Mobile vehicles and platooning systems

Abstract

To transmit presence of a movable body and a state of the movable body to a pedestrian or a low-speed vehicle around the movable body.SOLUTION: A movable body 100 travels a travel path 300. A display emission unit 150 of the movable body 100 emits, to travel paths 300 on both sides of the movable body 100, road surface display 30 including a feature portion 31 serving as a mark representing a position of the movable body and a direction display unit 32 extending from the feature portion 31 to the front and back of a movement direction in which the movable body travels. The road surface display 30 forms a shape sandwiching the movable body 100 from both sides of a right and left direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a moving body and a platooning system. [Background technology]

[0002] Development is underway on mobile vehicles such as PMVs and AMRs that can travel autonomously or manually at low speeds within facilities. PMV is an abbreviation for Personal Mobility Vehicle. AMR is an abbreviation for Autonomous Mobile Robot. The development of mobile vehicles such as PMVs and AMRs has the following objectives: to complement the last mile of autonomous driving for automobiles, to provide assistance to those with limited mobility who do not own cars, to be used in facilities where cars cannot enter, or to provide unmanned services within facilities. In recent years, PMVs and AMRs have been developed that are capable of platooning, where multiple moving vehicles travel in a line.

[0003] For example, when a moving vehicle such as a PMV or AMR is traveling within a facility, it is expected that there will be pedestrians or slow-moving vehicles nearby, so it is necessary to communicate the vehicle's status to those around it in an easy-to-understand manner.In particular, in facilities such as shopping centers, senior care facilities, or entertainment facilities, it is expected that there will be many elderly or young pedestrians, so it is important to communicate the vehicle's status to those around it in an easy-to-understand manner.

[0004] Patent Document 1 discloses a technology for projecting information about a vehicle onto the road surface behind the vehicle based on vehicle information indicating the driving state of the vehicle alone. Patent Document 1 also discloses a technology for notifying following vehicles when the vehicle alone decelerates or makes an emergency stop. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6922881 Summary of the Invention [Problem to be solved by the invention]

[0006] The technology of Patent Document 1 makes it possible to transmit the status of the vehicle to following vehicles. However, since Patent Document 1 is based on automobiles, information about the vehicle is displayed in large letters on the road surface behind the vehicle to present the information to following vehicles. Therefore, the technology of Patent Document 1 has a problem in that it is difficult to transmit information about the vehicle to surrounding pedestrians or passengers of the vehicle when the vehicle is moving slowly within a facility.

[0007] The mobile body according to the present disclosure aims to notify surrounding pedestrians or passengers in slow-moving vehicles of the presence and state of the mobile body. [Means for solving the problem]

[0008] A moving body according to the present disclosure is a moving body that travels on a travel path, A road surface marking including a characteristic portion serving as a landmark indicating the position of the moving body and a direction display portion extending from the characteristic portion before and after the moving direction in which the moving body is traveling, The front end in the moving direction is located on the travel path between the front end and rear end of the moving body, and the rear end in the moving direction is located on the travel path behind the rear end of the moving body. The vehicle includes a display illumination unit that illuminates road surface indications onto the road on both sides of the vehicle. [Effects of the Invention]

[0009] In the mobile body according to the present disclosure, the display illumination unit includes a characteristic portion that serves as a landmark indicating the position of the mobile body, and direction indicators that extend from the characteristic portion to the front and rear of the direction of travel of the mobile body, and illuminates road markings that sandwich the mobile body from both the left and right onto the road on both sides of the mobile body. Thus, the mobile body according to the present disclosure has the effect of being able to communicate the presence and status of the mobile body to nearby pedestrians or passengers in slow-moving vehicles. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a diagram showing an example of the overall configuration of a vehicle platooning system according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of a moving object according to the first embodiment. [Figure 3] FIG. 10 is a diagram showing another example of a moving object according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of a platoon traveling state of a platoon according to the first embodiment. [Figure 5] FIG. 2 is a schematic diagram showing an example of a platoon traveling state of a platoon according to the first embodiment, viewed from above. [Figure 6] FIG. 10 is a schematic diagram showing another example of a platoon traveling state of the platoon according to the first embodiment, viewed from above. [Figure 7] 3A and 3B are schematic diagrams showing an example of a platoon traveling state of a platoon according to the first embodiment and a comparative example, as viewed from above. [Figure 8] FIG. 3 is a schematic diagram showing a procession according to the first embodiment moving backward. [Figure 9] 4A and 4B are diagrams showing an example of a trajectory display and an example of a communication status display in a formation according to the first embodiment. [Figure 10] FIG. 2 is a diagram showing a first control example of the vehicle platooning system according to the first embodiment. [Figure 11] FIG. 4 is a diagram showing a second control example of the vehicle platooning system according to the first embodiment. [Figure 12] FIG. 10 is a diagram showing an example in which an abnormality display is illuminated in a formation according to the first modification of the first embodiment. [Figure 13] FIG. 10 is a diagram showing another example in which an abnormality display is illuminated in a formation according to the second modification of the first embodiment. [Figure 14] FIG. 10 is a diagram showing an example of use of a formation according to the fourth modification of the first embodiment. [Figure 15] FIG. 13 is a diagram showing an example of a platoon of multiple vehicles according to a fifth modification of the first embodiment. [Figure 16] FIG. 2 is a diagram showing a state in which an abnormal moving object is present in a formation according to the first embodiment. [Figure 17] FIG. 10 is a diagram showing an example of a single moving body according to the second embodiment. [Figure 18] FIG. 1 shows a first example of a hardware configuration of a computer used in the first and second embodiments. [Figure 19]FIG. 2 shows a second example of the hardware configuration of a computer used in the first and second embodiments. [Figure 20] FIG. 2 is a diagram showing a specific example of the configuration of each device provided in a moving object according to the first to third embodiments. [Figure 21] FIG. 2 is a diagram illustrating route following control in the vehicle platooning systems according to the first to third embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present embodiment will be described below with reference to the drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals. In the description of the embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate. Furthermore, the size relationships of the components in the drawings below may differ from the actual ones. Furthermore, in the description of the embodiment, directions or positions such as up, down, left, right, front, rear, front and back may be indicated. These notations are provided for the convenience of explanation and do not limit the arrangement, direction or orientation of devices, instruments, parts, etc.

[0012] Embodiment 1 ***Configuration Description*** FIG. 1 is a diagram showing an example of the overall configuration of a vehicle platooning system 500 according to this embodiment. Platooning system 500 includes a plurality of moving objects that travel in a platoon on road 300, and control device 200 that communicates with each of the plurality of moving objects. Mobile object 100 and control device 200 communicate via a network or the cloud. Platooning system 500 groups the plurality of moving objects traveling in a platoon into a platoon 400 and controls the platooning of platoon 400.

[0013] The mobile object 100 is a mobile object such as a PMV or AMR that travels autonomously or manually on a travel path 300 within a facility. Facilities such as shopping centers, senior care facilities, and entertainment facilities are expected to have many elderly and young pedestrians. It is also expected that low-speed mobile objects such as PMVs and AMRs provide services within the facilities. Therefore, it is important to clearly communicate to those around the mobile object 100 the status of a platoon 400 of multiple mobile objects traveling in formation. PMVs are manned vehicles that move at low speeds within facilities. PMVs can switch between autonomous and manual driving. AMRs are unmanned vehicles that move autonomously at low speeds within facilities.

