Automatic driving system and automatic driving method

Abstract

An automatic driving system (10) assists with automatic driving inside a specific area and comprises: a vehicle control unit (11) that controls a vehicle (40) to move an object (100) to a target placement space (521) in a specific area (50); a monitoring unit (12) that monitors the inside of the specific area in real time; and a setting change assessment unit (13) that, when the vehicle control unit is moving the object, determines whether or not it is possible to place the object in the target placement space on the basis of monitoring information acquired by the monitoring unit, and in the case of determining that it is not possible to place the object, sets an alternative target placement space (522) that serves as an alternative on the basis of the monitoring information, and transmits the alternative target placement space to the vehicle control unit to change the target placement space.

Description

Automated driving system and automated driving method

[0001] The present disclosure relates to an automated driving system and an automated driving method for moving objects within a specific area.

[0002] In specific areas such as logistics centers and factories, transported goods are moved to work areas where they are stored within the facility or sorted by delivery destination. Manufactured goods are also moved to work areas where work such as shipping and storage is carried out. Technologies to assist the driving of vehicles that move these goods using autonomous driving are being considered.

[0003] For example, Patent Literature 1 discloses a parking assistance system that includes an entrance compartment where a user disembarks, an exit compartment where the user boards, and a parking area, and that uses an automatic valet parking function to perform unmanned automatic driving within the parking area. In this parking assistance system, within the parking area, a transport route along which an automatically driven automated guided vehicle travels with a vehicle placed thereon, and a self-driving route along which the self-driving vehicle travels, are provided, and each route is managed by a management device. Since a vehicle can be placed and transported on the transport route, it can move without using the vehicle's driving function.

[0004] International Publication No. 2022 / 049993

[0005] However, trailers towed by tractors or other vehicles at logistics centers must be moved to each work area according to the work requirements, making it difficult to establish dedicated transport routes for each. Furthermore, within factories, complex movements of goods are required, such as moving parts brought in and placed on pallets to the next work area where they are assembled, or to an inspection area where products are inspected before shipping. Such specific areas often contain manually operated, unmanaged vehicles, making it difficult to manage them if they preempt available space for goods. Thus, within specific areas, there are challenges that cannot be solved simply by establishing automated transport routes between the source and destination of goods.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an automated driving system and an automated driving method that can smoothly respond to work-related requests even when storage space is unavailable.

[0007] The autonomous driving system according to the present disclosure includes a vehicle control unit that controls a vehicle to move an object to a target storage space within a specific area, a monitoring unit that monitors the specific area in real time, and a setting change determination unit that, while the vehicle control unit is moving the object, determines whether or not the object can be placed in the target storage space based on monitoring information obtained from the monitoring unit, and if it determines that the object cannot be placed, sets an alternative target storage space based on the monitoring information, and transmits the alternative target storage space to the vehicle control unit to change the target storage space.

[0008] The autonomous driving method disclosed herein includes the steps of controlling a vehicle to move an object to a target storage space within a specific area, monitoring the specific area in real time, determining whether the object can be placed in the target storage space based on monitoring information obtained while the vehicle is moving the object, and setting an alternative target storage space based on the monitoring information if it is determined that the object cannot be placed, and communicating the alternative target storage space to change the target storage space to which the vehicle will be moved.

[0009] According to the present disclosure, even if the target placement space for placing an object is unavailable when moving the object to a placement space setting area within a specific region, the target placement space can be changed to smoothly meet work-related requirements.

[0010] FIG. 1 is a schematic block diagram showing an autonomous driving system according to embodiment 1. FIG. 2 is a schematic diagram showing the operation of the autonomous driving system according to embodiment 1. FIG. 3 is an explanatory diagram explaining the functions of the autonomous driving system according to embodiment 1. FIG. 4 is an explanatory diagram explaining the functions of the autonomous driving system according to embodiment 1. FIG. 5 is an explanatory diagram explaining the functions of the autonomous driving system according to embodiment 1. FIG. 6 is a schematic block diagram showing the autonomous driving system according to embodiment 1. FIG. 7 is an explanatory diagram explaining the functions of the autonomous driving system according to embodiment 2. FIG. 8 is an explanatory diagram explaining the functions of the autonomous driving system according to embodiment 2. FIG. 9 is a schematic block diagram showing an autonomous driving system according to embodiment 3. FIG. 10 is a schematic diagram showing the operation of the autonomous driving system according to embodiment 3. FIG. 11 is a flowchart showing a processing flow executed by an autonomous driving system according to embodiment 4. FIG. 12 is a flowchart showing an example of a standby processing flow executed by an autonomous driving system according to embodiment 4. FIG. 13 is a schematic configuration diagram showing an example of a processing circuit that realizes each function of the autonomous driving system according to embodiment 4.

[0011] The following description of the embodiments will be made with reference to the accompanying drawings, in which the same reference numerals are used to designate the same contents and corresponding parts, and detailed description thereof will be omitted.

[0012] Embodiment 1. Fig. 1 is a schematic block diagram showing an automated driving system 10 according to embodiment 1, Fig. 2 is a schematic diagram showing the operation of the automated driving system 10, and Figs. 3 to 6 are explanatory diagrams explaining the function of the automated driving system 10 in a specific area 50. In the figures, an object 100 is, for example, cargo transported from outside the specific area 50 into the specific area 50, a pre-movement storage area 51 is an area where the transported cargo is stored until it is unloaded, and a storage space setting area is an area where cargo loading and unloading work is carried out.

