Vehicle operation system

Abstract

To provide a vehicle operation system that performs operation of a target vehicle through communication, and to prevent the occurrence of a situation in which efficient traffic is inhibited in the transition of authority to operate the target vehicle (operation authority).SOLUTION: A vehicle operation system includes one or more processors. The one or more processors are configured to execute the following first processing to third processing. The first processing is to establish communication with a first vehicle while the first vehicle travels in an authority transition zone before a vehicle stop position where a user gets off from a target vehicle. The second processing is to start vehicle identification processing for identifying the first vehicle as the target vehicle while the first vehicle travels in a vehicle identification zone before the vehicle stop position. The third processing is to complete transition of authority from the user after completion of the vehicle identification processing.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This disclosure relates to a technique for performing operations on a target vehicle through communication.

Background Art

[0002] In recent years, as services for vehicles, various functions for performing operations on a target vehicle through communication have been considered. For example, as one such function, automatic valet parking (AVP) in a parking lot can be cited. Patent Document 1 discloses a conventional general AVP system. Patent Document 1 discloses that after a user (occupant) parks the vehicle at a drop-off position (drop-off area), communication establishment, authentication, etc. are performed upon receiving the operation of the terminal device at the drop-off position.

[0003] In addition, there are the following Patent Documents 2 or 3 as documents showing the technical level of this technical field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In functions such as AVP, in order to start operating the target vehicle, it is necessary to complete a procedure to transfer the authority to operate the target vehicle (operational authority) from the user of the target vehicle to the system. Conventionally, as disclosed in Patent Document 1, the procedure for transferring operational authority is performed after the vehicle has stopped at the drop-off location. On the other hand, the transfer of operational authority requires at least the establishment of communication with the target vehicle and the completion of the identification of the target vehicle (identification can also be rephrased as authentication), and these procedures take a certain amount of time. For this reason, in the conventional technology, a vehicle that has stopped at the drop-off location will remain stopped in place for a while until the transfer of operational authority is completed. A vehicle occupying a space for a long period of time hinders efficient traffic and is undesirable.

[0006] One of the purposes of this disclosure is, in light of the above-mentioned issues, to prevent situations in which efficient traffic is disrupted when control authority is transferred in relation to technology that allows the operation of target vehicles via communication. [Means for solving the problem]

[0007] One aspect of this disclosure relates to a vehicle operation system that transfers the authority to operate a target vehicle from the user of the target vehicle and operates the target vehicle via communication. The vehicle operation system includes one or more processors. The one or more processors are configured to establish communication with the first vehicle while the first vehicle is traveling through an authority transfer zone before the vehicle stopping position where the user exits the target vehicle, to initiate a vehicle identification process to identify the first vehicle as the target vehicle while the first vehicle is traveling through a vehicle identification zone before the vehicle stopping position, and to complete the transfer of authority from the user after the completion of the vehicle identification process. [Effects of the Invention]

[0008] According to this disclosure, communication with the first vehicle is established before the first vehicle reaches the vehicle stopping position. This allows communication with the first vehicle to be established when the first vehicle reaches the vehicle stopping position. Furthermore, according to this disclosure, the vehicle identification process is initiated before the first vehicle reaches the vehicle stopping position. This allows the identification of the target vehicle to be completed, or part of the vehicle identification process to be completed, when the first vehicle reaches the vehicle stopping position. In this way, the time the target vehicle is stopped at the vehicle stopping position in relation to the transfer of operating authority can be shortened. Consequently, the occurrence of situations that hinder efficient traffic flow can be suppressed. [Brief explanation of the drawing]

[0009] [Figure 1] This is a conceptual diagram to explain the AVP system. [Figure 2] This is a conceptual diagram illustrating the overview of the operation authority transfer process according to this embodiment. [Figure 3] This is a conceptual diagram illustrating the overview of vehicle identification processing using an action-based identification method. [Figure 4] This is a conceptual diagram illustrating the outline of the additional processing according to this embodiment. [Figure 5] This figure shows an example of the processing flow in the vehicle operation system according to this embodiment. [Figure 6] This figure shows an example of the hardware configuration of the vehicle operation system according to this embodiment. [Modes for carrying out the invention]

[0010] 1. Vehicle Operating System The vehicle operation system according to this embodiment is a system that provides the function of operating a target vehicle via communication. One example of a vehicle operation system is an AVP system that provides automatic valet parking (AVP) in a parking lot. AVP is a function that automatically enters and exits a target vehicle within a parking lot without user operation.

