Monitoring systems, monitoring devices, autonomous vehicles, monitoring methods, monitoring programs

Abstract

To provide a monitoring system, etc. capable of effectively utilizing an autonomous travel vehicle in monitoring.SOLUTION: A monitoring system has a processor, and monitors the surroundings of a host autonomous travel vehicle provided with a battery for supplying electric power to a monitoring sensor which monitors environment and a driving source. The processor is configured to execute the monitoring of a blind spot area as a blind spot of a facility user by the monitoring sensor in the host autonomous travel vehicle being charged in a travel facility where the host autonomous travel vehicle can travel. The processor is configured to execute the outputting of monitoring data for the blind spot area.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a monitoring technique for monitoring the surroundings of an autonomous vehicle.

Background Art

[0002] Patent Document 1 discloses a monitoring system for monitoring a parking lot. This monitoring system monitors the parking lot using images captured by an in-vehicle camera in a vehicle that permits the provision of images of the in-vehicle camera among parked vehicles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, Patent Document 1 does not sufficiently disclose under what circumstances a vehicle available for monitoring can be effectively utilized for monitoring.

[0005] An object of the present disclosure is to provide a monitoring system that can effectively utilize an autonomous vehicle in monitoring. Another object of the present disclosure is to provide a monitoring device that can effectively utilize an autonomous vehicle in monitoring. Another object of the present disclosure is to provide an autonomous vehicle that can be effectively utilized in monitoring. Another object of the present disclosure is to provide a monitoring method that can effectively utilize an autonomous vehicle in monitoring. Yet another object of the present disclosure is to provide a monitoring program that can effectively utilize an autonomous vehicle in monitoring.

Means for Solving the Problems

[0006] The following describes the technical means of solving the problem described in this disclosure. Note that the claims and the reference numerals in parentheses in this section indicate the correspondence with the specific means described in the embodiments detailed later, and do not limit the technical scope of this disclosure.

[0007] A first aspect of the present disclosure is a monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The processor is In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To charge the battery of the host autonomous vehicle so that a monitoring sensor capable of detecting objects in the outside world is directed towards the blind spot area, Outputting monitoring data for blind spots, Configured to perform 、 Charging the host autonomous vehicle is This includes driving the host autonomous vehicle to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting to the charging device (C). . A second aspect of the present disclosure is a monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The processor is In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, It is configured to perform, Monitoring blind spots is This includes monitoring blind spots for human facility users. A third aspect of the present disclosure is a monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The processor is In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Monitoring sensors on the host autonomous vehicle while it is charging at a driving facility will monitor for abnormalities in at least one of the host autonomous vehicle's height, position, and attitude. Outputting monitoring data for blind spots, It is configured to perform, Outputting monitoring data is This includes outputting monitoring data for anomalies.

[0008] History of this disclosure fourThe aspect is a monitoring device mounted on a host autonomous driving vehicle (1) having a processor (102), provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, and the processor is configured to monitor dead zones (BAa, BAb) that are blind spots for facility users (2, 3) by means of the monitoring sensor in the host autonomous driving vehicle while the host autonomous driving vehicle is charging in a driving facility (WR1, WR2, NR, E, H) where the host autonomous driving vehicle can travel, output monitoring data for the dead zones, To charge the battery of the host autonomous vehicle so that a monitoring sensor capable of detecting objects in the outside world is directed towards the blind spot area, and is configured to execute 、 Charging the host autonomous vehicle is This includes driving the host autonomous vehicle to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting to the charging device (C). . A fifth aspect of this disclosure is a monitoring device mounted on a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, and for monitoring the surroundings, The processor is In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, It is configured to perform, Monitoring blind spots is This includes monitoring blind spots for human facility users. A sixth aspect of this disclosure is a monitoring device mounted on a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, and for monitoring the surroundings, The processor is In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Monitoring sensors on the host autonomous vehicle while it is charging at a driving facility will monitor for abnormalities in at least one of the host autonomous vehicle's height, position, and attitude. Outputting monitoring data for blind spots, It is configured to perform, Outputting monitoring data is This includes outputting monitoring data for anomalies.

[0009] The seven aspect of the present disclosure is an autonomous driving vehicle having a processor (102), provided with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, and the processor is During charging at drivable facilities (WR1, WR2, NR, E, H), monitoring sensors will be used to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, To ensure that the monitoring sensor capable of detecting objects in the outside world is directed towards blind spots, the battery needs to be charged. Configured to perform 、 Charging the battery is This includes autonomously moving to a charging position where the battery can be charged by an external charging device (C), and thereby making an electrical connection to the charging device (C). . An eighth aspect of the present disclosure is an autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The processor is During charging at drivable facilities (WR1, WR2, NR, E, H), monitoring sensors will be used to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, It is configured to perform, Monitoring blind spots is This includes monitoring blind spots for human facility users. A ninth aspect of the present disclosure is an autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The processor is During charging at drivable facilities (WR1, WR2, NR, E, H), monitoring sensors will be used to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), During charging at a driving facility, monitoring sensors are used to monitor for abnormalities in at least one of the vehicle's height position and orientation. Outputting monitoring data for blind spots, It is configured to perform, Outputting monitoring data is This includes outputting monitoring data for anomalies.

[0010] History of this disclosure ten The embodiment is a monitoring method performed by a processor (102) to monitor the surroundings of a host autonomous vehicle (1) which is equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, To charge the battery of the host autonomous vehicle so that a monitoring sensor capable of detecting objects in the outside world is directed towards the blind spot area, Includes fruit, Charging the host autonomous vehicle is This includes driving the host autonomous vehicle to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting to the charging device (C). . An eleventh aspect of this disclosure is a monitoring method performed by a processor (102) for monitoring the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Outputting monitoring data for blind spots, Includes, Monitoring blind spots is This includes monitoring blind spots for human facility users. A twelfth aspect of this disclosure is a monitoring method performed by a processor (102) for monitoring the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), Monitoring sensors on the host autonomous vehicle while it is charging at a driving facility will monitor for abnormalities in at least one of the host autonomous vehicle's height, position, and attitude. Outputting monitoring data for blind spots, Includes, Outputting monitoring data is This includes outputting monitoring data for anomalies.