[0013] The autonomous driving system 10 includes a vehicle control unit 11 that controls the vehicle 40 to move the object 101 to a target placement space 521 within the specific area 50, a monitoring unit 12 that monitors the specific area 50 in real time, and a setting change determination unit 13 that, while the vehicle control unit 11 is moving the object 101, determines whether the object 101 can be placed in the target placement space 521 based on monitoring information obtained from the monitoring unit 12, and if it determines that the object 101 cannot be placed, sets an alternative target placement space 522 as an alternative based on the monitoring information, and transmits the alternative target placement space 522 to the vehicle control unit 11 to change the target placement space 521.

[0014] 1 to 6 , a vehicle control unit 11 is provided in a vehicle 40, a monitoring unit 12 in a monitoring device 30, and a setting change determination unit 13 in a control device 20, and they manage and control the movement of an object 100 within a specific area 50. An information management unit 22 of the control device 20 stores and manages area information within the specific area 50, space information for placing the object 100, vehicle information for moving the object 100, and information on objects moved by the vehicle 40. For example, the control device 20 grasps a work plan for the movement of the object 100, such as when the object 100 will arrive at a pre-movement storage area 51 within the specific area 50 and when it will be needed in the storage space setting area. Information such as the location information of the pre-movement storage space 511 in the pre-movement storage area 51 of the object 100, the target storage space 521 in the initial storage space setting area 52, and the available storage space 523, as well as the size and identifier of the object 100, can also be used.

[0015] As shown in FIG. 2, the control device 20 specifies the object 100 and the target storage space 521 and commands the vehicle 40, such as a tractor, to move. Upon receiving the command, the vehicle 40 controls the vehicle 40 using the vehicle control unit 11 to move the object 101 placed in the pre-movement storage space 511 in the pre-movement storage area 51 to the target storage space 521 in the initial storage space setting area 52. Here, the object 101 is a trailer, and is moved by being towed by the vehicle 40. In addition to the object 101 that has been commanded to move, multiple objects 100 are placed in the pre-movement storage area 51 shown in FIGS. 3 to 6. The object 100 that was previously moved is placed in the initial storage space setting area 52.

[0016] The control device 20 issues a monitoring command to the monitoring unit 12 of the monitoring device 30, which monitors the specific area 50. Upon receiving the monitoring command, the monitoring unit 12 monitors the movement route 60 of the vehicle 40, the target storage space 521, etc. The monitoring unit 12 may constantly monitor the specific area 50, or may start monitoring when it receives a command. The entire specific area 50 may be monitored, or only the areas necessary for the movement of the object 101 for which a monitoring command has been issued, such as the pre-movement storage space 511, the target storage space 521, the alternative target storage space 522, and their surroundings, the movement route 60, etc.

[0017] The monitoring unit 12 monitors the specific area 50 using a sensor. The sensor may be a camera, LiDAR (Light Detection and Ranging), or any other sensor capable of detecting objects. The monitoring unit 12 may be provided with a position receiver that acquires position information, and transmit the detected image information and the position information together as monitoring information. The pre-movement placement space 511 of the moving object 101 and the target placement space 521 in the initial placement space setting area 52 are acquired from the information management unit 22 of the control device 20.

[0018] 3, when the vehicle 40 is towing the object 101 and traveling along the travel path 60, if monitoring information is acquired indicating that a manually-operated non-managed vehicle 70 is towing the object 100 from a non-managed area 53 not managed by the autonomous driving system 10 and is attempting to use the target storage space 521, the setting change determination unit 13 determines whether or not it is necessary to change the target storage space 521. For example, if it is confirmed that the non-managed vehicle 70 has detected the vehicle 40 traveling and will not be using the space, the setting change determination unit 13 does not change the space. If the non-managed vehicle 70 has already moved to the target storage space 521, it determines that a change is necessary.

[0019] If the setting change determination unit 13 determines that the target placement space 521 needs to be changed, the setting change determination unit 13 obtains information about an empty placement space 523 in the initial placement space setting area 52 from the management information, and changes the target placement space 521 to the empty placement space 523, setting it as the alternative target placement space 522. The setting change determination unit 13 may be configured to search for an empty placement space 523 in which to place the object 101 from monitoring information. The setting change determination unit 13 then notifies the vehicle control unit 11 of the vehicle 40 that the target placement space 521 has been changed to the alternative target placement space 522. The vehicle 40 is controlled by the vehicle control unit 11 to change the movement route 60 to the changed movement route 61, and moves the object 101 to the alternative target placement space 522. When the control device 20 receives a notification of the completion of the movement from the vehicle 40, it updates the management information in the information management unit 22.

[0020] Here, the changed movement path 61 is calculated, for example, by the setting change determination unit 13. The vehicle 40 transmits control from the vehicle control unit 11 to the vehicle drive unit 41 to drive the vehicle 40. The changed movement path 61 may be calculated, for example, by the control unit 21 in the control device 20, or may be calculated within the vehicle 40. Although a tractor is exemplified as the vehicle 40, it may also be a forklift, a lifter, or the like that lifts an object 100, such as an article placed on a pallet, with forks and moves the pallet.

