Vehicle control system

Abstract

To facilitate parking an automatic operation vehicle to a parking space from the outside of the vehicle.SOLUTION: A sensor 321 is mounted on an automatic operation vehicle 302 to detect a gesture of a user U around the vehicle. A control unit 311 of the vehicle 302 is provided with: a recognition unit 313 which recognizes the gesture as an instruction for moving the vehicle; and a vehicle drive mechanism 331 which drives the vehicle 2 based on the moving instruction. The control unit 311 generates a control signal (a pulse) based on the moving instruction, and the vehicle drive mechanism 331 into which the control signal is input moves the vehicle for every unit pulse.SELECTED DRAWING: Figure 17

Description

Technical Field

[0001] The present invention relates to a vehicle control system.

Background Art

[0002] In recent years, technologies for externally operating a driverless autonomous vehicle and moving it to a desired position such as a parking lot or a vehicle dispatch position have been developed. For example, Patent Document 1 (particularly, paragraphs 011-to 0115 of the specification, FIG. 8 of the drawings) discloses a technique for receiving an automatic parking instruction signal from a mobile device and executing automatic parking based on the parking location information of the automatic parking instruction signal. [[ID=X]]

Prior Art Documents

Patent Documents

[0003]

Patent Document No. 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] ]> According to the technique of Patent Document 1, there is a problem that even if there is space for the vehicle to approach when viewed by a person, the vehicle interval is set large by the automatic driving system, and the parking space cannot be saved. In addition, there is also a problem that it takes time and effort to refer to and acquire the setting method and operation method of the mobile device.

[0005] Therefore, an object of the present invention is to provide a vehicle control system for an autonomous vehicle that can easily approach the vehicle to a desired position from the outside of the vehicle.

Means for Solving the Problems

[0006] To solve the above problems, the vehicle control system of the present invention comprises a sensor mounted on an autonomous vehicle, a control means for controlling the vehicle based on input from the sensor, and a vehicle driving means for driving the vehicle based on a control signal input from the control means. The sensor detects the gestures of people around the vehicle, the control means includes a recognition means for recognizing the gestures as instructions for moving the vehicle, and the vehicle driving means moves the vehicle based on the instructions. [Effects of the Invention]

[0007] According to the vehicle control system of the present invention, sensors detect the gestures of people around the vehicle, and the autonomous vehicle is moved based on these gestures. This has the effect of allowing users to move the vehicle to their desired location based on their own senses. Furthermore, since the vehicle can be moved using gestures similar to those used to instruct conventional drivers, there is no need to learn how to set up the equipment again. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the vehicle information display system of Example 1. [Figure 2] This is a schematic diagram showing the side module. [Figure 3] Figure 1 is a block diagram of the vehicle information display system. [Figure 4] This is an explanatory diagram showing how information is projected onto the palm of the hand. [Figure 5] This is an explanatory diagram showing how information is projected onto the display in security mode. [Figure 6] This is an explanatory diagram showing how information is projected onto a screen. [Figure 7] This is an explanatory diagram showing how information is projected onto the knee area. [Figure 8] Figure 1 is a flowchart showing the operation of the vehicle information display system. [Figure 9] This is a schematic diagram showing a vehicle equipped with the vehicle information display device of Example 2. [Figure 10] It is a schematic diagram of the vehicle information display device of Example 2. [Figure 11] It is a block diagram of the vehicle information display device of FIG. 9. [Figure 12] It is an explanatory diagram showing a state of projecting information onto the palm. [Figure 13] It is an explanatory diagram showing a state of projecting information onto the display in the security mode. [Figure 14] It is an explanatory diagram showing a state of projecting information onto the screen. [Figure 15] It is an explanatory diagram showing a state of projecting information onto the knee. [Figure 16] It is a flowchart showing a display destination selection operation performed when displaying by the vehicle information display device of FIG. 9. [Figure 17] It is a schematic diagram of the vehicle control system of Example 3. [Figure 18] It is a block diagram of the vehicle control system of FIG. 17. [Figure 19] It is a schematic diagram of the side module. [Figure 20] It is an explanatory diagram showing a state of moving the vehicle by a gesture. [Figure 21] It is an explanatory diagram showing a state of moving the vehicle by voice. [Figure 22] It is an explanatory diagram showing a state of moving the vehicle while checking the minimum movement unit drawn on the road surface.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments in which the present invention is embodied in a vehicle information display system, a vehicle information display device, and a vehicle control system mounted on a shared car for autonomous driving will be described based on the drawings.