[0011] History of this disclosure Thirteen The embodiment is a monitoring program that includes instructions to be executed by a processor (102) and stored in a storage medium (101) for monitoring the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The order is, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3). To output monitoring data for blind spots, To charge the battery of the host autonomous vehicle so that a monitoring sensor capable of detecting objects in the outside world is directed towards the blind spot area, Includes fruit, Charging the host autonomous vehicle is This includes driving the host autonomous vehicle to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting to the charging device (C). . A fourteenth aspect of this disclosure is a monitoring program that includes instructions stored in a storage medium (101) and executed by a processor (102) for monitoring the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The order is, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3). To output monitoring data for blind spots, Includes, Having blind spots monitored is, This includes monitoring blind spots for human facility users. A fifteenth aspect of this disclosure is a monitoring program that includes instructions stored in a storage medium (101) and executed by a processor (102) for monitoring the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The order is, In driving facilities (WR1, WR2, NR, E, H) where the host autonomous vehicle can operate, monitoring sensors on the host autonomous vehicle while it is charging will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3). The system involves monitoring the height position and attitude of a host autonomous vehicle while it is charging at a driving facility using monitoring sensors, and detecting any abnormalities in either the height position or attitude of the host autonomous vehicle. To output monitoring data for blind spots, Includes, To output monitoring data, This includes outputting monitoring data for anomalies.

[0012] These first to Fifteen Depending on the configuration, monitoring sensors on a host autonomous vehicle charging at a driving facility can be used to monitor blind spots of facility users. Monitoring data for these blind spots is then output. Therefore, a host autonomous vehicle charging can be utilized for monitoring blind spots. Consequently, the effective use of autonomous vehicles becomes possible. [Brief explanation of the drawing]

[0013] [Figure 1] This is a block diagram showing the overall configuration of the first embodiment. [Figure 2] This is a perspective view showing the configuration of a host autonomous vehicle to which the first embodiment is applied. [Figure 3] This is a block diagram showing the configuration of a host autonomous vehicle applied to the first embodiment. [Figure 4] This block diagram shows the functional configuration of the monitoring system according to the first embodiment. [Figure 5] This is a flowchart showing the monitoring flow according to the first embodiment. [Figure 6] This is a flowchart showing the monitoring flow according to the first embodiment. [Figure 7] This is a flowchart showing the monitoring flow according to the first embodiment. [Figure 8] This is a schematic diagram illustrating the monitoring flow according to the first embodiment. [Figure 9]This is a schematic diagram illustrating the monitoring flow according to the first embodiment. [Figure 10] This is a schematic diagram illustrating the monitoring flow according to the first embodiment. [Figure 11] This is a schematic diagram illustrating the monitoring flow according to the second embodiment. [Modes for carrying out the invention]

[0014] Hereinafter, several embodiments of this disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals will be used for corresponding components, and redundant explanations may be omitted. Furthermore, if only a part of the configuration is described in each embodiment, the configuration of other embodiments described earlier may be applied to the other parts of that configuration. Moreover, not only the combinations of configurations explicitly stated in the description of each embodiment, but also the configurations of multiple embodiments can be partially combined even if not explicitly stated, as long as there are no particular problems with the combination.

[0015] (First Embodiment) The monitoring system 100 of the first embodiment shown in Figure 1 performs monitoring of the surroundings by the host autonomous vehicle 1 that transports cargo, as shown in Figures 2 and 3, and performs processing related to said monitoring. The host autonomous vehicle 1 autonomously travels in any direction, forward, backward, left, or right. The host autonomous vehicle 1 is a logistics vehicle that autonomously travels around facilities such as hospitals and warehouses to transport cargo. Alternatively, the host autonomous vehicle 1 may be a delivery vehicle that autonomously travels on roads to transport cargo to its destination. The host autonomous vehicle 1 may be any other type of vehicle as long as it has the function of transporting cargo. Furthermore, any type of host autonomous vehicle 1 may receive remote driving assistance or driving control through communication with an external center.

[0016] The host autonomous vehicle 1 comprises a body 10, a sensor system 20, a map database 30, an information display system 40, an electric actuator 50, a battery 60, and a power supply unit 70. The body 10 is formed in a hollow shape, for example, from metal. The body 10 is provided with a cargo compartment 11 for carrying luggage. For example, in this embodiment, the cargo compartment 11 is formed by being open to the top of the exterior and surrounded by the body 10 on the front, back, left, and right sides. However, other structures may be used for the cargo compartment 11.

[0017] The body 10 is further provided with wheels 12, suspensions 13, and mounting plates 14. The wheels 12 include, for example, drive wheels 12a driven by an electric actuator 50 (described later) and driven wheels 12b that rotate in conjunction with the drive wheels 12a. In the example shown in Figures 2 and 3, a pair of drive wheels 12a are provided on the left and right sides of the host autonomous vehicle 1. A total of four driven wheels 12b are provided, one pair on each side in front of and behind the drive wheels 12a. Each wheel 12 is attached to a mounting plate 14 fixed to the body 10 via a suspension 13. The air pressure of the drive wheels 12a and the stationary stroke amount of each suspension 13 are adjusted so that the body 10 stands upright with virtually no tilt, at least at the time of shipment.

[0018] The sensor system 20 acquires sensing information available from the monitoring system 100 through sensing of the external and internal environments of the host autonomous vehicle 1. To this end, the components of the sensor system 20 are mounted in multiple locations on the body 10. Specifically, the sensor system 20 consists of an external sensor 21 and an internal sensor 22.

[0019] The external environment sensor 21 acquires external environment information as sensing information from the external environment surrounding the host autonomous vehicle 1. The external environment sensor 21 is an example of a monitoring sensor that monitors the external environment. The external environment sensor 21 may acquire external environment information by detecting objects present in the external environment of the host autonomous vehicle 1. An object detection type external environment sensor 21 is at least one of the following: a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar. Such an external environment sensor 21 has a detection direction DA set that defines its direction of direction. An object detection type external environment sensor 21 can detect objects within this detection direction DA.