[0021] 4 , when there are multiple vacant storage spaces 523, the setting change determination unit 13 acquires position information of the vehicle 40 and the multiple vacant storage spaces 523, and calculates a changed movement path 61 for moving the object 101 from the current location to each of the multiple vacant storage spaces 523 by the vehicle 40 based on the position information. The vacant storage space 523 with the shortest distance along the changed movement path 61 is set as the alternative target storage space 522. For example, if Target 1 and Target 2 in FIG. 4 are vacant storage spaces 523, the distance along the changed movement path 61 to Target 1 is shorter than the distance along the changed movement path 61 to Target 2, and therefore the setting change determination unit 13 sets Target 1 as the alternative target storage space 522. The calculation for generating the changed movement path 61 and the calculation of the distance may be performed by, for example, the control unit 21 in the control device 20, or may be performed within the vehicle 40.

[0022] 5 , when there are multiple vacant storage spaces 523, the setting change determination unit 13 acquires the position information of the vehicle 40 and the multiple vacant storage spaces 523, and calculates a changed movement path 61 for moving the object 101 from the current location to each of the multiple vacant storage spaces 523 by the vehicle 40 based on the position information. The monitoring unit 12 then monitors whether there is an obstacle 200 on each changed movement path 61 and transmits the monitoring information. Based on the transmitted monitoring information, the setting change determination unit 13 then designates an vacant storage space 523 that does not have an obstacle 200 on the changed movement path 61 as the alternative target storage space 522. For example, if Target1 and Target2 in FIG. 5 are found as vacant storage spaces 523, and there is an obstacle 200 on the changed movement path 61 to Target1, Target2, which does not have an obstacle 200 on the changed movement path 61, is designated as the alternative target storage space 522. If there are two or more empty storage spaces 523 free of obstacles 200 on the changed movement path 61, the empty storage space 523 that can be reached by the changed movement path 61 with the shortest distance is set as the alternative target storage space 522. Selection may be made by other methods.

[0023] That is, when the setting change determination unit 13 determines, based on the monitoring information, that an alternative target placement space 522 can be set within the initial placement space setting area 52 in which the target placement space 521 is set, the setting change determination unit 13 sets the alternative target placement space 522 within the initial placement space setting area 52. Furthermore, when multiple alternative target placement spaces 522 can be set, the setting change determination unit 13 generates a changed movement path 61 for the vehicle 40 moving the object 101 to reach each alternative target placement space 522, and selects the alternative target placement space 522 whose changed movement path 61 has the shortest distance. Furthermore, the setting change determination unit 13 selects the alternative target placement space 522 in which there is no obstacle 200 on the changed movement path 61.

[0024] Furthermore, if the specific area 50 is a factory, for example, the object 100 is a part placed on a pallet, and a forklift, which is a vehicle 40, inserts its forks into the pallet to move the object 100 along with the pallet. Using FIG. 6 , we will explain the case of moving the object 101 from a work area, which is a pre-transfer area 51 in a factory, to another work area, which is an initial placement space setting area 52. The pallet placed in the pre-transfer area 51 is moved based on a work plan, for example, to the initial placement space setting area 52, which has a work area 55 for unloading, and after unloading, it is transported to an assembly location. The setting change determination unit 13 then acquires a work plan for the initial placement space setting area 52 for the object 101 to be moved. The setting change determination unit 13 then determines an alternative target placement space 522 based on this work plan. For example, while a forklift is heading toward the target placement space 521 with the object 101 in hand, it detects that an unmanaged vehicle 70 is using the target placement space 521, and it is determined that the target placement space 521 needs to be changed. If Target1 and Target2 are available as free storage spaces 523 in the initial storage space setting area 52, the work plan requires that a next work storage space 524 be prepared in the initial storage space setting area 52 for the object 101, and therefore Target2, which is the prepared free storage space 523, is set as the alternative target storage space 522. The free storage space 523 may be selected based on the priority of the work. That is, the setting change determination unit 13 acquires the work plan for the object 101 and selects the alternative target storage space 522 based on the priority of the work in the work plan or the work preparation at the site.

[0025] The work plan for each of the objects 100 is identified by an identifier such as an ID attached to the object 100. The work plan may be for movement to an assembly area after unloading, or movement to an inspection area, shipping area, etc. For example, an identifier may be attached to the trailer, pallet, etc., which are the objects 100, to identify the work plan for each object 100. The work plan for the movement of the object 100 is held in the information management unit 22 of the control device 20. Accumulated past data may be stored and referenced.

[0026] In the case where there are multiple vacant storage spaces 523 in the initial storage space setting area 52, an example has been described in which one alternative target storage space 522 is selected from the multiple vacant storage spaces 523 based on the distance of the changed movement path 61, obstacles on the changed movement path 61, the work plan for the object 101, etc., but these may also be prioritized for selection.

[0027] Alternatively, a plurality of alternative target placement spaces 522 and monitoring information may be displayed to the user, and the selection of an alternative target placement space 522 may be accepted through an input operation by the user, and the accepted alternative target placement space 522 may be set.

[0028] Here, communication between the control device 20, the monitoring device 30, and the vehicle 40 is performed by the communication unit 90 of each device using a wireless communication path 91. Wired communication may also be used. The data used by the control device 20, the monitoring device 30, and the vehicle 40 may be acquired each time, or may be stored in a storage device 81 and the stored data may be called up and used as needed. The control device 20 may be located inside or outside the specific area 50. Management control may be performed from an external server, cloud, etc.