Examples

[0010] As shown in Figure 1, when the vehicle information display system 101 recognizes a user U using the shared car 102, it draws an image 151 on the road surface that includes hospitality information such as "Welcome!", as well as usage information such as destination and usage time.

[0011] As shown in Figure 2, the vehicle information display system 101 is mainly mounted on a side module 103 that displays information to the outside of the vehicle body. An AD marker (autonomous driving marker) 4 indicating the autonomous driving state is provided on the periphery of the side module 103.

[0012] As shown in Figure 3, the vehicle information display system 101 includes a display unit 114 that displays predetermined information to user U, a camera 120 for detecting user U using the shared car 102, a sensor 121 for measuring the environment in which the display unit 114 displays information, a storage unit 125 for storing information to be presented to user U, an external server 124 for distributing information to user U via cloud communication or wired communication, a control unit 111 for controlling the display unit 114, an actuator 122 for adjusting the position and orientation of the display unit 114, and an interface 123 for inputting information distributed from the external server 124. The sensor 121 can be a LiDAR, millimeter-wave radar, or voice sensor.

[0013] The display unit 114 includes a display 116, a drawing lamp 117 that draws an image generated by the image generation unit 112, and a projection surface 115 onto which the drawing lamp 117 projects the image. The projection surface 115 includes a screen 118, a road surface 119, and the user U's body, such as the palms or knees. The screen 118 is normally stored in a side module 103 and is extended from the side module 103 when projection is required (see Figure 6). The drawing lamp 117 can be a single type capable of drawing a fixed image, or a generation type capable of drawing freely using a DMD (Digital Micromirror Device), etc.

[0014] The control unit 111 includes an image generation unit 112 that generates an image 151 to be displayed on the display unit 114 based on information input from the storage unit 125 or the external server 124, and a display destination selection unit 113 that selects a display unit 114 to display the information according to the content of the information.

[0015] The display destination selection unit 113 performs facial recognition of user U based on the person captured by camera 120 and the usage information of the shared car 102 obtained from the external server 124. If user U is detected, it selects a display destination according to the content of the information to be displayed and the display environment.

[0016] The display destination selection unit 113 selects either the display 116 or the road surface 119 as the display destination if the information to be displayed does not include information related to security or privacy, such as "Welcome!". The display destination selection unit 113 also determines whether the road surface 119 is suitable as a display environment based on the measurement results input from the sensor 121. Situations where the road surface 119 is unsuitable as a display environment include, for example, if there are steps on the road surface 119 that may cause the drawing to be distorted, or if the road surface 119 is wet from rain or covered with snow, making the drawn information difficult to read.

[0017] If the display destination selection unit 113 determines that the road surface 119 is suitable as the projection target 115, it selects the indicator light 117 and the road surface 119 as the display destination. At this time, the image generation unit 112 generates a display image 151 based on the information to be displayed to the user U, and the control unit 111 outputs the image 151 to the indicator light 117. Conversely, if it determines that the road surface 119 is not suitable as the projection target 115, it selects the display 116 as the display destination. In this case, the control unit 111 causes the image 151 to be displayed on the display 116.

[0018] The display destination selection unit 113, for example, if the information to be displayed includes information related to security or privacy, such as "Mr. / Ms. XX" or "Your destination is XX," first displays guidance 152 on the display 116. For example, as shown in Figure 4, it displays "Please hold your hand over." At this point, the display destination selection unit 113 detects, based on the measurement results input from the sensor 121, whether or not the designated projection target 115, that is, the user U's hand, is held in a position where it can be projected.