[0011] Figure 1 is a conceptual diagram illustrating the AVP system. The management system 100 manages AVP in parking lot 2. Parking lot 2 is equipped with sensors 150 that detect the position and status of each vehicle 1 within parking lot 2. The management system 100 manages information about parking lot 2 and each vehicle 1 based on the detection information acquired using the sensors 150. Parking lot 2 is provided with a vehicle stopping position 2b where the target vehicle is required to stop. User 20 parks the vehicle 1 (target vehicle) that they intend to park at vehicle stopping position 2b. User 20 gets out of vehicle 1 (target vehicle) at vehicle stopping position 2b. After confirming that User 20 has gotten out, the management system 100 initiates AVP for the target vehicle parked at vehicle stopping position 2b. Specifically, the management system 100 transmits command information such as parking position and driving route to the target vehicle via communication, based on management data related to parking lot 2 and each vehicle 1. AVP is implemented when the control system of the target vehicle controls the target vehicle according to the received command information.

[0012] Thus, the AVP system is composed of a management system 100 and a control system for the target vehicle working in cooperation. The management system 100 also starts AVP for the target vehicle stopped at vehicle stopping position 2b after confirming that the user 20 has disembarked at vehicle stopping position 2b. This configuration is the same for vehicle operation systems that provide other functions. Vehicle stopping position 2b can also be defined as the position where the user 20 disembarks from the target vehicle in order to receive the functions provided by the vehicle operation system.

[0013] By the way, in a vehicle operation system, for the management system 100 to start operating the target vehicle, it is necessary to transfer the authority to operate the target vehicle (operation authority) from user 20 to the management system 100. On the other hand, the transfer of operation authority requires at least the establishment of communication with the target vehicle and the completion of identification (authentication) of the target vehicle. Identification of the target vehicle is necessary to confirm that the vehicle 1 that is to receive the function is the vehicle 1 (target vehicle) of the legitimate user 20. By performing target vehicle identification, the reliability and safety of the function are ensured. However, these procedures take a certain amount of time. For this reason, in the prior art (for example, the technology disclosed in Patent Document 1), it is assumed that vehicle 1 (target vehicle) will remain stopped at the vehicle stopping position 2b for a while from the start to the end of the procedure related to the transfer of operation authority. However, it is undesirable for vehicle 1 to occupy a space for a long period of time as it hinders efficient traffic. For example, in AVP, the efficient entry of vehicle 1 may be hindered and may cause congestion of vehicle 1 waiting to enter the parking lot.

[0014] To address the above-mentioned issues, the vehicle operation system according to this embodiment makes it possible to suppress situations in which efficient traffic is disrupted during the transfer of operation authority.

[0015] 2. Operational authority transfer process Figure 2 is a conceptual diagram illustrating the outline of the process (hereinafter referred to as the "operation authority transfer process") performed in the vehicle operation system according to this embodiment to transfer operation authority from user 20 to management system 100.

[0016] In the vehicle operation system according to this embodiment, an authority transfer zone 3a and a vehicle identification zone 3b having a certain range in front of the vehicle stop position 2b are provided. In FIG. 2, an example of the authority transfer zone 3a and the vehicle identification zone 3b is shown. In FIG. 2, the vehicle identification zone 3b is included in the authority transfer zone 3a. However, the positional relationship and range of the authority transfer zone 3a and the vehicle identification zone 3b may be appropriately determined according to the environment to which this embodiment is applied. Also, the authority transfer zone 3a and the vehicle identification zone 3b may be given as virtual ranges in information processing.