[0029] In this way, the system is equipped with a vehicle control unit 11 that controls the vehicle 40 to move the object 101 to a target storage space 521 within the specific area 50, a monitoring unit 12 that monitors the specific area 50 in real time, and a setting change judgment unit 13 that, while the vehicle control unit 11 is moving the object 101, determines whether the object 101 can be placed in the target storage space 521 based on monitoring information obtained from the monitoring unit 12, and if it determines that the object 101 cannot be placed, sets an alternative target storage space 522 based on the monitoring information, and transmits the alternative target storage space 522 to the vehicle control unit 11 to change the target storage space 521.By doing so, when moving the object 101 placed within the specific area 50 to a storage space setting area within the specific area 50, even if the target storage space 521 where the object 101 is to be placed is unexpectedly unavailable, the target storage space 521 can be changed to smoothly meet work-related requirements. In addition, since monitoring information is obtained that indicates that other items have been placed or are about to be placed in the target storage space 521 by unmanaged vehicles 70, workers, etc. within the specific area 50, management is possible even if unmanaged vehicles, workers, etc. are mixed on site and the target storage space 521 has been taken in advance.

[0030] Furthermore, if an alternative target placement space 522 can be set within the initial placement space setting area 52 in which the target placement space 521 is set, the impact of the change can be reduced by setting the alternative target placement space 522 within the initial placement space setting area 52. Furthermore, if multiple alternative target placement spaces 522 can be set, the travel distance and travel time can be reduced by selecting the alternative target placement space 522 with the shortest distance of the calculated changed movement path 61. Furthermore, by selecting an alternative target placement space 522 that does not have an obstacle 200 on the changed movement path 61, smooth movement can be achieved without detours or redoing the movement. Furthermore, safe movement can be achieved. Furthermore, work efficiency can be improved by acquiring a work plan for the object 100 and selecting an alternative target placement space 522 based on the work priority in the work plan or on-site work preparation. Furthermore, the user's selection of a displayed alternative target placement space 522 allows the user's judgment to be adopted.

[0031] While the example in which the vehicle control unit 11 is provided in the vehicle 40 has been described, as shown in FIG. 7 , the vehicle control unit 11 may be provided in the control device 20, and the control device 20 may control the vehicle drive unit 41 of the vehicle 40 to remotely drive it. As shown in FIG. 8 , the control device 20 may specify the object 101 and the target placement space 521 to control the vehicle, and the setting change determination unit 13 of the control device 20 may determine a setting change based on monitoring information, and control the movement of the object 101 to the alternative target placement space 522, i.e., the changed target placement space. Since the control device 20 can control everything, work management is easy. While the example in which movement is initiated by a movement command from the control device 20 to the vehicle 40 has been described, the vehicle 40 may request the control device 20 to start moving. The vehicle 40 may also request the acquisition of monitoring information.

[0032] In addition, although an example has been described in which cargo transported to the specific area 50 is placed in the transfer pre-storage area 51 and then moved to the next work area, the present invention can also be applied to a case in which cargo towed by a tractor and transported to the specific area 50 is moved directly to the initial storage space setting area 52 in which the target storage space 521 has been set. In this case, any position of the transported cargo may be set as the transfer pre-storage space 511.

[0033] 9 and 10 are explanatory diagrams illustrating the function of the automated driving system 10 in a specific area 50 according to a second embodiment. The automated driving system 10 in the second embodiment differs from the first embodiment in that, if an alternative target placement space 522 cannot be set within the initial placement space setting area 52, the automated driving system 10 sets an alternative target placement space 522 outside the initial placement space setting area 52. The rest of the configuration is the same as that of the first embodiment.

[0034] When the setting change determination unit 13 determines that the target storage space 521 needs to be changed, it obtains information about the free storage space 523 in the initial storage space setting area 52, and changes the target storage space 521 to the free storage space 523, which is then set as the alternative target storage space 522. However, as shown in Fig. 9, for example, there may be cases where the free storage space 523 does not exist in the initial storage space setting area 52.

[0035] If it is determined that there is no available storage space 523 and that an alternative target storage space cannot be set within the initial storage space setting area 52, the setting change determination unit 13 identifies a space in which the object 101 can be placed from the acquired monitoring information. This information may be acquired from the information management unit 22 of the control device 20. For example, in FIG. 9 , it can be determined that there is no available storage space 523 in the initial storage space setting area 52, but that there is space in which the object 101 can be placed within another nearby storage space setting area 54 outside the initial storage space setting area 52. Therefore, the setting change determination unit 13 sets an alternative target storage space 522 in another nearby storage space setting area 54 and transmits the set alternative target storage space 522 to the vehicle control unit 11 of the vehicle 40 to change the target storage space 521. In some cases, work can be performed in the alternative target storage space 522 because it is nearby but not within the initial storage space setting area 52. Alternatively, the vehicle can wait until an available storage space 523 becomes available within the initial storage space setting area 52. In other words, the alternative target storage space 522 can be used as a waiting space 525.