[0014] The mobile object 100 includes an integrated sensor unit 110, a GNSS positioning device 120, a control device 130, an autonomous mobile device 140, and a display illumination unit 150. GNSS is an abbreviation for Global Navigation Satellite System.

[0015] The control device 200 includes a control unit 210. The control unit 210 has a function for controlling the platooning of a convoy 400 made up of a plurality of moving objects while communicating with a moving object 100 included in the plurality of moving objects. Each of the moving body 100 and the control device 200 is equipped with a computer for realizing the respective functions. The hardware configuration of the computer will be described later.

[0016] For example, a mobile body 100 traveling in a platoon transmits the state of its own vehicle as platoon vehicle group information to the control device 200. The control device 200 receives the platoon vehicle group information of each mobile body from the mobile bodies 100 traveling in a platoon, and transmits information such as route information or an abnormality response command to each mobile body based on the platoon vehicle group information of each mobile body.

[0017] There are various methods for platooning a plurality of moving objects using the platooning system 500, such as the following methods (1) to (3). (1) The control device 200 transmits route information to the mobile object 100 via the network. This route information is route information for the convoy 400. The mobile object 100 travels along the route indicated by the route information while adjusting its positional relationship with the mobile objects in front and behind it using the integrated sensor unit, the GNSS positioning device, the control device, and the autonomous mobile device. (2) Information from the integrated sensor unit and the GNSS positioning device in the moving body 100 is transmitted from the moving body 100 to the control device 200. Then, individual route information corresponding to each moving body is transmitted from the control device 200 to each moving body. (3) The control device 200 transmits route information only to the leading mobile unit in the convoy. The other mobile units use the integrated sensor unit, GNSS positioning device, control device, and autonomous mobile device to adjust their positions relative to the mobile units in front and behind the leading mobile unit and travel in convoy following the leading mobile unit.

[0018] The method for controlling platooning by the platooning system 500 may be other than the method described above.

[0019] FIG. 2 is a diagram showing an example of a moving object 100 according to this embodiment. FIG. 3 is a diagram showing another example of the moving body 100 according to this embodiment. 2 shows a PMV that autonomously travels with a person on board as the moving body 100. The PMV can also switch from autonomous travel to manual travel. The PMV basically travels at low speed with a person on board. In FIG. 3, the moving body 100 is an unmanned AMR that autonomously travels within a facility and provides services.

[0020] As shown in FIGS. 2 and 3, the moving body 100 is provided on its rear surface with a display illuminating unit 150 that illuminates road markings 30 onto the road surface of a road 300. Specifically, the display illumination unit 150 is a floodlight such as an LED. LED is an abbreviation for Light-Emitting Diode. As shown in FIGS. 2 and 3 , the display illumination unit 150 may be disposed on the back surface of the vehicle 100, or on the bottom surface of the vehicle 100. If the vehicle 100 has a seat portion for carrying passengers, the display illumination unit 150 may be disposed below the seat portion. Alternatively, the vehicle 100 may be configured with a pole extending upward, with the floodlight disposed on top of the pole. The display illumination unit 150 may be disposed in any position as long as it can illuminate the road surface markings 30 on the road surface of the travel path 300. Note that when the display illumination unit 150 is disposed below the seat portion of the vehicle 100 or around the wheels, the distance between the display illumination unit 150 and the road surface becomes closer, and therefore the display illumination unit 150 can illuminate the road surface markings 30 with greater brightness.

[0021] The display illumination unit 150 may also be a combination of multiple projectors. The display illumination unit 150 is capable of illuminating the ground with various road markings 30 that differ in the number of tracks, type of line, pattern, color, or shape. In this way, by changing the number of tracks, type of line, pattern, color, or shape, the road markings 30 can convey information about the formation and the mobile units, such as the trajectory of the formation, the communication status of the mobile units, and the distinction of the formation to which the mobile units belong.

[0022] FIG. 4 is a diagram showing an example of platooning of a platoon 400 according to this embodiment. The display projection unit 150 projects road markings 30 extending forward and backward in the direction of travel of the moving object 100 onto both sides of the moving object 100 . As shown in Figure 4, in a convoy 400 in which multiple moving bodies 100 travel in formation, the road markings 30 illuminated by each of the multiple moving bodies are connected or close to each other, and the connected or close road markings 30 sandwich the convoy 400 on both sides.

[0023] FIG. 5 is a schematic diagram showing an example of a traveling state of a convoy 400 according to this embodiment, viewed from above. 5, the road marking 30 illuminated by the display illumination unit 150 has a front end 311 located on the roadway 300 between the front end 101 and rear end 102 of the moving object 100. Also, a rear end 312 of the road marking 30 is located on the roadway 300 behind the rear end 102. In this way, the display illumination unit 150 illuminates the road markings 30 on the roadway 300 on both sides behind the moving object 100 or on both sides closer to the rear.

[0024] The road markings 30 are also irradiated onto the road 300 on both sides behind the moving body 100, sandwiching the rear of the moving body 100 from both the left and right sides. The road marking 30 includes a characteristic portion 31 that serves as a landmark indicating the position of the moving body 100, and direction display portions 32 that extend from the characteristic portion 31 in front of and behind the direction of travel of the moving body 100. The characteristic portion 31 is a portion of the road marking 30 that has a characteristic shape.

[0025] In Fig. 5, the road markings 30 are projected in an L-shape on both sides of the moving object 100, sandwiching the moving object from both the left and right sides. In other words, the road markings 30 form a pair of opposing doglegs. In the road markings 30 in Fig. 5, the parts including the corners of the L-shape are characteristic parts 31, and the straight lines extending in the front-to-rear direction from the characteristic parts 31 are directional indicators 32.

[0026] FIG. 6 is a schematic diagram showing an example of a traveling state of a convoy 400 according to this embodiment, viewed from above. The road marking 30 may have a shape other than that shown in FIG. 6, the road markings 30 may be projected in a curved shape on both sides of the moving object 100 so as to sandwich the moving object 100 from both the left and right sides. In this case, the part including the apex of the curve becomes the characteristic part 31, and the curve extending from the characteristic part 31 in the forward and backward directions becomes the direction display part 32.

[0027] The road surface marking 30 may be of any shape as long as it has a characteristic feature 31 that serves as a landmark indicating the position of the moving body 100 and a direction display section 32 extending from the characteristic feature 31 in front of and behind the direction of travel in which the moving body 100 is traveling. 5 and 6, the direction display unit 32 extends from the characteristic portion 31 toward the moving object 100. However, the direction display unit 32 may extend in a direction gradually moving away from the moving object 100 from the characteristic portion 31. Furthermore, the direction display unit 32 may extend from the characteristic portion 31 substantially parallel to the trajectory 310. Furthermore, the direction display unit 32 may extend continuously from the characteristic portion 31, or may extend in contact with the characteristic portion 31, or may extend from a position close to the characteristic portion 31.