[0017] In the vehicle operation system according to this embodiment, when the vehicle 1 (the first vehicle) travels in the authority transfer zone 3a, the procedure related to the transfer of the operation authority is started. In particular, the management system 100 establishes communication (for example, wireless LAN) with the vehicle 1 while the vehicle 1 is traveling in the authority transfer zone 3a.

[0018] On the other hand, when the vehicle 1 (the first vehicle) travels in the vehicle identification zone 3b, vehicle identification is started. The management system 100 starts a process (vehicle identification process) for identifying the vehicle 1 as the target vehicle while the vehicle 1 is traveling in the vehicle identification zone 3b. The vehicle identification process is usually performed using the sensor 150. For this reason, the vehicle identification zone 3b is typically set to be included in the detection range of the sensor 150.

[0019] Then, after the completion of the vehicle identification process, the management system 100 completes the transfer of the operation authority from the user 20. In particular, the management system 100 may be configured to complete the vehicle identification process before the vehicle 1 reaches the vehicle stop position 2b. Further, the management system 100 may be configured to complete the transfer of the operation authority from the user 20 before the vehicle 1 reaches the vehicle stop position 2b.

[0020] As described above, according to this embodiment, the procedure for transferring operational authority is initiated before vehicle 1 reaches vehicle stopping position 2b. In particular, communication between the management system 100 and vehicle 1 is established. This ensures that when vehicle 1 reaches vehicle stopping position 2b, communication with vehicle 1 is established. Furthermore, according to this embodiment, the vehicle identification process is initiated before vehicle 1 reaches vehicle stopping position 2b. This ensures that when vehicle 1 reaches vehicle stopping position 2b, the identification of the target vehicle is completed, or part of the vehicle identification process has been executed. In this way, according to this embodiment, the time the target vehicle is stopped at vehicle stopping position 2b in relation to the transfer of operational authority can be shortened. Consequently, the occurrence of situations that hinder efficient traffic flow can be suppressed.

[0021] In this embodiment, the method for vehicle identification processing is not particularly limited. For example, as a vehicle identification process, a method is used in which the license plate of vehicle 1 is recognized using a sensor 150 (e.g., a camera), and the vehicle is identified by comparing the information of the recognized license plate. When this method is adopted, since the establishment of communication is not required to execute the vehicle identification process, the vehicle identification zone 3b can be placed before the authority transfer zone 3a. In this case, the procedure for transferring operational authority in the authority transfer zone 3a will confirm that vehicle identification has been completed.

[0022] On the other hand, this embodiment is particularly effective when employing a method that requires a certain amount of time for vehicle identification. For example, this embodiment can consider employing a method (hereinafter referred to as the "action-based identification method") in which vehicle 1 is instructed to perform an action, and the target vehicle is identified based on whether or not the action recognized using sensor 150 matches the expected action.

[0023] Here, an action can be defined by a combination of a device (means) that performs the action and the operating pattern of that device. Examples of devices that perform an action include lighting devices (headlights, brake lights, fog lights, etc.), interior lighting devices, horns, turn signals, wipers, doors, door windows, engines, electric motors, etc. For example, one action is to flash the headlights in a specified pattern. Another example is to sound the horn in a specified pattern. An action may also include a request for repetition of an operating pattern.

[0024] Figure 3 is a conceptual diagram illustrating the overview of the vehicle identification process using the action-based identification method in this embodiment. Here, the vehicle identification process using the action-based identification method utilizes communication between the management system 100 and vehicle 1, as described below. In other words, it is necessary that communication between the management system 100 and vehicle 1 has been established. For this reason, when the action-based identification method is adopted, the vehicle identification zone 3b is set to be included in the authority transfer zone 3a. Then, after communication is established, the management system 100 starts the vehicle identification process while vehicle 1 (first vehicle) is traveling through the vehicle identification zone 3b.

[0025] When the management system 100 starts the vehicle identification process, it first instructs vehicle 1 via communication to perform a predetermined action. If vehicle 1 is a legitimate target vehicle, it is expected to perform the predetermined action in accordance with the instruction.