[0036] FIG. 10 also shows an example in which there is no space available to place the object 101 in another storage space setting area 54 near the initial storage space setting area 52. In this case, the setting change determination unit 13 determines, from monitoring information from the monitoring unit 12, the space available to place the object 101, including the travel path 56 on which the vehicle 40 travels. For example, in FIG. 10 , it can be determined that there is space available to place the object 101 on the travel path 56 facing the other storage space setting area 54 near the initial storage space setting area 52. Therefore, the setting change determination unit 13 obtains a work plan for the object 102, which indicates when the object 102 will be moved, and which would be prevented from moving if an alternative target storage space 522 were set up. If the setting change determination unit 13 determines that an available storage space 523 or another waiting space 525 can be secured by the time the object 102 is to be moved, it sets the alternative target storage space 522 on the travel path 56. In other words, the alternative target storage space 522 can be used as the waiting space 525.

[0037] The setting change determination unit 13 then counts the waiting time of the object 101 in the waiting space 525, for example, and checks whether the object 101 can wait until the time for the object 102 to move. If an empty storage space 523 is created in the initial storage space setting area 52 during the waiting time and the empty storage space 523 can be set as an alternative target storage space 522, the object 101 can move to the initial storage space setting area 52. If an empty storage space 523 cannot be created by the time for the object 102 to move, the object 101 temporarily cancels the waiting and returns to, for example, the pre-movement storage area 51. The alternative target storage space 522 may be set again as another waiting space 525. The user may select a space to which the object 101 can move using the input unit 15 from the information displayed on the display unit 14 of the autonomous driving system 10. A worker may assist the object 101 by receiving a notification that the waiting has been canceled.

[0038] The waiting space 525 set here is a space large enough for the object 101 to wait, for example, based on the size of the object 101. If there are multiple spaces large enough for waiting, the waiting space 525 is set by selecting a space of the smallest size that can accommodate the object 101, a space that is easy to face in the direction of travel toward the initial placement space setting area 52 after waiting is released, a space close to the target placement space 521, or the like. To set the waiting space 525, the autonomous driving system 10 uses management information, monitoring information acquired from the monitoring unit 12, etc.

[0039] Since the trailers, pallets, and the like that are the objects 101 come in various sizes, the waiting spaces 525 can be efficiently secured by setting the waiting spaces 525 according to the size of the objects 101. For example, it is advisable for the control device 20 to store in advance the sizes of the objects 100, 101, and 102 within the specific area 50. Since the traveling direction of the vehicle 40 that moves the object 101 may be predetermined, taking into consideration the traveling direction after the waiting period is released, it is possible to reduce U-turns, turning around, and the like, and to move smoothly.

[0040] By analyzing data accumulated in the past, the waiting space 525 may be set in a location where no vehicles are traveling during that time period. For example, in a logistics center, the pre-transfer storage area 51 is filled with trailers that are not scheduled to be moved during times such as late at night, so the waiting space 525 can be created in front of the pre-transfer storage area 51. Charging locations for the vehicles 40, parking lots, etc. may be set in advance as candidate spaces for setting the waiting space 525. The edge of the travel path 56, an employee parking lot, etc. may also be used.

[0041] While waiting in the waiting space 525, if it is determined from the management information or monitoring information that there is an empty storage space 523 in the initial storage space setting area 52, the setting change judgment unit 13 can change the alternative target storage space 522 to the empty storage space 523.

[0042] The waiting time of the object 101 in the waiting space 525 is counted, and when a predetermined waiting time has elapsed, the waiting in the waiting space 525 is canceled and an alternative target placing space 522 is set outside the initial placing space setting area 52. The object 101 may be returned to the pre-movement placing area 51, or another waiting space 525 may be set. The predetermined waiting time may be set as appropriate based on the work plan, etc.

[0043] When the object 101 is placed on standby, the vehicle 40 may wait while towing, holding, or the like the object 101, and when a command to move another object 100 is received from the control device 20, the vehicle 40 may temporarily release the towing, holding, or the like and head to the work for which the command to move has been received. Another work can be carried out during the standby time. The vehicle 40 may inquire with the control device 20, check the work plan for the other object 100 from the identifier, or the like, and determine whether to accept a command to move the other object 100 taking the work time into consideration. After the object 101 waiting in the standby space 525 is released from standby, another vehicle 40 managed by the control device 20 may move the object 101 to the initial storage space setting area 52.

[0044] In this way, when it is determined based on the monitoring information that an alternative target storage space 522 cannot be set within the initial storage space setting area 52, by setting the alternative target storage space 522 outside the initial storage space setting area 52, if there is no free storage space 523 in the initial storage space setting area 52, it is possible to proceed with the work in a nearby location or to wait temporarily until free storage space 523 becomes available.

[0045] Furthermore, if it is determined that an alternative target storage space 522 cannot be set within the initial storage space setting area 52, but it is determined based on the monitoring information that an alternative target storage space 522 can be set within another storage space setting area 54 outside the initial storage space setting area 52, by setting the alternative target storage space 522 within the other storage space setting area 54, it is possible to proceed with work in a nearby location or to wait temporarily until an empty storage space 523 becomes available.

[0046] Furthermore, by setting an alternative target parking space 522 within the travel path 56 of the vehicle 40 outside the initial parking space setting area 52, the vehicle can temporarily wait until an empty parking space 523 becomes available.

[0047] Furthermore, if there are multiple spaces large enough to accommodate the item 101, selecting the smallest space that can accommodate the item 101 will leave space for the next time a waiting space 525 is needed. After the standby is released, selecting a space facing the initial placement space setting area 52 will allow the item 101 to be placed in a direction suitable for the next movement, improving the work efficiency of the next movement. Selecting a space close to the target placement space 521 will shorten the time for the next movement, improving the work efficiency of the next movement.