[0028] Furthermore, the characteristic portion 31 may be a mark having a characteristic shape such as a circle, a triangle, a square, or a star. Furthermore, the characteristic portion 31 may be a portion including an intersection of two straight lines, an intersection of two curved lines, a bend of a line, or an inflection point of a curve. An inflection point is a point where a line bends. An inflection point is a point where a curve changes from concave to convex or vice versa.

[0029] FIG. 7 is a schematic diagram showing an example of the traveling state of the convoy 400 according to the present embodiment and a comparative example, as viewed from above. As shown in Fig. 7, the road markings 30 according to this embodiment are displayed slightly further behind the moving body than in the comparative example. Therefore, when the moving body is at the front, it is easy to identify the leading moving body. For moving bodies other than the leading moving body, the road markings 30 are illuminated on the entire roadway on the side of the moving body. On the other hand, for the leading moving body, the road markings 30 are illuminated only on the roadway on the side behind the moving body. Furthermore, since the road markings 30 are displayed slightly behind the moving object, it is easier to identify that the moving object is the tail end of the road compared to the comparative example. For the tail end moving object, the road markings 30 are illuminated on the road from the rear side of the moving object to the rear of the moving object. If the road markings 30 extending to the rear of the moving object end, it is clear that the moving object is the tail end of the road.

[0030] The road markings 30 of each moving body in the convoy 400 are connected consecutively or closely together, forming an overall arcuate or straight trajectory. Because the road markings 30 are displayed as a series of distinctively shaped landmarks, the convoy is easy for people and other vehicles in the vicinity to recognize.

[0031] Furthermore, the road markings 30 are not simply straight lines, but are shaped to consist of characteristic features 31 and direction indicators 32 that serve as markers indicating the position of the moving body. As a result, the road markings 30 of the platoon 400 are made up of a series of markers with distinctive shapes, compared to the comparative example, which is made up of a series of simple straight lines. The road markings 30 with a series of markers with distinctive shapes are highly visible or distinguishable to sensors on other vehicles or people in the vicinity. It is also easy for people in the vicinity to grasp the position of the platoon or the sense of distance from the platoon. Here, the sensors refer to sensors mounted on other slow-moving vehicles, sensors carried by pedestrians to prevent collisions, etc.

[0032] Furthermore, the road markings 30 are displayed on both sides of the moving bodies slightly behind them, with distinctively shaped markers displayed in a line, making it easy to understand how the bodies are arranged in formation. For example, even when the moving body formation is traveling around a curve, the trajectory is easy to understand, making it possible to avoid collisions. Also, it makes it easy for people nearby to recognize the status of the moving bodies in the formation, such as whether the gaps within the formation are too close or too wide. Furthermore, because the distinctively shaped markers are displayed in a line, it is easy for people nearby to recognize the status of the formation even if they are somewhat separated from the formation.

[0033] FIG. 8 is a schematic diagram showing a state in which the convoy 400 according to this embodiment is moved backward. The top diagram shows PMVs or AMRs traveling in a convoy. A case will be described where the convoy 400 moves forward in the opposite direction from the upper stage. Moving forward in the opposite direction means moving backward.

[0034] If the moving object 100 is a PMV, the control device will instruct the PMVs traveling in the platoon to move backward or travel along the opposite route, as shown in the middle diagram. As shown in the middle diagram, all PMVs in the platoon will rotate on the spot before moving forward. This allows the rear vehicle to become the leading vehicle, eliminating the need to switch the road surface markings 30 depending on the direction of travel. Furthermore, if the PMV is driven in reverse autonomously, the occupant (operator) will feel uneasy, so it is preferable to rotate the vehicle on the spot before driving it forward.

[0035] When the moving object 100 is an AMR, the control device causes the AMR traveling in a convoy to move backward, as shown in the lower diagram. In the case of a trash can-shaped AMR, such as the one shown in Figure 3, the concept of forward and backward directions is lost depending on how the equipment is attached. Therefore, when the moving object 100 is an AMR, road markings 30 are displayed that extend forward and backward in the direction of travel, with the direction of travel as the reference.

[0036] FIG. 9 is a diagram showing an example of a trajectory display and an example of a communication status display in a formation 400 according to this embodiment. As described above, in the procession 400 according to this embodiment, the display projection unit 150 can change the number of trajectories to be projected, the type of line, pattern, color, shape, etc. This makes it possible to display information such as the trajectory of the procession 400, the communication status, and the distinction of the formation to which each moving object belongs.

[0037] 9, the road markings 30 are displayed as arrows to indicate the direction of the trajectory of the convoy 400. A solid line indicates a good communication state, and a dotted line indicates a poor communication state. The manner in which convoys are distinguished by the number of road markings will be described later.

[0038] In this way, the road surface markings for platoons according to this embodiment make it easier for nearby people or slow-moving vehicles to understand the direction of the trajectory and communication status of the mobile bodies traveling in platoon, thereby helping to avoid collisions. Furthermore, in the case of AMRs in particular, this enables cooperative behavior between people and AMRs.

[0039] <Control Example 1 of Platooning System 500> FIG. 10 is a diagram showing a first control example of the vehicle platooning system 500 according to this embodiment. Control example 1 of the vehicle platooning system 500 is as follows. The mobile object 100 follows the planned route transmitted from the control device 200 and travels along it. The mobile object 100 performs self-localization and route tracking by SLAM processing using sensor detection data and digital map information, i.e., point cloud data. SLAM is an abbreviation for Simultaneous Localization and Mapping. The rear moving body adjusts the distance to the forward moving body so that it falls within a specified range based on sensor information (distance image information, shape information (light position and arrangement, etc.)) that captures the forward moving body. People or vehicles in the vicinity recognize the specific convoy and the front and rear by looking at the road markings 30. They also recognize specific moving objects participating in the convoy from the positional relationship between the moving object and the characteristic feature 31.

[0040] <Control Example 2 of Platooning System 500> FIG. 11 is a diagram showing a second control example of the vehicle platooning system 500 according to this embodiment. Control example 2 of the vehicle platooning system 500 is as follows. The following moving body adjusts its position so that at least a part of the following moving body is within the area sandwiched between the road markings 30 on both sides of each moving body. The moving object in front performs self-location and path tracking using SLAM processing, which uses detection data from sensors (lidar, IR / near-infrared cameras, etc.) and digital map information, i.e., point cloud data. The characteristic parts of the road markings on both sides of the moving object in front are included within the sensor detection area (camera angle of view) of the moving object. The characteristic parts of the road surface markings 30 of the forward moving body, as well as the position and azimuth angle (and the position of the front part) of the rear moving body, captured by the rear sensor (camera) of the forward moving body, are transmitted to the rear moving body. SLAM processing is unnecessary or reduced for the rear moving body. Image SLAM is not required for the rear moving body at night.

[0041] ***Other Configurations*** <Variation 1> FIG. 12 is a diagram showing an example in which an abnormality indicator 35 is illuminated in a formation 400 according to the first modification of the present embodiment. In the first modification of this embodiment, a case will be described in which a mobile object in which an abnormality has been detected is present among the mobile objects traveling in a formation while displaying road surface markings 30. When the display projection unit 150 of the moving body 100 detects an abnormality in the moving body 100, it projects an abnormality display 35 onto the travel path 300 between the front and rear ends of the moving body 100. The travel path 300 between the front and rear ends of the moving body 100 is the travel path 300 corresponding to the side of the moving body 100. The abnormality display 35 indicates that an abnormality has been detected. It is preferable that the abnormality display 35 has a shape different from the road markings 30 displayed by other normal moving bodies. In FIG. 12, a triangular display is projected onto the travel path 300 as the road marking 30.