[0020] The external sensor 21 may acquire external information by receiving positioning signals from GNSS (Global Navigation Satellite System) satellites located outside the host autonomous vehicle 1. A positioning-type external sensor 21 is, for example, a GNSS receiver. The external sensor 21 may also acquire external information by sending and receiving communication signals with a V2X system located outside the host autonomous vehicle 1. A communication-type external sensor 21 is, for example, at least one of the following: a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, a Bluetooth® device, a Wi-Fi® device, and an infrared communication device. In particular, a V2X-type external sensor 21 may be able to communicate with at least one of the following: an external center and other autonomous transport vehicles.

[0021] The internal environment sensor 22 acquires internal environment information as sensing information from the internal environment, which is the internal environment of the host autonomous vehicle 1. The internal environment sensor 22 may be a motion detection type that detects specific kinetic physical quantities in the internal environment of the host autonomous vehicle 1. A motion detection type internal environment sensor 22 is at least one of the following: a driving speed sensor, an acceleration sensor, and a gyroscope sensor. The internal environment sensor 22 may also acquire internal environment information by detecting luggage on the luggage rack in the luggage compartment 11, which is the internal environment of the host autonomous vehicle 1. A luggage detection type internal environment sensor 22 is at least one of the following: a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) ​​reader. The internal environment sensor 22 may also be a charge status detection type that detects the charging status of the battery 60, which will be described later. A battery detection type internal environment sensor 22 is at least one of the following: a battery level sensor and a connection sensor that detects the connection status between the charging device C and the power supply unit 70.

[0022] The map database 30 stores map information available to the monitoring system 100. The map database 30 is configured to include at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media. The map database 30 may also be a database for a locator that estimates self-state quantities, including the self-position of the host autonomous vehicle 1. The map database 30 may also be a database for a planning unit that plans the driving of the host autonomous vehicle 1. The map database 30 may be configured by a combination of multiple types of these databases.

[0023] The map database 30 acquires and stores the latest map information, for example, through communication with an external center. Here, the map information is digitized in two or three dimensions as information representing the driving environment of the host autonomous vehicle 1. The map information may include road information that represents at least one type of information, such as the location, shape, and road surface condition of the road itself. The map information may also include marking information that represents at least one type of information, such as the location and shape of signs and lane markings attached to the road. The map information may also include structural information that represents at least one type of information, such as the location and shape of buildings and traffic lights facing the road.

[0024] The information display system 40 displays notification information directed at people in the vicinity of the host autonomous vehicle 1. The information display system 40 may also display notification information by stimulating the visual sense of those in the vicinity. The visual stimulation type information display system 40 is, for example, at least one of a monitor unit and a light-emitting unit. The information display system 40 may also display notification information by stimulating the auditory sense of those in the vicinity. The auditory stimulation type information display system 40 is, for example, at least one of a speaker, a buzzer and a vibration unit.

[0025] The electric actuator 50 is mounted within the body 10 and is a drive source that drives the host autonomous vehicle 1 by rotating the drive wheels 12a. The electric actuator 50 is mainly composed of, for example, individual electric motors corresponding to each of the pair of drive wheels 12a. The electric actuator 50 can independently rotate each drive wheel 12a. The electric actuator 50 can switch the driving mode of the autonomous vehicle 1 between straight-line drive and turning drive by adjusting the rotational speed difference of the drive wheels 12a. The electric actuator 50 may be equipped with a brake unit that applies braking to each drive wheel 12a while it is rotating. The electric actuator 50 may be equipped with a lock unit that locks each drive wheel 12a while it is stopped.

[0026] The battery 60 is mounted inside the body 10. The battery 60 is mainly composed of a rechargeable battery, such as a lithium-ion battery. The battery 60 stores power to be supplied to the electrical components inside the body 10 by discharge, and charges it from an external source. The battery 60 may also store regenerative power from the electric actuator 50. The battery 60 is connected via a wire harness to the mounted components of the host autonomous vehicle 1, such as the electric actuator 50, sensor system 20, map database 30, and information display system 40, so as to be able to supply power.

[0027] The power supply unit 70 is electrically connected to the battery 60. The power supply unit 70 is electrically connected to an external charging device C and supplies power from the charging device C to the battery 60. The power supply unit 70 may be configured to receive power from the charging device C by being mechanically connected to the charging device C. Alternatively, the power supply unit 70 may be configured to receive power from the charging device C via a non-contact method.

[0028] The monitoring system 100 is connected to the sensor system 20, map database 30, information display system 40, electric actuator 50, and battery 60 via at least one of the following: a LAN (Local Area Network) line, wire harness, internal bus, and wireless communication line. The monitoring system 100 is configured to include at least one dedicated computer.

[0029] The dedicated computer constituting the monitoring system 100 may be a planning ECU (Electronic Control Unit) that plans the target trajectory for the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may be a trajectory control ECU that makes the actual trajectory of the host autonomous vehicle 1 follow the target trajectory. The dedicated computer constituting the monitoring system 100 may be an actuator ECU that controls each of the electric actuators 50 of the host autonomous vehicle 1.

[0030] The dedicated computer constituting the monitoring system 100 may be a sensing ECU that controls the sensor system 20 of the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may be a locator ECU that estimates self-state quantities, including the self-position of the host autonomous vehicle 1, based on the map database 30. The dedicated computer constituting the monitoring system 100 may be an information presentation ECU that controls the information presentation system 40 of the host autonomous vehicle 1. The dedicated computer constituting the monitoring system 100 may be a computer outside the body 10 that constitutes an external center or mobile terminal, etc., that can communicate via a communication-type external sensor 21.

[0031] The dedicated computer comprising the monitoring system 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, which non-temporarily stores programs and data that can be read by the computer. Here, storage may be an accumulation where data is retained even when the host autonomous vehicle 1 is turned off, or it may be a temporary storage where data is erased when the host autonomous vehicle 1 is turned off. The processor 102 includes at least one type as a core, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer)-CPU, DFP (Data Flow Processor), and GSP (Graph Streaming Processor).