[0019] Then, if user U's hand is detected, the control unit 111 selects user U's hand as the display destination and outputs an image 151 to be displayed on the drawing light 117. In this case, user U can look at their palm and confirm the image 151. On the other hand, if user U's hand cannot be detected, the display destination selection unit 113 selects the security mode display 116 as the display destination, as shown in Figure 5. As the security mode display 116, for example, a display configured so that the image 151 is visible only from the front of the display 116 can be used.

[0020] As shown in Figure 6, it is also possible to select screen 118 as the display destination, display "Please see the screen." on display 116, then extend screen 118 from side module 103 and project image 151.

[0021] Incidentally, some users U may have difficulty extending their hands or checking the screen 118. As shown in Figure 7, for example, if it is determined that user U is using a wheelchair based on information obtained from an external server 124, guidance 152 such as "Please move forward" or "Projecting onto your knees" is displayed on the display 116. Then, when the display target selection unit 113 detects user U's knees, it selects user U's knees as the display target, and the control unit 111 then outputs the image 151 to the drawing light 117. In this way, guidance 152 is displayed according to the user U's condition, and it is also possible to appropriately select a part of user U's body and use it as the projection target 115.

[0022] Next, the operation of the vehicle information display system 101 will be explained with reference to Figure 8. First, the display destination selection unit 113 detects user U based on the image input from camera 120 (S101) and acquires information to display to user U (S102). If the acquired information does not include security or privacy-related information (S103: No), it determines whether or not it is possible to draw on the road surface 119 based on the measurement results input from sensor 121. If it is determined that it is possible (S104: Yes), the display destination selection unit 113 selects the road surface 119 as the display destination, and the control unit 111 outputs the image 151 generated by the image generation unit 112 based on the information to be displayed to the drawing light 117 (S105, S106). Conversely, if it is determined that drawing is not possible, the display destination selection unit 113 selects the display 116 as the display destination, and the control unit 111 displays the image 151 on the display 116 (S107).

[0023] On the other hand, if the acquired information includes information related to security or privacy (S103:Yes), the process switches to security mode. First, the display destination selection unit 113 displays guidance 152 regarding the object to be projected 115, such as "Please hold your hand over it," on the display (S108). If the display destination selection unit 113 detects the object to be projected 115 based on the measurement results of the sensor 121 (S109:Yes), it selects the specified object to be projected 115 as the display destination, and the control unit 111 outputs an image 151 to the drawing lamp 117 (S110, S111). If the object to be projected 115 cannot be detected (S109:No), the image 151 is displayed on the display 116 in security mode (S112).

[0024] According to the vehicle information display system 101 configured as described above, the display destination is selected based on multiple conditions, including the content of the information to be displayed to the user U and the display environment. This has the effect of displaying the information in a more suitable environment while taking into consideration the privacy and security of the user U. [Examples]

[0025] As shown in Figures 9 and 10, when the vehicle information display device 201 recognizes a user U using the shared car 2, it displays hospitality information such as "Welcome!" on the display 216 and outputs an image 251 containing usage information such as destination and usage schedule from the indicator light 217. In addition, an AD marker (autonomous driving marker) 4 indicating the autonomous driving state is provided on the periphery of the vehicle information display device 3. Furthermore, while the vehicle information display device 201 is driving with user U on board, it can receive advertisements and news from the external server 224 and display them successively on the display 216.

[0026] As shown in Figures 9-11, the vehicle information display device 201 includes a display 216, a light 217, and a screen 218 that display predetermined information to the user U; a camera 220 for detecting the user U using the shared car 2; a sensor 221 for measuring the environment in which the display unit 214 displays information; a storage unit 225 for storing information to be presented to the user U; an external server 224 for distributing information to the user U via cloud communication or wired communication; a control unit 211 for controlling the vehicle information display device 201; an actuator 222 for adjusting the image drawing position and output direction of the light 217; and an interface 223 for inputting information distributed from the external server 224. At this time, the sensor 221 also functions as a sensor for detecting the user U. The sensor 221 can be a LiDAR, millimeter-wave radar, voice sensor, etc.