[0048] Embodiment 3. Fig. 11 is a schematic block diagram showing an automated driving system 10 according to embodiment 3. The automated driving system 10 according to embodiment 3 differs from embodiments 1 and 2 in that it includes a vehicle control unit 11 and a setting change determination unit 13 in a vehicle 40. The rest of the system is the same as embodiment 1 or 2.

[0049] 11 , a vehicle 40 includes a vehicle control unit 11 and a setting change determination unit 13, and controls the movement of an object 100 within a specific area 50. The control device 20 may use management information held in an information management unit 22, or the vehicle 40 may have a function for managing information.

[0050] 12, the vehicle control unit 11 of the vehicle 40 obtains information on the object 101 and the target storage space 521 and controls the vehicle 40 to move the object 101 placed in the pre-movement storage space 511 to the target storage space 521. Then, a setting change determination is made based on the monitoring information obtained from the monitoring unit 12. If the target storage space 521 is changed, the vehicle 40 is controlled to move the object 101 to the alternative target storage space 522, i.e., the changed target storage space 521. When the move is complete, the control device 20 is notified, and the control device 20 updates the management information in the information management unit 22.

[0051] As in the first embodiment, when the vehicle 40 is towing the object 101 and traveling along the travel path 60, if the monitoring unit 12 acquires monitoring information indicating that a manually-operated non-managed vehicle 70 is towing the object 100 from a non-managed area 53 not managed by the autonomous driving system 10 and is attempting to use the target storage space 521, the setting change determination unit 13 determines whether or not it is necessary to change the target storage space 521. For example, if it is confirmed that the non-managed vehicle 70 has detected the vehicle 40 traveling and will not use the space, the setting change determination unit 13 does not change the space. If the non-managed vehicle 70 has already moved to the target storage space 521, it determines that a change is necessary.

[0052] When the setting change determination unit 13 determines that the target placement space 521 needs to be changed, the setting change determination unit 13 obtains information about an empty placement space 523 in the initial placement space setting area 52 from the management information of the control device 20, and changes the target placement space 521 to the empty placement space 523, which becomes the alternative target placement space 522. The setting change determination unit 13 may be configured to search for an empty placement space 523 in which to place the object 101 from the monitoring information. The vehicle 40 is controlled by the vehicle control unit 11 to change the travel route 60 to the changed travel route 61, and moves the object 101 to the alternative target placement space 522.

[0053] If the vehicle 40 is provided with a function for managing information, information on the available storage spaces 523 in the initial storage space setting area 52 managed within the vehicle 40 is obtained. When the movement is completed, the management information within the vehicle 40 is updated. The vehicle 40 may also be provided with functions for calculating the changed movement path 61 described in the first and second embodiments, selecting an available storage space 523 free of obstacles 200, obtaining a work plan, determining whether to wait if there is no available storage space 523, etc. The vehicle 40 may also be provided with a display unit 14 that displays available storage spaces 523 in the storage space setting area to the user and an input unit 15 that accepts the selection of an available storage space 523.

[0054] The vehicle 40 may be a tractor that tows the object 100, or may be a forklift, lifter, or the like that uses forks to lift the object 100, such as goods placed on a pallet, and move the pallet.

[0055] In this way, by providing the vehicle control unit 11 and the setting change determination unit 13 in the vehicle 40, the vehicle 40 can move autonomously. Even if the target placement space 521 where the object 101 is to be placed is unavailable when the object 101 placed in the pre-movement placement area 51 in the specific area 50 is to be moved to the initial placement space setting area 52 in the specific area 50, the target placement space 521 can be changed to smoothly meet the demands related to the work.

[0056] In addition, the same operations as those described in the first or second embodiment are possible, and the same effects can be obtained.

[0057] In this embodiment, an example has been described in which monitoring information is obtained by communicating with the monitoring unit 12 provided in the monitoring device 30, but by using the imaging unit provided in the vehicle 40 to obtain imaging information in the vicinity of the vehicle 40 and complementing the monitoring information, it is possible to monitor the vicinity of the vehicle 40 with greater accuracy.

[0058] Fourth Embodiment. An automatic driving method for moving an object 100 using the automatic driving system 10 will be described. FIG. 13 is a flowchart showing a processing routine executed by the automatic driving system 10 according to the fourth embodiment. First, the vehicle 40 is controlled to move the object 101 to a target placement space 521 within a specific area 50 (step S101). The specific area 50 is then monitored in real time (step S102). While the vehicle 40 is moving the object 101, it determines whether the object 101 can be placed in the target placement space 521 based on the acquired monitoring information (step S103). If it is determined that the object 101 cannot be placed in the target placement space 521 (NO in step S103), an alternative target placement space 522 is set based on the monitoring information (step S104). The alternative target placement space 522 is then transmitted to the vehicle control unit 11, causing the target placement space 521 to be changed (step S105). If it is determined that the object 101 can be placed in the target placement space 521 (YES in step S103), the process ends without setting an alternative target placement space, and returns to the routine of moving the object 101 to the target placement space 521.