[0032] In the monitoring system 100, the processor 102 executes multiple instructions contained in the monitoring program stored in memory 101 to monitor the surroundings of the host autonomous vehicle 1. This allows the monitoring system 100 to construct multiple functional blocks for monitoring the surroundings of the host autonomous vehicle 1. These functional blocks, as shown in Figure 4, include a driving control block 110, a diagnostic block 120, a monitoring block 130, an output block 140, and a setting block 150.

[0033] Through the combined efforts of these blocks 110, 120, 130, 140, and 150, the monitoring method by which the monitoring system 100 monitors the area around the host autonomous vehicle 1 is executed according to the monitoring flow shown in Figures 5 to 7. This monitoring flow is executed repeatedly while the host autonomous vehicle 1 is running. In this monitoring flow, each "S" represents multiple steps executed by multiple instructions included in the monitoring program. The monitoring flow shown in Figures 5 and 6 is executed, for example, by the processor 102 installed in the host autonomous vehicle 1. The monitoring flow shown in Figure 7 is executed, for example, by the processor 102 installed in the management center that manages the operation of multiple vehicles, including the host autonomous vehicle 1 and the target autonomous vehicle 2.

[0034] First, in S10, the driving control block 110 determines whether or not charging is necessary for the host autonomous vehicle 1 that is currently driving, based on internal information from the charging status detection type internal sensor 22. If it is determined that charging is not necessary, this flow ends. If it is determined that charging is necessary, this flow proceeds to S20.

[0035] In S20, the driving control block 110 executes driving control to a charging location where a charging device C is installed, based on information such as the map database 30. If there are multiple charging devices C available, the driving control block 110 may select a charging device C that can monitor the blind spot area BAa, as described later, and drive to that location. For example, the driving control block 110 can determine which unused charging devices C that can be reached with the current battery level are located in a position where the blind spot area BAa can be monitored and which are located in a position where the blind spot area BAa cannot be monitored. The driving control block 110 can then preferentially select a charging device C located in a position where the blind spot area BAa can be monitored as the device to be used.

[0036] In the subsequent S30, the driving control block 110 performs driving control to connect the host autonomous vehicle 1, which has traveled to the charging position, to the charging device C with the external sensor 21, which is of the object detection type, pointed towards the blind spot area BAa. For example, the driving control block 110 connects the external sensor 21, which includes the front of the host autonomous vehicle 1 in its detection direction DA, to the charging device C. The driving control block 110 drives the host autonomous vehicle 1 so that the power supply unit 70 is electrically connected to the charging device C. The power supply unit 70 and the charging device C may be mechanically connected by connectors, or they may be electrically connected without contact by the proximity of a power transmission coil and a power receiving coil that realize wireless power supply.

[0037] The blind spot area BAa directed by the external sensor 21 of the host autonomous vehicle 1 when connected to the charging device C is defined by its positional relationship with the charging device C. For example, in the example shown in Figure 8, the blind spot area BAa is defined as a narrow road NR, which is a driving facility that connects two wide roads WR1 and WR2, and is narrower in width than each of the wide roads WR1 and WR2. The wide roads WR1 and WR2 and the narrow road NR are separated by walls or the like, and it is assumed that the facility users of the wide roads WR1 and WR2 and the facility users of the narrow road NR are not visible to each other. Furthermore, the narrow road NR is narrow enough that it is difficult for an autonomous vehicle and a person to pass each other, and the autonomous vehicle is assumed to travel in the center of the narrow road NR. The charging device C is installed in the direction of extension of the narrow road NR, and is configured to enable charging of the host autonomous vehicle 1 with the narrow road NR facing forward.

[0038] Alternatively, in the example shown in Figure 10, the blind spot area BAa is defined as the area of ​​the elevator hall H, which is connected to the elevator E as a travel facility, that is a blind spot from the elevator E. The charging device C is installed on the opposite side of the elevator hall H from the area near the entrance / exit of the elevator E, with the external sensor 21 pointing towards the area near the entrance / exit. The blind spot area BAa may be determined geometrically according to the structure of the travel facility, as shown in Figures 9 and 10. Alternatively, the blind spot area BAa may be determined by considering the detection direction DA of the external sensor 21 in the target autonomous vehicle 2, which will be described later.

[0039] In S30, the driving control block 110 controls the vehicle to electrically connect the power supply unit 70 to the charging device C, thereby ensuring that the external sensor 21 is directed towards the blind spot area BAa even during charging. As shown in Figure 8, for each blind spot area BAa that can be monitored by the external sensor 21, there is a blind spot area BAb that is a blind spot from the perspective of the facility user within that blind spot area BAa. The blind spot area BAb may also be determined geometrically according to the structure of the vehicle, similar to the blind spot area BAa, or it may be determined considering the visual field of the facility user, etc.

[0040] Next, in S40, the diagnostic block 120 and the output block 140 perform a charging diagnostic process to monitor for height and position abnormalities in the host autonomous vehicle 1 while it is charging. The detailed processing of S40 will be explained with reference to Figure 6.

[0041] First, in S41, the diagnostic block 120 determines whether the diagnostic conditions are met for the host autonomous vehicle 1. For example, the diagnostic conditions are determined to be met if all of the multiple sub-conditions are met. One sub-condition is, for example, that the host autonomous vehicle 1 has finished connecting to the charging device C and is charging. Another sub-condition is, for example, that it is stationary. Yet another sub-condition is that it is a charging location for which comparison information exists. Here, the comparison information is a previously acquired detection result that is compared to the detection result described later. Yet another sub-condition is that the inclination of the charging location is within an acceptable range. Yet another sub-condition is that there is no cargo.

[0042] If the diagnostic conditions are determined to be unmet, this flow terminates, and the process returns to the flow shown in Figure 5 with the diagnosis interrupted. On the other hand, if the diagnostic conditions are determined to be met, this flow proceeds to S42.