[0027] The display unit 214 includes a display 216, a drawing light 217 that draws an image generated by the image generation unit 212, and a projection surface 215 onto which the drawing light 217 projects the image. The projection surface 215 includes a screen 218, a road surface 219, and at least a part of the user U's body, such as the palms or knees. The screen 218 is normally stored in the vehicle information display device 201 and is extended from the vehicle information display device 201 when projection is required (see Figure 14). The drawing light 217 can be a single type capable of drawing a fixed image, or a generation type capable of drawing freely using a DMD (Digital Micromirror Device), etc.

[0028] The control unit 211 includes an image generation unit 212 that generates an image 251 to be output from the display 216 and drawing lamp 217 based on information input from the storage unit 225 and the external server 224, and a display destination selection unit 213 that selects a display unit 214 to display the information according to the content of the information.

[0029] The display destination selection unit 213 performs facial recognition of user U based on the image of user U captured by camera 220 and the usage information of Share Car 2 obtained from external server 224. If user U is detected, the unit selects a display destination according to the content of the information to be displayed and the display environment.

[0030] The display destination selection unit 213 selects either the display 216 or the road surface 219 as the display destination if the information to be displayed does not include security or privacy-related information, such as a hospitality image like "Welcome!". The display destination selection unit 213 also determines whether the road surface 219 is suitable as a display environment based on the measurement results input from the sensor 221. Situations where the road surface 219 is unsuitable as a display environment include, for example, if there are steps on the road surface 219 that may cause the drawing to be distorted, or if the road surface 219 is wet from rain or covered with snow, making the drawn information difficult to read.

[0031] If the display destination selection unit 213 determines that the road surface 219 is suitable as the projection target 215, it selects the indicator light 217 and the road surface 219 as the display destination. At this time, the image generation unit 212 generates a display image 251 based on the information to be displayed to the user U, and the control unit 211 outputs the image 251 to the indicator light 217. Conversely, if it determines that the road surface 219 is not suitable as the projection target 215, it selects the display 216 as the display destination. In this case, the control unit 211 displays the image 251 on the display 216.

[0032] If the information to be displayed includes security or privacy-related information, such as "Mr. / Ms. XX," "Your destination is XX," or credit card information, financial institution information, user's address, workplace, or family information, the display destination selection unit 213 first displays guidance 252 on the display 216. For example, as shown in Figure 12, it displays "Please hold your hand over." At this point, the display destination selection unit 213 detects whether the designated projection target 215, that is, the user U's hand, is held over a position where it can be projected, based on the measurement results input from the sensor 221.

[0033] Then, when the sensor 221 detects user U's hand, which is at least a part of user U's body, within the projection range A of the drawing light 217, the control unit 211 selects user U's hand as the display destination and outputs the image 251 to be displayed on the drawing light 217. After that, the drawing light 217 starts projecting onto user U's hand. In this case, user U can look at their palm and confirm the image 251. On the other hand, if user U's hand cannot be detected, the display destination selection unit 213 selects the security mode display 216 as the display destination, as shown in Figure 13. As the security mode display 216, for example, a display 216 configured so that the image 251 is visible only from the front of the display 216 can be used.

[0034] As shown in Figure 14, it is also possible to select screen 218 as the display destination, display "Please see the screen." on display 216, then extend screen 218 from the vehicle information display device 201 and project image 251.