[0026] Next, the management system 100 recognizes the action that vehicle 1 will perform using the sensor 150. The management system 100 then identifies vehicle 1, which is performing a predetermined action, as the target vehicle. For example, if the predetermined action is flashing the headlights, the management system 100 recognizes the flashing pattern from the detection information of the sensor 150. When the recognized pattern matches the operation pattern of the predetermined action, the management system 100 determines that the predetermined action has been performed and identifies vehicle 1 as the target vehicle.

[0027] In this embodiment, vehicle identification processing using an action-based identification method can be performed. Note that the action-based identification method requires the detection of actions by vehicle 1 using sensor 150. Therefore, sensor 150 is configured to detect actions to be performed by vehicle 1. For example, when a visually detectable visible action (such as an action related to the lighting of a lighting device) is performed, sensor 150 is configured as a camera. Alternatively, when an audibly detectable audible action (such as an action related to the sounding of a horn) is performed, sensor 150 is configured as a microphone.

[0028] Action-based identification methods offer advantages such as greater flexibility in designing the actions used for vehicle identification. However, since action-based identification methods require vehicle 1 to perform actions with a certain duration, vehicle identification takes a certain amount of time. Therefore, the effects of this embodiment become more pronounced when performing vehicle identification processing using action-based identification methods.

[0029] 3. Additional processing The vehicle operation system according to this embodiment may also be configured to perform the processes described below.

[0030] 3.1 Changing vehicle identification zones based on communication quality In this embodiment, we consider the case where an action-based identification method is adopted. In this case, the management system 100 needs to communicate with vehicle 1 in the vehicle identification process. Therefore, as described above, after communication is established, the management system 100 starts the vehicle identification process while vehicle 1 is traveling through the vehicle identification zone 3b.

[0031] Incidentally, while the location and range of the vehicle identification zone 3b are set as appropriate, the efficiency of the vehicle identification process is affected by the quality of communication (for example, using latency as an indicator). In particular, if the communication quality deteriorates, the start of the vehicle identification process may be delayed compared to the situation that would normally be expected. This is a factor that reduces the probability of success in the vehicle identification process.

[0032] Therefore, the vehicle operation system according to this embodiment can be configured to further perform a process to bring the termination position of the vehicle identification zone 3b closer to the vehicle stopping position 2b when the communication quality deteriorates. Figure 4(A) is a conceptual diagram showing an overview of this process.

[0033] For example, the management system 100 acquires information on communication quality and moves the position of the vehicle identification zone 3b closer to the vehicle stopping position 2b as the communication quality deteriorates (see Figure 4(A)). The management system 100 may move the vehicle identification zone 3b in stages by comparing the communication quality with a threshold, or it may move the vehicle identification zone 3b continuously according to the communication quality. Alternatively, the management system 100 may expand the range of the vehicle identification zone 3b so that the termination position approaches the vehicle stopping position 2b as the communication quality deteriorates. The management system 100 can move or expand the default vehicle identification zone 3b by, for example, using a combination of the default sensor 150a and other sensors 150b in the vehicle identification process.

[0034] By performing this process, it is possible to modify vehicle identification zone 3b to account for delays in the start of vehicle identification processing due to degraded communication quality. This improves the success rate of vehicle identification processing.

[0035] 3.2 Notification of Vehicle Speed ​​Limits Vehicle identification processing is generally performed using sensor 150. Therefore, if the vehicle speed of vehicle 1 is too high during the execution of vehicle identification processing, the accuracy of vehicle identification processing may decrease.

[0036] Therefore, the vehicle operation system according to this embodiment can be configured to further perform a process to notify the user 20 to limit the speed of vehicle 1 to a predetermined speed or less, depending on the positional relationship between vehicle 1 and vehicle identification zone 3b. Figure 4(B) is a conceptual diagram showing an overview of this process.

