The vehicle behavior display system according to any one of claims 1 to 7, wherein the display device includes a mobile terminal present within the predetermined area in addition to a digital signage as the display member.

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