[0035] However, some users U may have difficulty extending their hands or checking the screen 218. As shown in Figure 15, for example, if it is determined that user U is using a wheelchair based on information obtained from an external server 224, guidance 252 such as "Please move forward" or "Projecting onto your knees" is displayed on the display 216. Then, when the display target selection unit 213 detects user U's knees, which are at least a part of user U's body, within the projection range A of the drawing lamp 217, it selects user U's knees as the display target, and the control unit 211 then outputs an image 251 to the drawing lamp 217. After that, the drawing lamp 217 starts projection. In this way, guidance 252 is displayed according to the user U's condition, and it is also possible to appropriately select a part of user U's body and use it as the projection target 215.

[0036] Next, the operation of the vehicle information display device 201 in displaying information will be explained with reference to Figure 16. First, the display destination selection unit 213 detects the user U based on the image input from the camera 220 (S201) and acquires information to display to the user U (S202). If the acquired information does not include security or privacy-related information (S203: No), it determines whether or not it is possible to draw on the road surface 219 based on the measurement results input from the sensor 221. If it is determined that it is possible (S204: Yes), the display destination selection unit 213 selects the road surface 219 as the display destination, and the control unit 211 outputs the image 251 generated by the image generation unit 212 based on the information to be displayed to the drawing light 217 (S205, S206). Conversely, if it is determined that it is not possible to draw, the display destination selection unit 213 selects the display 216 as the display destination, and the control unit 211 displays the image 251 on the display 216 (S207).

[0037] On the other hand, if the acquired information includes information related to security or privacy (S203:Yes), the process switches to security mode. First, the display destination selection unit 213 displays guidance 252 regarding the object to be projected 215, such as "Please hold your hand over it," on the display (S208). If the display destination selection unit 213 detects the object to be projected 215 based on the measurement results of the sensor 221 (S209:Yes), it selects the specified object to be projected 215 as the display destination, and the control unit 211 outputs an image 251 to the drawing lamp 217 (S210, S211). If the object to be projected 215 cannot be detected (S209:No), the image 251 is displayed on the display 216 in security mode (S212).

[0038] With the vehicle information display device 201 configured as described above, the indicator light 217 is configured to start projection when the sensor 221 detects at least a part of the user's body, which is the object to be projected onto 215, within the projection range A of the indicator light 217. As a result, user U can view information while concealing it from the eyes of others with their own body. Therefore, it has the effect of displaying information related to user U's privacy and security in a way that is difficult for others to see. [Examples]

[0039] As shown in Figures 17-19, the vehicle control system 301 consists of a side module 303 including a sensor 321 mounted on the autonomous vehicle 302, a control unit 311 that controls the vehicle 302 based on input from the sensor 321, a vehicle drive mechanism 331 that drives the vehicle 302 based on a control signal input from the control unit 311, and a second drawing light 32 (see Figure 22) that projects an image 352 representing the minimum unit of movement onto the road surface. The vehicle drive mechanism 331 includes a mechanism for moving the vehicle 302, such as drive wheels. Here, the minimum unit of movement refers to the small distance d (see Figure 22) that the vehicle 302 moves as a result of the vehicle drive mechanism 331 operating in accordance with the 1-pulse control signal generated by the control unit 311.

[0040] The side module 303 includes a display unit such as a display 316, a first light 317, and a screen 318 that display predetermined information to the user U; a camera 320 for detecting the user U around the vehicle and performing facial recognition; a sensor 321 for detecting the user U's gestures and voice; a storage unit 325 for storing information to be output to the display 316 and / or the first and second light 17 and 32; and an interface 323 for transmitting control signals from the control unit 311 to the vehicle drive mechanism 331 and the second light 332. The interface 323 also has a function for inputting information distributed from an external server (not shown).

[0041] As shown in Figure 19, an AD marker (autonomous driving marker) 4 indicating the autonomous driving state is provided on the periphery of the side module 303. The sensor 321 can be a LiDAR, millimeter-wave radar, or voice sensor, and it is possible to use the sensor 321 to measure the driving environment, such as road surface conditions, ambient light around the vehicle, and distance to other vehicles. Alternatively, the camera 320 can be used to perform facial recognition of user U, and if authentication is successful, the user U's gestures can be input again from the sensor 321.