[0037] One aspect of this process is to notify the user 20 that the speed of vehicle 1 will be limited to a predetermined speed (first speed) or less before vehicle 1 reaches vehicle identification zone 3b. For example, the management system 100 notifies the user 20 that the speed of vehicle 1 will be limited to the first speed or less when vehicle 1 passes a point a predetermined distance before vehicle identification zone 3b. The management system 100 may notify the user 20 via the HMI of vehicle 1 after establishing communication with vehicle 1, or it may communicate with a user terminal (e.g., a smartphone) and notify the user 20 via the user terminal.

[0038] Another aspect of this process is to notify user 20 that after vehicle 1 reaches vehicle identification zone 3b, the speed of vehicle 1 will be limited to a second speed or lower, which is even lower than the first speed. For example, when vehicle 1 enters vehicle identification zone 3b, the management system 100 notifies user 20 that the speed of vehicle 1 will be limited to a second speed or lower.

[0039] By performing the process in this manner, it can be expected that the speed of vehicle 1 will be below a predetermined speed during the vehicle identification process. This ensures that the accuracy of the vehicle identification process is adequately maintained.

[0040] 4. Processing Flow Figure 5 shows an example of the processing flow in the vehicle operation system according to this embodiment.

[0041] First, vehicle 1 travels through the authority transfer zone 3a (step S10). Then, while vehicle 1 is traveling through the authority transfer zone 3a, the management system 100 establishes communication with vehicle 1 (step S11).

[0042] Next, vehicle 1 travels through vehicle identification zone 3b (step S12). Then, while vehicle 1 is traveling through vehicle identification zone 3b, the management system 100 starts the vehicle identification process (step S13).

[0043] Next, after the vehicle identification process is completed (step S14), the management system 100 completes the transfer of operational authority from user 20 (step S15).

[0044] Next, vehicle 1 (the target vehicle) arrives at vehicle stopping position 2b (step S16). After that, the management system 100 confirms that user 20 has disembarked (step S17). For example, the management system 100 confirms that user 20 has disembarked when user 20 has performed a predetermined completion action. Examples of predetermined completion actions include user 20 moving a predetermined distance or more away from the target vehicle, or user 20 locking the target vehicle.

[0045] After confirming that user 20 has disembarked, the management system 100 begins operations on the target vehicle to stop at vehicle stopping position 2b.

[0046] 5 Hardware Configuration Figure 6 shows an example of the hardware configuration of the vehicle operation system 10 according to this embodiment. The vehicle operation system 10 consists of a vehicle 1 and a management system 100 that communicates with the vehicle 1. The vehicle operation system 10 includes a sensor 150 that is communicatively connected to the management system 100.

[0047] The management system 100 includes a processor 110, a storage device 120, and a communication interface 130.

[0048] The processor 110 performs various processes. The processor 110 is composed of components such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array).

[0049] The storage device 120 is connected to the processor 110 and stores various information necessary for the processing performed by the processor 110. The storage device 120 is composed of recording media such as RAM (Random Access Memory), ROM (Read Only Memory), SSD (Solid State Drive), HDD (Hard Disk Drive), etc.

[0050] The storage device 120 stores a computer program 121 and management data 122.

[0051] The computer program 121 describes the processes to be executed by the processor 110. Information processing by the management system 100 may be realized through the cooperation of the processor 110, which executes the processes related to the computer program 121, and the storage device 120. In particular, information processing related to the transfer of operation privileges according to this embodiment may be realized.

[0052] The management data 122 records various management information. For example, the management data 122 records management information related to the authority transfer zone 3a and the vehicle identification zone 3b (location, range, etc.), management information related to the transfer of operational authority (communication quality, first speed, second speed, etc.), management information related to the sensor 150 (placement, specifications, etc.), and management information related to predetermined actions (device that performs the action, operation pattern, etc.).

[0053] The communication interface 130 is an interface for communicating with external devices of the management system 100 to send and receive information. For example, the communication interface 130 may consist of devices for connecting to surrounding devices via wireless LAN, devices for connecting to a mobile communication network, devices for connecting to the internet, etc. The management system 100 sends and receives information with the vehicle 1 via the communication interface 130. The management system 100 may also be configured to send and receive information with a user terminal (not shown) via the communication interface 130.