[0043] In S42, the diagnostic block 120 performs a diagnostic process to monitor for abnormalities related to at least one of the height position and attitude of the host autonomous vehicle 1. In the diagnostic process, the diagnostic block 120 uses the sensor system 20 to detect at least one of the host autonomous vehicle 1's own position and attitude. For example, the diagnostic block 120 detects its own position, including at least its height, by using SLAM (Simultaneous Localization and Mapping) or satellite positioning from the external sensor 21. The diagnostic block 120 also detects its attitude, including at least its pitch angle information, by using information from SLAM or the pitch angle sensor. When using information from the pitch angle sensor, the internal sensor 22 is also included in the monitoring sensors for abnormality monitoring.

[0044] In the following S43, the diagnostic block 120 determines whether the diagnostic process in S42 was successful or not. The diagnostic block 120 determines that the diagnostic process was successful if the diagnostic conditions remain met until the end of the diagnostic process, and that it was a failure if the diagnostic conditions cease to be met midway through. If a failure of the diagnostic process is determined, this flow terminates. On the other hand, if a success of the diagnostic process is determined, this flow proceeds to S44.

[0045] In S44, the diagnostic block 120 determines from the diagnostic results whether an abnormality has been detected for at least one of the height and pitch angle related to the host autonomous vehicle 1. The diagnostic block 120 determines whether an abnormality has been detected by comparing it with the respective comparison information for height and pitch angle. For example, the diagnostic block 120 determines that an abnormality has been detected for parameters where the magnitude of the difference with the comparison information is outside the acceptable range for height and pitch angle. If it is determined that no abnormality was detected, this flow ends. On the other hand, if it is determined that an abnormality was detected, this flow moves to S45. In S45, the output block 140 notifies the management center of the information regarding the abnormality. This notification corresponds to the output of monitoring data regarding the abnormality.

[0046] Returning to Figure 5, in S50, the monitoring block 130 determines whether the target autonomous vehicle 2, which is another autonomous vehicle acting as a facility user, is approaching the blind spot area BAa being monitored by the external sensor 21, which is of the object detection type. The monitoring block 130 determines the approach by obtaining approach information regarding the target autonomous vehicle 2 from the management center, for example, using the external sensor 21, which is of the communication type. Alternatively, the monitoring block 130 may obtain approach information directly from the target autonomous vehicle 2 via the external sensor 21, which is of the communication type. If a human being acting as a facility user is present in the blind spot area BAa, this approach information corresponds to the monitoring data for the blind spot area BAb for that human being. In S50, the monitoring block 130 waits until the approach of the target autonomous vehicle 2 is determined.

[0047] When it is determined that the target autonomous vehicle 2 is approaching, this flow proceeds to S60. In S60, output block 140 outputs monitoring data regarding the blind spot area BAa. Specifically, output block 140 sends the monitoring data to the management center that manages the operation of the autonomous vehicle. Alternatively, output block 140 may send the monitoring data directly to the target autonomous vehicle 2. The monitoring data includes at least information related to the presence or absence of occupant 3 in the blind spot area BAa, who is a human facility user in the blind spot area BAa.

[0048] Next, in S70, the monitoring block 130 determines, based on the monitoring data, whether or not a human facility user is present in the blind spot area BAa. If it is determined that no human is present, this flow terminates. On the other hand, if it is determined that a human is present, this flow proceeds to S80.

[0049] In S80, output block 140 notifies the person concerned using the information presentation system 40 of the host autonomous vehicle 1. Output block 140 notifies the person of the approach of the target autonomous vehicle 2 using at least one type of information presentation system 40, which includes both visual and auditory stimulus types. For example, if the person is approaching the host autonomous vehicle 1, output block 140 should preferably notify the person using the visual stimulus type information presentation system 40 and not use the auditory stimulus type information presentation system 40. The notification to the person in S80 corresponds to "output of monitoring data," similar to the transmission of monitoring data in S60.

[0050] Next, we will explain the processing of target autonomous vehicle 2 approaching blind spot area BAa using monitoring data, with reference to Figure 7.

[0051] First, in S90, the specified block 150 determines the monitoring status based on the monitoring data. Specifically, the specified block 150 determines whether occupant 3 is present in the blind spot area BAa, whether occupant 3 is not present, or whether the presence or absence is unknown from the monitoring data.

[0052] If it is determined that there are no occupants 3, in S100, the specified block 150 defines the upper limit speed Vm2 for the target autonomous vehicle 2 around the blind spot area BAa. The upper limit speed Vm2 is lower than the normal upper limit speed Vm1. Here, if amax is the maximum deceleration of the target autonomous vehicle 2, D is the distance from the blind spot area BAa to the host autonomous vehicle 1, Vmax is the maximum speed expected of occupant 3, and Td is the system delay time, then the upper limit speed Vm2 is defined as a speed that satisfies the following equation (1). The distance from the blind spot area BAa to the host autonomous vehicle 1 is the distance from the blind spot area BAa to the host autonomous vehicle 1, assuming the presence of the host autonomous vehicle 1 at the contact assumption position Pc described later. As shown in Figure 9, in the case of a facility structure where the wide road WR1 and the narrow road NR intersect perpendicularly, the distance from the blind spot area D is the distance between the wall on the narrow road NR side of the wide road WR1 and the side of the autonomous vehicle 1 on the wall side. Furthermore, the maximum deceleration (amax) is the deceleration that can be output at the performance limit of the target autonomous vehicle 2.

[0053] (Math 1) Vm2≦amax(D / Vmax-Td) ···(1) The passing speed limit Vm2 is defined as the maximum speed after the assumed contact position Pc, assuming the presence of occupant 3. That is, as shown in Figure 9, the maximum speed decreases from the normal maximum speed Vm1 to the passing speed limit Vm2 by the time the vehicle reaches the assumed contact position Pc. The assumed contact position Pc is the position of the host autonomous vehicle 1 where contact with occupant 3 is assumed to occur if occupant 3 jumps out from the blind spot area BAa. The assumed contact position Pc is, for example, the intersection of the assumed travel path of occupant 3 and the planned travel route R for the host autonomous vehicle 1. The assumed travel path of occupant 3 may be set according to the shape of the blind spot area BAa, etc., or according to the assumed or detected position and direction of travel of occupant 3, etc. In Figure 9, the planned travel route R for the host autonomous vehicle 1 is a route that proceeds from wide road WR1 through narrow road NR to wide road WR2, but the maximum speed is similarly defined even if the route proceeds straight along wide road WR1.