[0042] When the moving body 100 detects an abnormality in its own vehicle, the moving body 100 may display the abnormality display 35 by the display projection unit 150 itself. Alternatively, as described in FIG. 1, when each of the moving bodies 100 transmits the status of its own vehicle to the control device 200, the control device 200 may detect an abnormality in the moving body and cause the display illumination unit 150 of the moving body that has detected the abnormality to display an abnormality display 35. Alternatively, if the leading moving body in the convoy 400 aggregates information on the following moving bodies and transmits it to the control device 200, the control device 200 may detect an abnormality based on the information on the moving bodies transmitted from the leading moving body and instruct the leading moving body to display an abnormality display 35 on the moving body that detected the abnormality.

[0043] If one vehicle in the convoy 400 is acting independently or has a communication error, that vehicle projects a specific pattern indicating that it is abnormal as an abnormality indicator 35. This prevents people in the vicinity from approaching the abnormal vehicle, contributing to the safety of those around and the vehicle. In addition, the abnormality indicator 35 may be used to notify those around that the vehicle has switched from autonomous driving to manual driving.

[0044] <Variation 2> FIG. 13 is a diagram showing another example in which an abnormality display 35 is illuminated in a formation 400 according to the second modification of the present embodiment. In the first modification of the present embodiment, a case where an abnormality is detected in a moving body traveling in a formation while displaying road surface markings 30 has been described. In the second modification, a case where a plurality of moving bodies are traveling in a formation without displaying road surface markings, and the display projection unit 150 of a moving body in which an abnormality has been detected displays the abnormality mark 35, will be described.

[0045] When a display illumination unit 150 of a moving body 100 included in a plurality of moving bodies traveling in a formation on a travel path detects an abnormality in the moving body 100, the display illumination unit 150 illuminates an abnormality display 35 indicating that an abnormality has been detected on the travel path 300 between the front end and rear end of the moving body 100. Even if a moving body 100 included in a plurality of moving bodies traveling in a formation simply displays the abnormality display 35 when it detects an abnormality, it has the effect of calling attention to those in the vicinity.

[0046] The mobile objects may have a function to display a pattern indicating normality when normal and a pattern indicating abnormality when abnormal, in addition to the road markings 30 described in embodiment 1. In other words, the mobile objects may travel in formation while displaying either a pattern indicating normality or a pattern indicating abnormality. The mobile body may also be configured to display the road surface markings 30 described in the first embodiment while also displaying the abnormality markings 35 in the event of an abnormality.

[0047] <Variation 3> In a third modification of this embodiment, an example of how to deal with a case where one vehicle in the convoy 400 is acting independently or in a communication abnormality state will be described. The abnormality will be handled as follows: (a1) A mobile unit belonging to the formation detects an abnormal mobile unit. For example, an abnormality such as a sensor malfunction, poor communication status, or insufficient battery is detected in one of the mobile units in the formation. An abnormality can be detected, for example, by the mobile unit's abnormal behavior. (a2) A mobile unit that detects an abnormal mobile unit notifies the control device of the abnormality. (a3) The control device receives the notification of the abnormality and issues a command to respond to the notification of the abnormality. The abnormality display 35 is illuminated either at the time of detection (a1) or at the time of air traffic control response (a3).

[0048] The response of the control device in (a3) ​​above is, for example, as follows: In response to a moving object that has become separated from the formation due to a movement that differs from the formation, the abnormal moving object is returned to its normal position, and the other normal moving objects are made to wait until the abnormal moving object is reunited. If recovery is possible, the abnormal moving object will wait for it to catch up and move in formation. On the other hand, if recovery is not possible, the abnormal mobile unit is moved to a maintenance space and a replacement mobile unit is sent there.

[0049] <Variation 4> FIG. 14 is a diagram showing an example of use of a formation 400 according to the fourth modification of this embodiment. In a fourth modification of this embodiment, the use of a convoy 400 will be described. The control device can operate the formation order of the mobile bodies, the formation route, road surface markings or abnormality markings in the formation, and stopping positions for each formation. By managing each convoy in this way, the convoy can be used as route guidance signs in emergencies, and to define dangerous areas, etc. In emergencies, signs and route guidance can be displayed using moving vehicles, and surrounding pedestrians can be guided to safety. Furthermore, it is also possible to provide performances by the moving bodies. For example, by running the platoon 400 at night, the platoon traveling system 500 can produce elaborate attractions, such as guiding passengers on the moving bodies 100 on a night tour.

[0050] <Variation 5> FIG. 15 is a diagram showing an example of a convoy of a plurality of vehicles 400 traveling in a convoy according to a third modification of the present embodiment. The platooning system 500 controls a plurality of platoons 400 . The control unit 210 of the control device 200 causes the display projection unit 150 of each moving body to display the road surface markings 30 so that a different road surface marking 30 is projected for each of the plurality of convoys 400 . In Figure 15, convoy A displays a triple-line road surface marking 30, convoy B displays a double-line road surface marking 30, and convoy C displays a single-line road surface marking 30. The dotted lines in convoys A and B indicate poor communication conditions, while the solid lines in convoy C indicate good communication conditions.

[0051] As shown in Figure 15, by displaying road markings 30 that distinguish the platoon 400 based on the number of tracks, nearby people or vehicles can visually distinguish which platoon 400 each of the multiple moving objects traveling in the platoon belongs to. Note that nearby people or vehicles include pedestrians, passengers in following vehicles, and passengers in surrounding vehicles. Sensors on following vehicles or surrounding vehicles are also included.

[0052] ***Explanation of the effect of this embodiment*** According to the mobile body of this embodiment, the trajectory of the formation, the communication status of the formation, the formation to which each mobile body belongs, and abnormal individuals in the formation can be communicated to those around in an easy-to-understand manner, thereby providing the following effects. People in the vicinity can understand the trajectory or any abnormalities of the platoon, and can prevent collisions with moving vehicles. -When multiple convoys are assumed, people in the vicinity can understand which convoy each moving object belongs to, which helps prevent collisions with the convoys. If one vehicle in the convoy is acting independently or has an abnormal communication status, not only the administrator but also people around the vehicle will be able to identify the abnormal vehicle, allowing them to take safety measures such as preventing the vehicle from approaching a dangerous moving object. - It will enable cooperative actions between people and mobile devices, especially AMRs.

[0053] FIG. 16 is a diagram showing a state in which an abnormal PMV exists in a convoy 400 according to this embodiment. The moving body according to this embodiment makes it easier for people in the vicinity to recognize a moving body in the convoy 400 that has become abnormal or switched to manual driving. A moving body that has become abnormal or manually driven can be quickly identified, and collisions with that moving body can be reliably avoided. People in the vicinity can notice a convoy that includes an abnormal moving body and will not approach the convoy, thereby avoiding accidents.