[0042] The control unit 311 includes an image generation unit 312 that generates images 351 and 52 for output from the display 316 and the first and second lighting lights 17 and 32 based on information input from the storage unit 325 and an external server, and a recognition unit 313 that recognizes the gesture of user U detected by the sensor 321 as an instruction for vehicle movement. At this time, the control unit 311 also performs the process of sending a control signal to the vehicle drive mechanism 331 based on the recognized instruction.

[0043] The image generation unit 312 generates images 351 and 352 to be output to the display 316 and the first and second drawing lights 17 and 32. Image 351 output to drawing light 17 can be projected onto the screen 318, the road surface around the vehicle, or parts of the user U's body such as the palms or knees of the user U. The screen 318 is normally stored in the side module 303 and is extended from the side module 303 when projection is required. The drawing light 17 can be a single type capable of drawing fixed images, or a generation type capable of free drawing using a DMD (Digital Micromirror Device), etc. As shown in Figure 19, it is also possible to display the automatic driving mode on the display 316 and display guidance on the road surface using the first drawing light 317.

[0044] The recognition unit 313 recognizes vehicle movement instructions by performing actions, voice recognition, and lip-reading based on lip movements, based on information such as images, videos, and distance input from the sensor 321. Recognition methods include pattern matching based on predetermined image / video information and sound information, and AI that has undergone deep learning of vehicle movement gestures and voice commands. Examples of gestures include waving the hand or arm or pointing with a finger in the direction the vehicle 302 is to move. Alternatively, the user's facial expressions may be used as gestures. Examples of voice commands include "Go" and "Back." Examples of lip movements include making the mouth shape to pronounce voice commands such as "Go" and "Back."

[0045] Furthermore, the recognition unit 313 determines the direction of movement and the number of movements of the vehicle 302 based on the recognized vehicle movement instruction. For example, the direction of movement may be determined by the direction of the gesture, and the number of repetitions of the gesture may be determined by the number of movements. Alternatively, the direction of movement may be determined based on the speech recognition result, lip-reading result, the positional relationship between user U and vehicle 302, and the number of times the voice or lip movement is repeated may be determined by the number of movements. In this case, for example, if the voice recognition is "Go, go," the number of movements may be determined to be 2. In addition, a method can be adopted in which the direction of movement and the number of movements are determined by using a combination of instructions based on gestures, speech recognition results, and lip-reading results.

[0046] The control unit 311 generates a control signal that includes information on the direction of movement and the number of movements determined by the recognition unit 313. In particular, the number of movements is transmitted by the number of pulses in the control signal. For example, if user U gives an instruction only once, one pulse of the control signal is transmitted. Then, the vehicle drive mechanism 331 performs an operation corresponding to one pulse, and the vehicle 302 moves by the minimum unit of movement, distance d (see Figure 22).

[0047] The second indicator light draws an image 352 on the road surface around the vehicle 302, indicating the distance d, which is the smallest unit of movement, to assist user U in approaching the vehicle. The image 352 to be drawn only needs to be able to identify the distance d, and may be lines drawn parallel to each other at intervals of d. Furthermore, the second indicator light can draw on the road surface in the direction of movement of the vehicle 302 for a predetermined time after the user U's instruction is recognized.

[0048] Next, the operation of the vehicle control system 301 will be explained based on Figures 20-22. As shown in Figure 20, when user U makes an arm-waving gesture, sensor 321 detects the gesture, and the recognition unit 313 of the control unit 311 recognizes an instruction for vehicle movement based on the information input from sensor 321. Also, as shown in Figure 21, when user U makes a sound such as "go" or "back up," sensor 321 detects the sound and the deformation of user U's lips, and the recognition unit 313 of the control unit 311 recognizes an instruction for vehicle movement based on the information input from sensor 321. At this time, the system may be configured to recognize the direction approaching user U as forward and the direction moving away from user U as backward. The instruction for vehicle movement includes the direction of vehicle movement and the number of movements, and the control unit 311 generates a control signal based on these instructions and transmits it to the vehicle drive mechanism 331. The vehicle drive mechanism 331 operates with each pulse, moving the vehicle 302 in minimum movement units.