[0054] On the other hand, if it is determined in S90 that there are 3 occupants, this flow proceeds to S110. In this step, the specified block 150 determines whether the target autonomous vehicle 2 is inside elevator E or not. If it is determined that it is not inside elevator E, in S120, the specified block 150 specifies a temporary stop control for the target autonomous vehicle 2. Specifically, in the temporary stop control, the target autonomous vehicle 2 will stop at the temporary stop position Ps, and the upper limit speed will decrease from the normal upper limit speed Vm1 as it approaches the temporary stop position Ps. The temporary stop position Ps is a position Ps defined by the blind spot area BAa, and is a position where the target autonomous vehicle 2 will not veer out into the blind spot area BAa. For example, the temporary stop position Ps may be the edge position of the blind spot area BAb.

[0055] If it is determined in S90 that the presence or absence of occupant 3 is unknown, or if it is determined in S110 that the target autonomous vehicle 2 is inside elevator E, then in S130, the specified block 150 specifies slow-speed control. In slow-speed control, the specified block 150 specifies the slow-speed Vm3 as the upper limit speed of the target autonomous vehicle 2 around the blind spot area BAa. The slow-speed Vm3 is lower than the normal upper limit speed Vm1 and the passing upper limit speed Vm2. Here, if the assumed deceleration a of the target autonomous vehicle 2, the distance D from the blind spot area BAa, the maximum speed Vmax of occupant 3, and the system delay time Td are used, then the slow-speed Vm3 is specified as a speed that satisfies the relationship in the following equation (2). Here, the assumed deceleration is a value specified as a deceleration that, when stopping at the assumed contact position Pc, does not cause discomfort to following pedestrians or other facility users, and suppresses the swaying of the cargo.

[0056] (Math 2) Vm3 ≤ a(D / Vmax-Td) ···(2) The slow speed Vm3 is defined as the upper limit speed from the contact assumption position Pc onward, which is the position where contact with the occupant 3 is expected to occur, assuming the presence of the occupant 3. In other words, as shown in Figure 9, the upper limit speed decreases from the normal upper limit speed Vm1 to the slow speed Vm3 by the time the vehicle reaches the contact assumption position Pc.

[0057] According to the first embodiment described above, the external sensor 21 of the host autonomous vehicle 1, which is charging at the driving facility, can monitor the blind spot areas BAa and BAb of the facility user. Monitoring data for these blind spot areas BAa and BAb is then output. Therefore, the host autonomous vehicle 1, which is charging, can be utilized for monitoring the blind spot areas BAa and BAb. Thus, effective utilization of the autonomous vehicle 1 becomes possible.

[0058] Alternatively, according to the first embodiment, the battery 60 of the host autonomous vehicle 1 is charged so that the external sensor 21, which is capable of detecting objects in the outside world, is directed towards the blind spot area BAa. Therefore, the blind spot area BAa can be reliably monitored by the object-detection type external sensor 21.

[0059] Furthermore, according to the first embodiment, the host autonomous vehicle 1 is electrically connected to the charging device C by driving it to a charging position where the battery 60 can be charged by the external charging device C. Therefore, the host autonomous vehicle 1 can reliably drive autonomously so that the blind spot area BAa can be monitored by the external sensor 21 during charging.

[0060] In addition, according to the first embodiment, the blind spot area BAa of the target autonomous vehicle 2 is monitored. Therefore, the target autonomous vehicle 2 can autonomously drive while acquiring information from the monitoring data about its own blind spot area BAa.

[0061] Alternatively, according to the first embodiment, monitoring data is transmitted to a management center that manages the host autonomous vehicle 1 and the target autonomous vehicle 2. Therefore, the management center can implement operational management that takes into account the blind spot area BAa of the target autonomous vehicle 2.

[0062] Furthermore, according to the first embodiment, the upper limit speed of the target autonomous vehicle 2 is defined according to the monitoring status of the blind spot area BAa based on the monitoring data. Therefore, driving control of the target autonomous vehicle 2 with improved safety can be realized according to the monitoring status of the blind spot area BAa.

[0063] In addition, according to the first embodiment, the blind spot area BAb of a human facility user is monitored. Therefore, monitoring data regarding the human blind spot area BAb can be output.

[0064] Alternatively, according to the first embodiment, an alarm is issued to a person in the blind spot area BAa of the target autonomous vehicle 2, who is another facility user. Therefore, it may be possible to warn a person of the presence of the target autonomous vehicle 2 located in a blind spot.

[0065] Furthermore, according to the first embodiment, abnormalities in at least one of the height position and attitude of the host autonomous vehicle 1 are monitored by the external sensor 21 of the host autonomous vehicle 1 while it is charging at the driving facility. Therefore, abnormalities in at least one of the height position and attitude can be monitored by taking advantage of the fact that it is charging.

[0066] (Second embodiment) As shown in Figure 11, the second embodiment is a modification of the first embodiment. In the second embodiment, an external information display device S is provided on the opposite side of the charging device C, across the blind spot area BAa in the driving facility. The external information display device S is provided outside the host autonomous vehicle 1 and is an information display device that displays notification information to people in the vicinity. For example, the external information display device S is configured to display information using at least visual stimuli, such as digital signage. The external information display device S is configured to communicate directly with the host autonomous vehicle 1 or indirectly via a management center or the like. As a result, the external information display device S can execute notifications in response to notification instructions from the host autonomous vehicle 1.