[0054] For example, as shown in FIG. 16, passengers in a following vehicle can easily notice an abnormality in the preceding vehicle and can take safety measures. Furthermore, by combining it with a control system, it is possible to enhance response to abnormalities in the platoon. When a PMV approaches an abnormal PMV, surrounding PMVs can take measures such as making an emergency stop, contributing to the safety of surrounding people and vehicles. For example, if the vehicle in front becomes abnormal, an emergency stop switch can be activated to prevent an accident.

[0055] According to the mobile body of this embodiment, it is possible to display road surface markings so that the trajectory of the platoon is clear. Therefore, the trajectory of all the mobile bodies traveling in the platoon can be grasped, and collisions can be avoided. Even when the mobile bodies are traveling around a curve, the trajectory can be understood, so collisions can be avoided.

[0056] The mobile body according to this embodiment can display road markings to indicate the communication status. This allows people in the vicinity to understand the communication status of all mobile bodies traveling in a convoy, helping to avoid collisions. For example, safety measures can be taken, such as warning people not to get too close because the communication situation is poor and they may behave unexpectedly. Furthermore, by controlling the control device, a convoy with poor communication status can be guided to an area with good communication status, allowing the status to be restored.

[0057] The moving body according to this embodiment can mark the road surface so that each moving body in the formation can be distinguished from the others, allowing people nearby to recognize the multiple moving bodies traveling in the formation and preventing others from cutting in on the formation. In addition, it becomes easier to adjust routes when multiple convoys are moving in parallel. As shown in Figure 14, when multiple convoys are traveling, the routes of each convoy can be clearly understood, making it easier to adjust the routes. This allows for safety measures such as ensuring that the convoys do not overlap. In addition, even if there is a large distance between vehicles in one part of the convoy, it is clear that they are still in the same convoy, which can prevent vehicles from cutting in unreasonably.

[0058] Embodiment 2 In this embodiment, differences from and additions to the first embodiment will be mainly described. In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

[0059] In the first embodiment, a moving object included in a plurality of moving objects traveling in a formation has been mainly described. In this embodiment, a single moving body 100 having the same functions as in the first embodiment will be described.

[0060] FIG. 17 is a diagram showing an example of a single moving body 100 according to this embodiment. The moving body 100 according to this embodiment is a single moving body that is not traveling in a platoon. The moving body 100 according to this embodiment is, for example, an AMR.

[0061] The display projection unit 150 of the moving body 100 projects road markings 30 onto a roadway 300 on both sides of the moving body 100. The road markings 30 include a characteristic portion 31 that serves as a landmark indicating the position of the moving body, and direction display portions 32 that extend from the characteristic portion 31 in front of and behind the direction of travel of the moving body 100. The road markings 30 are shaped to sandwich the moving body 100 from both the left and right sides. Also in this embodiment, the display projection unit 150 of the moving body 100 can project an abnormality display 35. The shapes and types of the road markings 30 and the abnormality markings 35 are the same as those in the first embodiment.

[0062] ***Explanation of the effect of this embodiment*** According to the mobile body 100 of this embodiment, it is possible to grasp the status of the mobile body 100, such as the movement route of the mobile body 100, the communication status, and whether there are any abnormalities, making it easier for people in the vicinity to use the mobile body 100. For example, Figure 16 shows a trash can-type AMR that functions as a mobile trash can. Users of the trash can-type AMR can understand the trash can-type AMR's movement path, communication status, and whether there are any abnormalities, so they can use the trash can-type AMR with peace of mind.

[0063] <Explanation of the hardware configuration of the computer used in the first and second embodiments> A computer is mounted on each of the moving bodies 100 and the control device 200 included in the platooning system 500 described above in the first and second embodiments. The hardware configuration of the computer will be described below. Here, the computer of the control device 200 will be described as an example.

[0064] ***Hardware Configuration Description*** FIG. 18 is a diagram showing a first example of a hardware configuration of a computer used in the above-described embodiment.

[0065] The control device 200 is a computer. The control device 200 includes a processor 910, as well as other hardware such as a memory 921, an auxiliary storage device 922, an input / output interface 930, and a communication interface 950. The processor 910 is connected to the other hardware via a signal line 80 and controls the other hardware.

[0066] The processor 910 is a device that executes a platooning program. The platooning program is a program that realizes the functions of the control device 200. The platooning program is also a program that realizes the functions of the mobile object 100. The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0067] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is a HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0068] The input / output interface 930 is an interface for connecting an input / output device. Specific examples of the input / output interface 930 include a USB or HDMI (registered trademark) port. USB is an abbreviation for Universal Serial Bus. HDMI (registered trademark) is an abbreviation for High-Definition Multimedia Interface.

[0069] The communication interface 950 is an interface for communicating with an external device, and is specifically an Ethernet (registered trademark) port or a device for wireless communication.

[0070] The vehicle platooning program is executed by the control device 200. The vehicle platooning program is read into the processor 910 and executed by the processor 910. Memory 921 stores not only the vehicle platooning program but also an OS. OS is an abbreviation for Operating System. The processor 910 executes the vehicle platooning program while executing the OS. The vehicle platooning program and the OS may be stored in an auxiliary storage device 922. The vehicle platooning program and the OS stored in the auxiliary storage device 922 are loaded into the memory 921 and executed by the processor 910. Note that part or all of the vehicle platooning program may be incorporated into the OS.

[0071] The control device 200 may include multiple processors that replace the processor 910. These multiple processors share the task of executing the platooning program. Each processor is a device that executes the platooning program, just like the processor 910.

[0072] Data, information, signal values, and variable values ​​used, processed, or output by the platooning program are stored in memory 921, auxiliary storage device 922, or registers or cache memory within processor 910.

[0073] The "part" of each part of the control device 200 may be read as a "circuit," "process," "procedure," "process," or "circuitry." The platooning program causes a computer to execute each process, with the "part" of each part of the control device 200 read as a "process." The "process" of each process of the control device 200 may be read as a "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." Furthermore, the platooning method is a method carried out by the control device 200 executing the platooning program. The vehicle platooning program may be provided by being stored in a computer-readable recording medium, or may be provided as a program product.

[0074] In the first example of the hardware configuration, the functions of the respective units of the control device 200 are realized by software. As a modification, the functions of the respective units of the control device 200 may be realized by hardware. Specifically, the control device 200 includes an electronic circuit 909 instead of a processor 910 .

[0075] FIG. 19 is a diagram showing a second example of the hardware configuration of a computer used in the above embodiment. The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of each part of the control device 200. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0076] The functions of each unit of the control device 200 may be realized by one electronic circuit, or may be distributed and realized by multiple electronic circuits.

[0077] As another modification, some of the functions of each unit of the control device 200 may be realized by electronic circuits, and the remaining functions may be realized by software. Also, some or all of the functions of each unit of the control device 200 may be realized by firmware.

[0078] Each of the processors and electronic circuits is also called a processing circuitry. In other words, the functions of each part of the control device 200 are realized by the processing circuitry. Although the computer of the control device 200 has been described as an example, the same explanation can be applied to a computer mounted on the moving body 100.