[0054] Vehicle 1 is equipped with a control processing unit 210, an on-board sensor 220, a communication interface 230, and an on-board device 240.

[0055] The control processing unit 210 is connected to the on-board sensor 220, the communication interface 230, and the on-board device 240 in a communicative manner. The control processing unit 210 is a computer that performs information processing related to the control of the vehicle 1 based on various information. The control processing unit 210 may include a processor and a memory device. The information processing by the control processing unit 210 may be realized through the cooperation of the processor and the memory device.

[0056] For example, the control processing unit 210 is composed of one or more ECUs (Electronic Control Units). Alternatively, for example, the control processing unit 210 is composed of a kit (e.g., an AVP kit) for functions provided by the management system 100. The control processing unit 210 generates and outputs control signals for controlling the vehicle 1 through information processing. In particular, when the vehicle 1 receives an instruction from the management system 100 to start executing a predetermined action, the control processing unit 210 generates and outputs a control signal for executing the predetermined action. The control signal is transmitted to the in-vehicle device 240.

[0057] The on-board sensors 220 detect information about the surrounding environment and driving conditions of vehicle 1. Examples of on-board sensors 220 include cameras, radar, LiDAR, wheel speed sensors, IMU (Inertial Measurement Unit), GNSS (Global Navigation Satellite System) sensors, etc.

[0058] The communication interface 230 is an interface for communicating with external devices of the vehicle 1 to send and receive information. The vehicle 1 sends and receives information with the management system 100 via the communication interface 230.

[0059] The on-board equipment 240 includes lighting equipment, interior lighting equipment, horns, turn signals, wipers, doors, door windows, drive systems, brake systems, steering systems, HMI, etc. Each component of the on-board equipment 240 includes an actuator 241 that can be controlled by the control processing unit 210. The on-board equipment 240 receives control signals from the control processing unit 210. The actuators 241 operate according to the received control signals, thereby controlling the on-board equipment 240 by the control processing unit 210. Furthermore, the control of the on-board equipment 240 enables the control of the vehicle 1. [Explanation of Symbols]

[0060] 1 Vehicle, 2b Vehicle stopping position, 3a Authority transfer zone, 3b Vehicle identification zone, 10 vehicle operation systems, 20 users, 100 management systems, 110 processors, 120 storage devices, 121 computer programs 150 sensors

Claims

1. A vehicle operation system that transfers the authority to operate the target vehicle from the user of the target vehicle and operates the target vehicle via communication, Includes one or more processors, The one or more processors described above are: While the first vehicle is traveling through the authority transfer zone just before the vehicle stopping position where the user alights from the target vehicle, the communication with the first vehicle is established. While the first vehicle is traveling through the vehicle identification zone in front of the vehicle stopping position, a vehicle identification process is started to identify the first vehicle as the target vehicle. After the vehicle identification process is completed, the transfer of the authority from the user is completed. It is configured in such a way Vehicle control system.

2. A vehicle operating system according to claim 1, The aforementioned vehicle identification zone is included in the aforementioned authority transfer zone, The aforementioned vehicle identification process is After the establishment of the aforementioned communication, the first vehicle is instructed via the aforementioned communication to perform a predetermined action to identify the target vehicle, The actions performed by the first vehicle are recognized using sensors, Identifying the first vehicle that performs the predetermined action as the target vehicle, including Vehicle control system.

3. A vehicle operating system according to claim 2, The one or more processors further include: As the quality of the aforementioned communication deteriorates, the termination position of the vehicle identification zone is moved closer to the vehicle stopping position. It is configured in such a way Vehicle control system.

4. A vehicle operating system according to any one of claims 1 to 3, The one or more processors further include: Before the first vehicle reaches the vehicle identification zone, the user is notified that the speed of the first vehicle will be limited to a first speed or less. It is configured in such a way Vehicle control system.

5. A vehicle operating system according to claim 4, The one or more processors further include: After the first vehicle reaches the vehicle identification zone, the user is notified that the speed of the first vehicle will be limited to a second speed or lower, which is even lower than the first speed. It is configured in such a way Vehicle control system.

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