[0067] In the second embodiment, at S80, the output block 140 selectively performs notification via the information presentation system 40 of the host autonomous vehicle 1 and notification via the external information presentation device S. Specifically, as shown in Figure 8, if the assumed contact position Pc between the occupant 3 and the target autonomous vehicle 2 is located on the side of the host autonomous vehicle 1 from the perspective of the occupant 3, the output block 140 performs notification via the information presentation system 40, similar to the first embodiment. Then, as shown in Figure 11, if the assumed contact position Pc between the occupant 3 and the target autonomous vehicle 2 is located on the opposite side of the host autonomous vehicle 1 from the perspective of the occupant 3, the output block 140 performs notification via the external information presentation device S by sending a notification instruction. In other words, if the occupant 3 is unable to see the visual stimulus type information presentation system 40 in the host autonomous vehicle 1, the output block 140 performs notification via the external information presentation device S.

[0068] (Other embodiments) Although several embodiments have been described above, this disclosure is not intended to be limited to those embodiments, and can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0069] In the modified example, the dedicated computer constituting the monitoring system 100 may have at least one of the digital circuit and the analog circuit as a processor. Here, the digital circuit is at least one of the following, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such a digital circuit may have a memory that stores a program.

[0070] In the modified example, the host mobile body to which the monitoring system 100 is applied may be, for example, an autonomous mobile robot capable of transporting goods or collecting information by autonomous or remote driving. In addition to the embodiments described so far, the above embodiments and modifications may be implemented in the form of a processing circuit (e.g., a processing ECU) or a semiconductor device (e.g., a semiconductor chip) as a monitoring device which is a control device configured to be mounted on the host mobile body and having at least one processor 102 and one memory 101.

[0071] (Disclosed technical ideas) This specification discloses several technical ideas described in the following sections, and also discloses several combined technical ideas, shown by the alternative reference of preceding technical ideas in subsequent technical ideas.

[0072] (Technical thought 1) A monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, A monitoring system configured to perform the following actions.

[0073] (Technical thought 2) A monitoring system according to technical concept 1, configured to charge the battery in the host autonomous vehicle so that the monitoring sensor capable of detecting an object in the external environment is directed towards the blind spot area.

[0074] (Technical Thought 3) Charging the aforementioned host autonomous vehicle is A monitoring system according to technical concept 2, which includes electrically connecting the host autonomous vehicle to an external charging device (C) by driving the vehicle to a charging position where the battery can be charged by the external charging device (C).

[0075] (Technical Thought 4) Monitoring the aforementioned blind spot area means A monitoring system according to any one of Technical Ideas 1 to 3, which includes monitoring the blind spot area of ​​another autonomous vehicle, the target autonomous vehicle (2).

[0076] (Technical Thought 5) Outputting the aforementioned monitoring data means A monitoring system according to technical concept 4, which includes transmitting the monitoring data to a management center that manages the host autonomous vehicle and the target autonomous vehicle.

[0077] (Technical Thought 6) A monitoring system according to technical concept 4 or technical concept 5, further configured to define the upper limit speed of the target autonomous vehicle according to the monitoring status of the blind spot area based on the aforementioned monitoring data.

[0078] (Technical Thought 7) Monitoring the aforementioned blind spot area means A monitoring system according to any one of Technical Ideas 1 to 6, which includes monitoring the blind spot area of ​​a person as a facility user.

[0079] (Technical Thought 8) Outputting the aforementioned monitoring data means A monitoring system according to technical idea 7, which includes performing an alert to the person in the blind spot area of ​​the target autonomous vehicle as another facility user.

[0080] (Technical Thought 9) The monitoring sensor in the host autonomous vehicle while it is charging at the aforementioned driving facility is further configured to monitor for abnormalities in at least one of the height position and attitude of the host autonomous vehicle. Outputting the aforementioned monitoring data means A monitoring system according to any one of Technical Ideas 1 to 8, which includes outputting the monitoring data for the aforementioned abnormality.

[0081] Furthermore, the above technical concepts 1 to 9 may be implemented in other categories. Specifically, technical concepts 1 to 9 may be implemented as monitoring devices, autonomous vehicles, monitoring methods, and monitoring programs. [Explanation of symbols]

[0082] 1: Host autonomous vehicle, 2: Target autonomous vehicle (facility user), 3: Human (facility user), 21: External sensor (monitoring sensor), 60: Battery, 100: Monitoring system, 101: Memory (storage medium), 102: Processor, BAa, BAb: Blind spot area, C: Charging device, E: Elevator (driving facility), H: Elevator hall (driving facility), NR: Narrow road (driving facility), WR1: Wide road (driving facility), WR2: Wide road (driving facility)

Claims

1. A monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, The battery in the host autonomous vehicle is charged so that the monitoring sensor capable of detecting objects in the external environment is directed towards the blind spot area. It is configured to perform, Charging the aforementioned host autonomous vehicle is A monitoring system that includes electrically connecting the host autonomous vehicle to an external charging device (C) by driving the vehicle to a charging position where the battery can be charged by the external charging device (C).

2. A monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, It is configured to perform, Monitoring the aforementioned blind spot area means A monitoring system that includes monitoring the blind spots of the aforementioned facility users.

3. A monitoring system for monitoring the surroundings of a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), The monitoring sensors in the host autonomous vehicle while it is being charged at the aforementioned driving facility monitor for any abnormality in at least one of the height position and attitude of the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, It is configured to perform, Outputting the aforementioned monitoring data means A monitoring system that includes outputting the monitoring data for the aforementioned abnormality.

4. The monitoring system according to claim 2 or 3, configured to charge the battery in the host autonomous vehicle so that the monitoring sensor capable of detecting an object in the external environment is directed towards the blind spot area.

5. Charging the aforementioned host autonomous vehicle is The monitoring system according to claim 4, which includes electrically connecting the host autonomous vehicle to an external charging device (C) by driving the vehicle to a charging position where the battery can be charged by the external charging device (C).

6. Monitoring the aforementioned blind spot area means A monitoring system according to any one of claims 1 to 3, comprising monitoring the blind spot area of ​​another autonomous vehicle, which is a target autonomous vehicle.

7. Outputting the aforementioned monitoring data means The monitoring system according to claim 6, further comprising transmitting the monitoring data to a management center that manages the host autonomous vehicle and the target autonomous vehicle.

8. The monitoring system according to claim 6, further configured to define an upper limit speed of the target autonomous vehicle according to the monitoring status of the blind spot area based on the monitoring data.