[0079] Embodiment 3 In this embodiment, a detailed description will be given mainly of the path following control based on the position and planned position of each moving object in the platooning system 500 described in the first embodiment. In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

[0080] FIG. 20 is a diagram showing a specific example of the configuration of each device included in the moving object 100 according to this embodiment. FIG. 20 shows a specific example of the configuration of each of the integrated sensor unit 110, the GNSS positioning device 120, the control device 130, and the autonomous mobile device 140 shown in FIG.

[0081] The integrated sensor unit 110 includes a 3D lidar, a depth camera, and an ultrasonic sensor. The depth camera is a camera that visualizes distance information to an object in a camera image, and is, for example, an IR (infrared spectroscopy) or near-infrared camera. The GNSS positioning device 120 is a high-precision positioning device equipped with a GNSS receiving antenna and a GNSS receiver. The control device 130 is a control PC (Personal Computer). The autonomous mobile device is equipped with a speed steering control device.

[0082] The mobile object 100 includes, as functional elements, a self-positioning unit, a formation data recognition unit, a path following control unit, a map data unit, and a SLAM control unit. The functions of each functional element will be described later. The self-positioning unit is realized by a lidar, depth camera, and GNSS positioning device. The formation data recognition unit is realized by a depth camera and a control PC. The path tracking control unit is realized by the control PC. The map data section is realized by a storage device in the control PC. The SLAM control unit is realized by the lidar and control PC. The mobile units recognize and follow the vehicle ahead. The formation data is transmitted from the control device to each mobile unit and stored in the control PC.

[0083] FIG. 21 is a diagram illustrating the path following control in the vehicle platooning system 500 according to this embodiment. The following describes the path following control based on the position and planned position of each moving body in the platooning system 500, and the correction of the inter-vehicle distance based on the distance to the surrounding vehicle measured by a sensor.

[0084] The control device manages the platoon data for each vehicle. The control device manages the platoon group ID of each platoon vehicle group and the vehicle ID corresponding to the column number of each platoon vehicle group. For example, platoon group 1 consists of vehicles with column numbers 1, 2, ..., N. Vehicles with different vehicle IDs are assigned to column number N of each platoon group M. M and N are positive integers. For example, the vehicle in column number 1 of platoon group 1 is assigned vehicle ID i, the vehicle in column number 2 is assigned vehicle ID j, and the vehicle in column number N is assigned vehicle ID k (i ≠ j, k ≠ i, k ≠ j). Platoon group 2 similarly consists of column numbers 1, 2, ..., N, each assigned a different vehicle ID. i, j, and k are positive integers.

[0085] The control device generates and manages a driving route plan for each vehicle ID corresponding to the column number of each platoon group for each platoon group ID of each platoon vehicle. The control device transmits the generated driving route plan for each vehicle ID to each vehicle. The route following control unit of each vehicle's control PC generates a route plan so that each vehicle passes each passing point in sequence according to the driving route plan. For example, the driving route data wMN of the driving route plan corresponding to a platoon vehicle with platoon group ID M and column number N (N = 1 is the first) is composed of multiple 3D coordinate data wMNi = (xMNi, yMNi, zMNi) (i = 1 to P) (P is a positive integer) that represent the passing points of the planned driving route.

[0086] Platoon vehicle 11 of platoon group M, column number 1, passes through coordinates w111 = (x111, y111, z111) during movement process K1. At this time, platoon vehicle 12 of column number 2 passes through coordinates w121 = (x121, y121, z121), and platoon vehicle 13 of column number 3 passes through coordinates w131 = (x131, y131, z131). Next, platoon vehicle 11 passes through coordinates w112 = (x112, y112, z112) during movement process K2, platoon vehicle 12 passes through coordinates w122 = (x122, y122, z122), and platoon vehicle 13 passes through coordinates w132 = (x132, y132, z132). In this way, a travel route plan is created so that vehicles 11, 12, and 13 form a convoy in order and pass through the passing points on their respective travel routes in turn. Figure 21 shows that vehicles move in the order of travel steps K1 → K2 → K3.

[0087] Furthermore, the difference d1 between w111 and w121, and the difference d2 between w121 and w131 are each set to a predetermined standard inter-vehicle distance. This standard inter-vehicle distance differs depending on the characteristics of the vehicle. The standard inter-vehicle distance may also be set to vary depending on the vehicle's traveling speed. For example, d1 and d2 at a speed of v are d1(v) and d2(v). d1(6) at a speed of 6 km / h is larger by f(v) than d1(0) at a speed of zero. For example, f(v) = v^2 + bv + c may be used.

[0088] The map data unit of each vehicle stores map data in the memory device of the control PC. The self-positioning unit of each vehicle determines its own position and attitude based on map data, a lidar, a depth camera, and a GNSS positioning device. Attitude refers to orientations such as roll angle, pitch angle, and yaw angle relative to the vehicle-based local coordinate system, or the vehicle-based direction vector. The GNSS positioning device determines its own position by tightly combining observation data of satellite positioning signals from the GNSS, positioning augmentation information, and measurement data of acceleration and angular velocity information measured by the IMU. IMU is an abbreviation for Inertial Measurement Unit.

[0089] The SLAM control unit performs SLAM processing using point cloud data of surrounding features and objects measured by the lidar, point cloud data of surrounding features and objects measured by the depth camera, and point cloud data in pre-obtained map data to estimate the vehicle's position and orientation. Hybrid positioning is performed based on the observation data for obtaining the vehicle's position and orientation measured by the GNSS positioning device and the observation data for obtaining the vehicle's position and orientation obtained by SLAM processing, and the vehicle's position and attitude are determined.

[0090] Each vehicle transmits its observed position and attitude to the control device in association with its vehicle ID. The control device stores and preserves the vehicle ID, the platoon group ID M corresponding to the vehicle ID, the convoy number N, the travel route data wMNi, the observed position and attitude, and the measurement time of the vehicle, in the vehicle position management data section of the server.

[0091] The platoon data recognition unit uses a depth camera attached to the front of the vehicle to perform image recognition of a mark on the back of the leading vehicle and image track the mark. Image tracking detects the distance to the mark of the leading vehicle, as well as the relative direction or lateral deviation of the mark on the leading vehicle. At night, a light attached to the front of the vehicle illuminates the back of the leading vehicle to perform image recognition of the mark, and identifies whether the mark in the tracking image is related to a vehicle that makes up the platoon. Identification may also be performed by comparing with a preset recognition pattern image.

[0092] The platoon data recognition unit detects the area where the rear of the vehicle in front is located using point cloud data observed from the area around the mark on the rear of the vehicle in front, which is image-tracked by the lidar. The point cloud is a group of laser points observed from the distance and direction from the vehicle body around the mark on the rear of the vehicle in front. The platoon data recognition unit may then obtain the distance and direction to the detected area where the rear is located and / or the vehicle shape, and detect the distance to the vehicle in front, and the relative direction or lateral deviation of the vehicle in front. The platoon data recognition unit may also estimate the relative azimuth angles of the vehicles from the vehicle shapes corresponding to the vehicles that have been obtained in advance. If the mark in the tracking image is identified as being related to a vehicle in the platoon as a result of mark identification, the approximate position of the vehicle in front is estimated from the distance to the mark of the vehicle being tracked in the image and the relative orientation (lateral deviation) of the vehicle in front. The approximate position is estimated by taking into account the relative position of the mark to the vehicle's position reference (center of gravity position, sensor installation position, vehicle body reference position, etc.).