[0059] If there is no free storage space 523 in the initial storage space setting area 52, the process proceeds to a standby routine shown in Fig. 14, for example. In the standby routine, it is determined whether there is a space near the initial storage space setting area 52 where the object 101 can wait (step S201). If there is no space where the object 101 can wait (NO in step S201), the standby is canceled and the standby routine is exited, and a notification is sent to, for example, the control device 20, and the process proceeds to another routine. If there is space where the object 101 can wait (YES in step S201), it is determined whether another object 102 is placed in the space where the object 101 can wait and whether the movement of the other object 102 will be obstructed (step S202). If the movement of the other object 102 will not be obstructed (NO in step S202), the object 101 waits (step S209).

[0060] If the object 101 is blocking the movement of another object 102 (YES in step S202), the predetermined time until the next movement of the blocking object 102 is obtained and set as the upper limit wait time (step S203). If the time until the next movement is short, for example, and waiting is inappropriate (NO in step S204), the wait is canceled and the wait routine is exited. If there is sufficient time until the next movement and waiting is appropriate (YES in step S204), a wait space 525 suitable for the object 101 to wait is created and the wait time is counted (step S205). Then, the wait time is counted (step S206). Each time, it is checked whether an available storage space 523 has been created in the initial storage space setting area 52, and if an available storage space 523 is available (YES in step S207), the object 101 is moved to the available storage space 523 (YES in step S211).

[0061] If there is no free storage space 523 (NO in step S207), it is determined whether the waiting time exceeds the predetermined time (upper limit waiting time) until the next movement of the object 102 obstructing the movement (step S208). If the waiting time does not exceed the upper limit waiting time (YES in step S208), the waiting continues and the process returns to step S206, where the waiting time is counted. If the waiting time is equal to or exceeds the upper limit waiting time (NO in step S208), the waiting is canceled and the waiting routine is exited. It is preferable to set the upper limit waiting time to a time with some leeway so as not to obstruct the movement of other objects 102.

[0062] If there is an empty storage space 523 (YES in step S207), it is determined whether to move to the empty storage space 523 (step S211). If it is to move (YES in step S211), an altered movement path 61 is generated (step S212). Then, the empty storage space 523 is changed to the alternative target storage space 522 (step S213), and the standby routine is terminated. The standby routine shown in FIG. 14 is an example, and there are various standby procedures as described in the second embodiment.

[0063] Here, each function of the autonomous driving system 10 is realized by a processing circuit. FIG. 15 is a schematic configuration diagram showing an example of a processing circuit that realizes each function of the autonomous driving system 10. The autonomous driving system 10 includes a processor 80, a storage device 81, a communication I / F (interface) 82, and the like. The processor 80 may be, for example, a CPU (Central Processing Unit). The storage device 81 transmits and receives data to and from the processor 80 and stores the data. Communication between the devices constituting the autonomous driving system 10 is performed via the communication I / F 82. The vehicle control unit 11, the monitoring unit 12, and the setting change determination unit 13 perform each process, calculation, and determination in the processor 80. Management information such as the area, space, and work plan for the object 100 within the specific region 50, monitoring information by the monitoring unit 12, and equations, numerical values, and the like used to calculate the changed movement path 61 are stored in the storage device 81.

[0064] The processor 80 and the storage device 81 may be shared by one or more. The processor 80 may include, for example, an application specific integrated circuit (ASIC), an integrated circuit (IC), a digital signal processor (DSP), a field programmable gate array (FPGA), or other logic circuits, as well as various signal processing circuits. Multiple processors 80, of the same type or different types, may be provided, so that each process is shared and executed by multiple arithmetic processing devices.

[0065] The multiple storage devices 81 include, for example, a RAM (Random Access Memory) configured to allow data to be read from and written to the processor 80, a ROM (Read Only Memory) configured to allow data to be read from the processor 80, a hard disk, etc.

[0066] Each function of the autonomous driving system 10 is realized by the processor 80 executing software or programs stored in the storage device 81 and working in cooperation with hardware. The setting data set in the autonomous driving system 10 may be stored in the storage device 81 as part of the software or program, or may be input by the user. A non-transitory recording medium 84 on which the autonomous driving program 83 is recorded may be distributed and installed in the autonomous driving system 10 (storage device 81).

[0067] In this way, the vehicle 40 is controlled to move the item 101 to a target storage space 521 within the specific area 50, the specific area 50 is monitored in real time, and while the vehicle 40 is moving the item 101, a determination is made based on the acquired monitoring information as to whether the item 101 can be placed in the target storage space 521, and if it is determined that the item 101 cannot be placed, an alternative target storage space 522 is set based on the monitoring information, and the alternative target storage space 522 is transmitted to change the target storage space 521 to which the vehicle 40 is moved.By doing so, even if the target storage space 521 where the item 101 is to be placed unexpectedly becomes unavailable when the item 101 placed in the pre-movement storage area 51 within the specific area 50 is moved to the initial storage space setting area 52 within the specific area 50, the target storage space 521 can be changed to smoothly meet work-related requirements.

[0068] Although various exemplary embodiments are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, and even cases where at least one component is extracted and combined with components of another embodiment.