9. Monitoring the aforementioned blind spot area means The monitoring system according to claim 1 or claim 3, which includes monitoring the blind spot area of ​​a person as a facility user.

10. Outputting the aforementioned monitoring data means The monitoring system according to claim 9, which includes performing an alert to the person in the blind spot area of ​​the target autonomous vehicle as another facility user.

11. The monitoring sensor in the host autonomous vehicle while it is charging at the aforementioned driving facility is further configured to monitor for abnormalities in at least one of the height position and attitude of the host autonomous vehicle. Outputting the aforementioned monitoring data means The monitoring system according to claim 1 or claim 2, further comprising outputting the monitoring data for the aforementioned abnormality.

12. A monitoring device mounted on a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, for monitoring the surroundings, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, The battery in the host autonomous vehicle is charged so that the monitoring sensor capable of detecting objects in the external environment is directed towards the blind spot area. It is configured to perform, Charging the aforementioned host autonomous vehicle is A monitoring device that includes electrically connecting to an external charging device (C) by driving the host autonomous vehicle to a charging position where the battery can be charged by the external charging device (C).

13. A monitoring device mounted on a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, for monitoring the surroundings, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, It is configured to perform, Monitoring the aforementioned blind spot area means A monitoring device that includes monitoring the blind spot area of ​​a person as a user of the facility.

14. A monitoring device mounted on a host autonomous vehicle (1) having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, for monitoring the surroundings, The aforementioned processor, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), The monitoring sensors in the host autonomous vehicle while it is being charged at the aforementioned driving facility monitor for any abnormality in at least one of the height position and attitude of the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, It is configured to perform, Outputting the aforementioned monitoring data means A monitoring device that includes outputting the monitoring data for the aforementioned abnormality.

15. An autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, During charging at the drivable driving facilities (WR1, WR2, NR, E, H), the monitoring sensors will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, The battery is charged so that the monitoring sensor capable of detecting objects in the external environment is directed towards the blind spot area. It is configured to perform, Charging the aforementioned battery means An autonomous vehicle that electrically connects to an external charging device (C) by driving itself to a charging position where the battery can be charged by the external charging device (C).

16. An autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, During charging at the drivable driving facilities (WR1, WR2, NR, E, H), the monitoring sensors will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, It is configured to perform, Monitoring the aforementioned blind spot area means An autonomous vehicle that includes monitoring the blind spot area of ​​a human being who is a user of the facility.

17. An autonomous vehicle having a processor (102), a monitoring sensor (21) for monitoring the outside world, and a battery (60) for supplying power to a drive source, The aforementioned processor, During charging at the drivable driving facilities (WR1, WR2, NR, E, H), the monitoring sensors will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), While charging at the aforementioned driving facility, the monitoring sensor monitors for any abnormality in at least one of its height position and orientation. To output monitoring data for the aforementioned blind spot area, It is configured to perform, Outputting the aforementioned monitoring data means An autonomous vehicle that includes outputting the monitoring data for the aforementioned abnormality.

18. A monitoring method performed by a processor (102) to monitor the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, The battery in the host autonomous vehicle is charged so that the monitoring sensor capable of detecting objects in the external environment is directed towards the blind spot area. Includes, Charging the aforementioned host autonomous vehicle is A monitoring method that includes electrically connecting the host autonomous vehicle to an external charging device (C) by driving the vehicle to a charging position where the battery can be charged by the external charging device (C).

19. A monitoring method performed by a processor (102) to monitor the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), To output monitoring data for the aforementioned blind spot area, Includes, Monitoring the aforementioned blind spot area means A monitoring method that includes monitoring the blind spot area of ​​a person as a user of the facility.

20. A monitoring method performed by a processor (102) to monitor the surroundings of a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, The monitoring sensors on the host autonomous vehicle while it is charging in a driving facility (WR1, WR2, NR, E, H) will monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3), The monitoring sensors in the host autonomous vehicle while it is being charged at the aforementioned driving facility monitor for any abnormality in at least one of the height position and attitude of the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, Includes, Outputting the aforementioned monitoring data means A monitoring method that includes outputting the monitoring data for the aforementioned abnormality.

21. A monitoring program for a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, which is stored in a storage medium (101) and includes instructions to be executed by a processor (102) for monitoring the surroundings, The aforementioned instruction is, The host autonomous vehicle, while charging at a driving facility (WR1, WR2, NR, E, H), is to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3) using the monitoring sensors on the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, The battery in the host autonomous vehicle is charged so that the monitoring sensor capable of detecting objects in the external environment is directed towards the blind spot area. Includes, Charging the aforementioned host autonomous vehicle is A monitoring program that includes driving the host autonomous vehicle to a charging position where the battery can be charged by an external charging device (C), thereby electrically connecting it to the charging device (C).

22. A monitoring program for a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, which is stored in a storage medium (101) and includes instructions to be executed by a processor (102) for monitoring the surroundings, The aforementioned instruction is, The host autonomous vehicle, while charging at a driving facility (WR1, WR2, NR, E, H), is to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3) using the monitoring sensors on the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, Includes, Having the aforementioned blind spot area monitored means A monitoring program that includes monitoring the blind spot area of ​​a person acting as a user of the facility.

23. A monitoring program for a host autonomous vehicle (1) equipped with a monitoring sensor (21) for monitoring the outside world and a battery (60) for supplying power to a drive source, which is stored in a storage medium (101) and includes instructions to be executed by a processor (102) for monitoring the surroundings, The aforementioned instruction is, The host autonomous vehicle, while charging at a driving facility (WR1, WR2, NR, E, H), is to monitor blind spots (BAa, BAb) that are blind spots for facility users (2, 3) using the monitoring sensors on the host autonomous vehicle. The monitoring sensor in the host autonomous vehicle, which is charging at the aforementioned driving facility, is used to monitor for abnormalities in at least one of the height position and attitude of the host autonomous vehicle. To output monitoring data for the aforementioned blind spot area, Includes, Outputting the aforementioned monitoring data means A monitoring program that includes outputting the monitoring data for the aforementioned abnormality.

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