[0049] The control unit 311 also transmits a control signal to the second indicator light 332. As shown in Figure 22, the second indicator light 332 projects an image 352 onto the road surface along the direction of movement of the vehicle 302, showing the distance d, which is the minimum unit of movement. At this time, if there is an obstacle W such as a wall in the direction of travel of the vehicle 302, a part of the image 352 is projected onto the obstacle W. By checking the image 352 projected onto the road surface and the obstacle W, the user U can determine the number of times the vehicle can pull up and the limit position B of the vehicle's movement.

[0050] With the vehicle control system 301 configured as described above, the sensor 321 receives gestures from a user U outside the vehicle, and the recognition unit 313 recognizes the instructions for moving the vehicle. As a result, the user U does not need to operate any special devices, and the vehicle 302 can be easily moved. It also has the effect of allowing people to visually confirm the position of the vehicle 302 and move the vehicle to their desired position. Furthermore, because the number of gesture instructions is correlated with the number of control pulses, it also has the effect of allowing the vehicle to be moved gradually and slowly.

[0051] It should be noted that the present invention is not limited to the embodiments described above, and it is possible to implement the invention by appropriately changing the shape and configuration of each part without departing from the spirit of the invention. For example, the sensor 321 can be installed in front of and / or behind the vehicle 302 to detect the gestures, voice, and lip movements of the user U in front of or behind the vehicle. [Explanation of Symbols]

[0052] 101 Vehicle Information Display System 102 Shared Car 103 Side Module 104 AD Marker 111 Control Unit 112 Image generation unit 113 Display Destination Selection Section 114 Display section 115 Projected object 116 displays 117 Drawing light 118 screens 119 Road surface 120 Cameras 121 Sensors 122 Actuators 123 Interface 124 External Servers 125 Storage section 151 images 152 Guidance 201 Vehicle Information Display Device 204 AD Marker 211 Control Unit 212 Image generation unit 213 Display Destination Selection Section 214 Display section 215 Projected object 216 displays 217 Drawing light 218 screens 219 Road surface 220 Cameras 221 Sensors 222 Actuator 223 Interface 224 External Servers 225 Storage section 251 images 252 Guidance 301 Vehicle control system 302 vehicles 303 Side Module 304 AD Marker 311 Control Unit 312 Image generation unit 313 Recognition part 316 displays 317 1st drawing light 318 screens 320 Camera 321 Sensors 323 Interface 325 Storage section 331 Vehicle drive mechanism 332 2nd drawing light 351,352 images A Projection range B Travel limit position W Obstacle U User

Claims

1. The system comprises sensors mounted on an autonomous vehicle, control means for controlling the vehicle based on input from the sensors, vehicle driving means for driving the vehicle based on control signals input from the control means, and a projecting light for projecting an image onto the road surface around the vehicle. The aforementioned drawing light projects an image representing the smallest unit of movement onto the road surface. The aforementioned sensor detects the gestures of a person in the vicinity of the vehicle, The control means includes recognition means for recognizing the gesture as an instruction for moving the vehicle, The vehicle driving means moves the vehicle based on the instruction, The control means outputs a control signal to the vehicle drive means based on the instruction. The vehicle driving means is characterized by moving the minimum movement unit for each unit pulse of the control signal.

2. The vehicle control system according to claim 1, wherein the indicator light projects an image on the road surface indicating the vehicle's limit of movement.

3. The aforementioned sensor detects voices from people around the vehicle, The vehicle control system according to claim 1 or 2, wherein the control means includes a voice recognition means that recognizes the detected voice as the instruction.

4. The aforementioned sensor detects the movement of a person's lips around the vehicle, The control means includes lip-reading means that recognize the detected lip movements as instructions. A vehicle control system according to any one of claims 1 to 3.

Images