[0093] In addition, the platoon data recognition unit may obtain position information of the nearest passing points of the vehicle itself and the vehicle ahead by communicating with the control device, calculate the difference in position and direction, etc., and add this difference to the position and direction, etc. observed by the vehicle itself to determine the estimated approximate position of the vehicle ahead. Specifically, the platoon data recognition unit obtains position information of the nearest passing points of the own vehicle and the preceding vehicle by storing in the vehicle data periodically distributed from the control device, or by storing in the vehicle data distributed from the control device in response to a request from the vehicle. More specifically, the platoon data recognition unit obtains position information of the nearest passing points of the own vehicle and the preceding vehicle from the platoon vehicle group ID corresponding to the vehicle ID of the own vehicle, the column numbers of the own vehicle and the preceding and following vehicles in the platoon, and the driving route data wMN of the own vehicle and the preceding and following vehicles in the platoon.

[0094] The platoon data recognition unit also communicates with the control device to reference the position data for the platoon vehicle group ID corresponding to the vehicle ID of the vehicle itself and the vehicle IDs corresponding to the column numbers of the vehicle itself and the vehicles ahead and behind it in the platoon. This position data is stored in the vehicle position management data of the control device in association with each vehicle ID. The platoon data recognition unit then acquires the latest (most recent) position data of the vehicle itself and the vehicles ahead based on the referenced position data. The platoon data recognition unit may detect the distance to the leading vehicle and the relative direction or lateral deviation of the leading vehicle from the position difference and attitude angle difference between the own vehicle and the leading vehicle based on the acquired position data. Alternatively, the platoon data recognition unit may obtain estimated values ​​of the position and attitude of the leading vehicle through communication between the own vehicle and the leading or trailing vehicle, and detect the distance difference and direction difference between the own vehicle and the leading vehicle.

[0095] In addition, the platoon data recognition unit recognizes that a vehicle other than the platoon vehicle managed by the platoon data has cut in under the following circumstances. - When the position of the vehicle ahead of the vehicle stored in the position data of the control device and the position of the vehicle ahead estimated from the distance and direction measured by the vehicle's integrated sensor unit (3D lidar + ultrasonic sensor + depth camera) deviate more than the specified amount at the same time or in the vicinity. If the mark on the rear of the vehicle is different from that of the pre-set vehicle in the convoy When communication is performed between the vehicle in front or behind and the vehicle in question, a vehicle with a vehicle ID different from the vehicle in the platoon managed in the platoon data is mixed in.

[0096] The path following control unit corrects the distance to the vehicle ahead based on its distance and relative position using the results of detection of the distance to the vehicle ahead and the relative direction (lateral deviation) of the vehicle ahead, detected by a depth camera or lidar, or a combination sensor thereof, mounted on the front of the vehicle. Based on these detection results, the path following control unit corrects the distance to the vehicle ahead and adjusts the steering angle so that the distance and relative direction to the vehicle ahead are within a preset tracking distance range. When the second vehicle from the front adjusts its distance, the following vehicles (third and fourth) further adjust their distances, and the distance between each vehicle is corrected.

[0097] In the above first to third embodiments, each unit of each device of the vehicle platooning system 500 has been described as an independent functional block. However, the configuration of each device of the vehicle platooning system 500 does not have to be as in the above-described embodiments. The functional blocks of each device of the vehicle platooning system 500 may have any configuration as long as they can realize the functions described in the above-described embodiments. Furthermore, it is possible to combine multiple parts of the first to third embodiments. Alternatively, it is possible to implement only one part of this embodiment. In addition, it is possible to implement this embodiment in any combination, either as a whole or in part. That is, in the first to third embodiments, the embodiments can be freely combined, or any of the components in each embodiment can be modified, or any of the components in each embodiment can be omitted.

[0098] It should be noted that the above-described embodiments are essentially preferred examples and are not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, and the scope of use of the present disclosure. The above-described embodiments can be modified in various ways as necessary.

[0099] Various aspects of the present disclosure are summarized below as appendices.

[0100] (Appendix 1) In a moving object traveling on a road, A road surface marking comprising a characteristic feature that serves as a landmark indicating the position of the moving body and direction display units extending from the characteristic feature in front of and behind the direction of travel of the moving body, the road surface marking having a shape that sandwiches the moving body from both left and right sides, and a display illumination unit that illuminates the roadway on both sides of the moving body. (Appendix 2) The display illumination unit is A moving body as described in Appendix 1, in which the road surface markings are illuminated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including a corner of the L-shape being the characteristic portion, and straight lines extending forward and backward from the characteristic portion in the direction of movement being the direction display portion. (Appendix 3) The display illumination unit is A moving body as described in Appendix 1, in which the road surface markings are projected in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including an apex of the curved shape being the characteristic portion, and curves extending forward and backward from the characteristic portion in the direction of movement being the direction display portion. (Appendix 4) The display illumination unit is A mobile body as described in any one of Supplementary Note 1 to Supplementary Note 3, which, when an abnormality is detected in the mobile body, illuminates an abnormality indication, different from the road surface indication, on the driving path between the front end and the rear end of the mobile body to indicate that the abnormality has been detected. (Appendix 5) The display illumination unit is 5. The moving body according to any one of Supplementary Note 1 to Supplementary Note 4, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking. (Appendix 6) The display illumination unit is 6. A mobile body according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the road markings indicate a communication status of the mobile body by a type of line. (Appendix 7) In a moving object included in a plurality of moving objects traveling in a platoon on a travel path, A moving body provided with a display illumination unit that illuminates road markings onto the roadway on both sides behind the moving body, the road markings extending in front and behind the direction of travel in which the moving body is traveling, with the front end of the road marking in the direction of travel being located on the roadway between the front and rear ends of the moving body and the rear end of the road marking in the direction of travel being located on the roadway behind the rear end of the moving body. (Appendix 8) 8. The moving body according to claim 7, wherein the road markings are illuminated onto the road on both sides behind the moving body in the direction of movement so as to sandwich the road on both left and right sides behind the moving body in the direction of movement. (Appendix 9) The display illumination unit is 9. The moving body according to claim 8, wherein the road marking is provided with a characteristic feature that serves as a landmark indicating the position of the moving body, and a direction indicator extending from the characteristic feature before and after the direction of movement. (Appendix 10) The display illumination unit is A moving body according to any one of Supplementary Note 7 to Supplementary Note 9, wherein the road markings are illuminated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with areas including corners of the L-shape being characteristic areas that serve as landmarks indicating the position of the moving body, and straight lines extending from the characteristic areas forward and backward in the direction of movement being the direction indicators. (Appendix 11) The display illumination unit is A moving body according to any one of Supplementary Note 7 to Supplementary Note 9, wherein the road markings are projected in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including an apex of the curved shape being a characteristic portion that serves as a landmark indicating the position of the moving body, and curves extending from the characteristic portion forward and backward in the direction of movement being the direction indicator. (Appendix 12) The display illumination unit is A mobile body as described in any one of Supplementary Note 7 to Supplementary Note 11, which, when an abnormality is detected in the mobile body, illuminates an abnormality mark on the road between the front end and rear end of the mobile body, indicating that the abnormality has been detected, and which is different from the road markings displayed by other normal mobile bodies. (Appendix 13) The display illumination unit is 13. The moving body according to any one of Supplementary Note 7 to Supplementary Note 12, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement on the road surface marking. (Appendix 14) The display illumination unit is A mobile body according to any one of Supplementary Note 7 to Supplementary Note 13, wherein the road markings indicate a communication status of the mobile body by a type of line. (Appendix 15) In a moving object included in a plurality of moving objects traveling in a platoon on a travel path, A mobile body including a display illumination unit that, when an abnormality is detected in the mobile body, illuminates an abnormality display on the travel path between the front end and rear end of the mobile body, indicating that the abnormality has been detected. (Appendix 16) The moving body according to any one of Supplementary Note 1 to Supplementary Note 15, wherein the moving body is a PMV (Personal Mobility Vehicle) or an AMR (Autonomous Mobile Robot) that travels at a low speed on the travel path within the facility. (Appendix 17) A platooning system includes a plurality of moving bodies that travel in a platoon on a travel path and a control device that communicates with each of the plurality of moving bodies, and controls the plurality of platoons by forming the plurality of moving bodies into a platoon, A moving body included in the plurality of moving bodies is a display illumination unit that illuminates road markings extending forward and backward in the direction of travel of the moving body on the road on both sides of the moving body, The control device A convoy driving system including a control unit that causes the display illumination unit of each of the plurality of moving bodies included in the convoy to display the road surface markings so as to illuminate different road surface markings for each of the plurality of moving bodies included in the convoy. [Explanation of symbols]