[0069] 10 Autonomous driving system, 11 Vehicle control unit, 12 Monitoring unit, 13 Setting change determination unit, 14 Display unit, 15 Input unit, 20 Control device, 21 Control unit, 22 Information management unit, 30 Monitoring device, 40 Vehicle, 41 Vehicle driving unit, 50 Specific area, 51 Movement pre-storage area, 52 Initial storage space setting area, 53 Non-managed area, 54 Another storage space setting area, 55 Work area for loading and unloading, 56 Travel path, 60 Movement route, 61 Changed movement route, 70 Non-managed vehicle, 90 Communication unit, 91 Communication path, 100, 101, 102 Object, 200 Obstacle, 511 Movement pre-storage space, 521 Target storage space, 522 Alternative target storage space, 523 Empty storage space, 524 Next work storage space, 525 Waiting space

Claims

1. A vehicle control unit that controls the vehicle to move an object to a target placement space within a specific area, A monitoring unit that monitors the aforementioned specific area in real time, When the vehicle control unit is moving the object, the setting change determination unit determines, based on monitoring information obtained from the monitoring unit, whether or not the object can be placed in the target placement space, and if it is determined that it cannot be placed there, sets an alternative target placement space based on the monitoring information, transmits the alternative target placement space to the vehicle control unit, and changes the target placement space. An autonomous driving system equipped with [the following features].

2. The automatic driving system according to claim 1, wherein the setting change determination unit determines, based on the monitoring information, that the alternative target placement space can be set within the initial placement space setting area where the target placement space is set, and sets the alternative target placement space within the initial placement space setting area.

3. The automatic driving system according to claim 2, wherein if the setting change determination unit determines, based on the monitoring information, that the alternative target placement space cannot be set within the initial placement space setting area, it sets the alternative target placement space outside the initial placement space setting area.

4. The automatic driving system according to claim 3, wherein, if the setting change determination unit determines that the alternative target placement space cannot be set within the initial placement space setting area, and determines, based on the monitoring information, that the alternative target placement space can be set within another placement space setting area outside the initial placement space setting area, the alternative target placement space is set within that other placement space setting area.

5. The automated driving system according to claim 4, wherein if the setting change determination unit determines that it is not possible to set the alternative target space in another space setting area outside the initial space setting area, it sets the alternative target space in the vehicle's travel path.

6. The automatic driving system according to claim 1, wherein, if a plurality of alternative target placement spaces can be set, the setting change determination unit generates a modified movement path for the vehicle moving the object to reach each of the alternative target placement spaces, and selects the alternative target placement space with the shortest distance of the modified movement path.

7. The automatic driving system according to claim 1, wherein, if a plurality of alternative target placement spaces can be set, the setting change determination unit generates a modified movement path for the vehicle moving the object to reach each of the alternative target placement spaces, and selects an alternative target placement space on the modified movement path that does not have any obstacles.

8. The automatic driving system according to claim 1, wherein the setting change determination unit, when a plurality of alternative target placement spaces can be set, acquires the work plan for the object and selects the alternative target placement space based on the priority of the work in the work plan or the work preparation on site.

9. The automatic driving system according to claim 1, wherein, when a plurality of alternative target placement spaces can be set, the setting change determination unit displays a plurality of alternative target placement spaces and the monitoring information to the user, accepts the user's input operation to select an alternative target placement space, and sets the accepted alternative target placement space.

10. The automatic driving system according to claim 3, wherein, if the setting change determination unit cannot set the alternative target space within the initial space setting area, it sets the alternative target space outside the initial space setting area, and then, based on the monitoring information, determines that it is possible to set the alternative target space within the initial space setting area, it sets the alternative target space within the initial space setting area.

11. The automatic driving system according to claim 3, in cases where the setting change determination unit cannot set the alternative target placement space within the initial placement space setting area, and multiple alternative target placement spaces can be set, the unit selects at least one of the following as the alternative target placement space: a space of the minimum size that can accommodate the object, a space that is easily accessible to the initial placement space setting area, or the space closest to the initial placement space setting area.

12. The automatic driving system according to claim 3, wherein the setting change determination unit determines that the alternative target placement space cannot be set within the initial placement space setting area, and after a predetermined waiting time has elapsed, sets the alternative target placement space outside the initial placement space setting area.

13. The automated driving system according to any one of claims 1 to 12, wherein the aforementioned object is cargo transported from outside a specific area into the specific area, and the initial storage space setting area is an area where loading and unloading operations for the cargo are performed.

14. The automated driving system according to any one of claims 1 to 12, wherein the monitoring unit acquires the monitoring information of whether or not another object is placed in the target placement space by an unmanaged vehicle or worker that is not under management within the specific area, or whether or not another object is about to be placed there.

15. The automated driving system according to any one of claims 1 to 12, wherein the vehicle control unit is provided in the vehicle and the setting change determination unit is provided in the control device that manages the object.

16. The automated driving system according to any one of claims 1 to 12, wherein the vehicle control unit and the setting change determination unit are provided in a control device that manages the object.

17. The automated driving system according to any one of claims 1 to 12, wherein the vehicle control unit and the setting change determination unit are provided in the vehicle that moves the object.

18. The steps include controlling the vehicle to move an object to a target placement space within a specific area, The steps include: monitoring the aforementioned specific area in real time, The steps include determining whether the object can be placed in the target placement space based on the monitoring information acquired while the vehicle is moving the object, If it is determined that the aforementioned object cannot be placed, the steps include setting an alternative target placement space based on the monitoring information, communicating the alternative target placement space, and changing the target placement space to which the vehicle will be moved. An autonomous driving method that includes [a specific feature].