[0101] 30 road surface markings, 31 characteristic parts, 32 direction display unit, 35 abnormality display, 311 front end, 312 rear end, 100 moving body, 101 front end, 102 rear end, 110 integrated sensor unit, 120 GNSS positioning device, 130 control device, 140 autonomous moving device, 150 display illumination unit, 200 control device, 210 control unit, 300 driving path, 400 formation, 909 electronic circuit, 910 processor, 921 memory, 922 auxiliary storage device, 930 input / output interface, 950 communication interface.

Claims

1. In a moving object traveling on a road, a display illumination unit that illuminates the road surface marking, which includes a characteristic portion serving as a landmark indicating the position of the moving body and direction indicator portions extending from the characteristic portion at the front and rear of the moving direction in which the moving body is traveling, and in which the front end of the road surface marking in the moving direction is located on the traveling path between the front end and rear end of the moving body and the rear end of the road surface marking in the moving direction is located on the traveling path behind the rear end of the moving body, onto the traveling path on both sides of the moving body; A mobile body comprising:

2. The display illumination unit is The light is irradiated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, 2. The vehicle according to claim 1, wherein the road marking is illuminated with a characteristic portion including a corner of the L-shape, and a straight line extending from the characteristic portion forward and backward in the direction of travel as the direction indicator.

3. The display illumination unit is The light is irradiated in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, 2. The vehicle according to claim 1, wherein the road marking is illuminated with a characteristic portion including a vertex of the curved shape, and a curve extending from the characteristic portion forward and backward in the direction of travel as the direction indicator.

4. The display illumination unit is When an abnormality is detected in the moving body, a The moving body according to claim 1 , wherein an abnormality indication, which indicates that the abnormality has been detected and is different from the road surface indication, is illuminated.

5. The display illumination unit is The moving body according to any one of claims 1 to 3, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking.

6. The display illumination unit is 4. The mobile body according to claim 1, wherein the road marking indicates a communication state of the mobile body by a type of line.

7. A moving body traveling on a road, a road surface marking including a characteristic portion serving as a landmark indicating the position of the moving body and direction display portions extending from the characteristic portion in front of and behind the moving direction in which the moving body is traveling, the road surface marking including a shape sandwiching the moving body from both left and right sides, and a display illumination portion illuminating the road surface marking onto the traveling path on both sides of the moving body; The display illumination unit is The road surface marking indicates the communication status of the mobile unit by the type of line. Mobile object.

8. In a moving object included in a plurality of moving objects traveling in a platoon on a travel path, A moving body provided with a display illumination unit that illuminates road markings onto the roadway on both sides behind the moving body, the road markings extending in front and behind the direction of travel in which the moving body is traveling, with the front end of the road marking in the direction of travel being located on the roadway between the front and rear ends of the moving body and the rear end of the road marking in the direction of travel being located on the roadway behind the rear end of the moving body.

9. The moving body according to claim 8 , wherein the road markings are illuminated on the road on both sides behind the moving body in the moving direction so as to sandwich the road on both left and right sides behind the moving body in the moving direction.

10. The display illumination unit is The moving body according to claim 9 , wherein the road markings are provided with a characteristic portion serving as a landmark indicating the position of the moving body, and direction indicators extending from the characteristic portion before and after the moving direction.

11. The display illumination unit is The light is irradiated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, 11. A moving body according to claim 8, wherein a portion including a corner of the L-shape is a characteristic portion that serves as a landmark indicating the position of the moving body, and the road marking is illuminated with a direction indicator that is a straight line extending from the characteristic portion forward and backward in the direction of movement.

12. The display illumination unit is The light is irradiated in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, 11. A moving body according to claim 8, wherein a portion including a vertex of the curved shape is a characteristic portion that serves as a landmark indicating the position of the moving body, and the road marking is illuminated with a direction indicator that is a curve extending from the characteristic portion in front of and behind the moving direction.

13. The display illumination unit is When an abnormality is detected in the moving body, a The mobile body according to any one of claims 8 to 10, wherein an abnormality indication indicating that the abnormality has been detected is illuminated, the abnormality indication being different from the road surface indications displayed by other normal mobile bodies.

14. The display illumination unit is The moving body according to any one of claims 8 to 10, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking.

15. The display illumination unit is 11. The mobile body according to claim 8, wherein the road marking indicates a communication status of the mobile body by a type of line.

16. In a moving object included in a plurality of moving objects traveling in a platoon on a travel path, A mobile body including a display illumination unit that, when an abnormality is detected in the mobile body, illuminates an abnormality display on the travel path between the front end and rear end of the mobile body, indicating that the abnormality has been detected.

17. 9. The mobile body according to claim 1, wherein the mobile body is a PMV (Personal Mobility Vehicle) or an AMR (Autonomous Mobile Robot) that travels at a low speed on the travel path within a facility.

18. A platooning system includes a plurality of moving bodies that travel in a platoon on a travel path and a control device that communicates with each of the plurality of moving bodies, and controls the plurality of platoons by treating the plurality of moving bodies that travel in a platoon as a platoon, A moving body included in the plurality of moving bodies is a display illumination unit that illuminates road markings extending forward and backward in the direction of travel of the moving body on the road on both sides of the moving body, The control device a control unit that causes the display illumination unit of each of the plurality of moving bodies included in the convoy to display the road surface markings so as to illuminate different road surface markings for each of the plurality of convoys; Platooning system.

Images