Travel control system, course traveling vehicle, travel control method, and travel control program

Abstract

This travel control system is a system for controlling traveling of a course traveling vehicle (100) that travels a golf course. A prohibited zone setting unit acquires traveling-prohibited zone data indicating the location of a traveling-prohibited zone in which the course traveling vehicle (100) is not allowed to travel, and sets travel prohibition information (53) in which the traveling-prohibited zone data is associated with each traveling environment mode of a plurality of traveling environment modes. A reception unit (110) receives a selection of a traveling environment mode from the plurality of traveling environment modes. A travel control unit (120) extracts the traveling-prohibited zone data corresponding to the selected traveling environment mode from the travel prohibition information (53), and controls the course traveling vehicle (100) not to travel in the traveling-prohibited zone indicated by the extracted traveling-prohibited zone data.

Description

Driving control system, course driving vehicle, driving control method, and driving control program

[0001] The present disclosure relates to a driving control system, a course traveling vehicle, a driving control method, and a driving control program, and more particularly to a driving control system, a course traveling vehicle, a driving control method, and a driving control program that control the driving of a course traveling vehicle used by golfers playing on a golf course.

[0002] Currently, most golf courses are played using four-person carts. Golf carts often operate automatically, following electromagnetic induction lines embedded in the asphalt cart paths. Some golf courses also allow golf carts to operate on fairways. However, there are no electromagnetic induction lines on fairways, and golf carts are manually driven by players. As a result, there are many accidents where carts overturn or passengers are thrown off due to rough terrain or obstacles. Obstacles include curbs or shrubbery at the boundary between the cart path and the golf course. Furthermore, during rainy weather and the day after rain, the grass and ground are often wet, and driving a golf cart on the course can damage the course.

[0003] Patent Document 1 discloses a technique for setting areas where travel is prohibited based on road width.

[0004] Japanese Patent Application Laid-Open No. 2019-191027

[0005] On a golf course, there are areas where golf carts and other vehicles on the course should not be allowed to drive. For example, there are static no-drive zones where vehicles on the course should not be allowed to drive, such as areas around the green, hills, bunkers, ponds, and shrubbery. There are also dynamic no-drive zones such as areas where grass is growing, mud, and weak grass. No-drive zones also change dynamically depending on environmental factors such as the weather.

[0006] The technology of Patent Document 1 can set no-travel areas based on static road widths, but cannot handle no-travel areas that change dynamically.

[0007] The present disclosure aims to provide a course-traveling vehicle that can prevent accidents and does not damage the golf course by making it possible to set dynamically changing no-travel areas.

[0008] The driving control system according to the present disclosure is a driving control system for controlling the driving of a course driving vehicle that drives on a golf course, and includes: a prohibited zone setting unit that acquires no-driving zone data indicating the locations of no-driving zones that prohibit the course driving vehicle from driving, and sets no-driving information in which the no-driving zone data is associated with each of a plurality of driving environment modes corresponding to different environments; a reception unit that accepts a selection of a driving environment mode from the plurality of driving environment modes; and a driving control unit that extracts no-driving zone data corresponding to the selected driving environment mode from the no-driving information, and controls the driving of the course driving vehicle so that the course driving vehicle does not drive through the no-driving zones indicated by the extracted no-driving zone data.

[0009] The driving control system according to the present disclosure can set dynamically changing no-drive zones on a golf course. Therefore, the driving control system according to the present disclosure can set no-drive zones according to the environment on the day of playing, thereby preventing accidents and providing a course driving vehicle that does not damage the golf course.

[0010] 1 is a diagram showing an example of the overall configuration of a cruise control system according to Embodiment 1. FIG. 2 is a diagram showing an example of the configuration of a course traveling vehicle according to Embodiment 1. FIG. 3 is a diagram showing an example of the configuration of a server device according to Embodiment 1. FIG. 4 is a diagram showing an example of the configuration of a course traveling vehicle according to Embodiment 1. FIG. 5 is a flow diagram showing the operation of a cruise control system according to Embodiment 1. FIG. 6 is a diagram showing a method of acquiring no-travel zone data using a measuring device according to Embodiment 1. FIG. 7 is a diagram showing examples of 3D map data and no-travel zones according to Embodiment 1. FIG. 8 is a diagram showing an example of the configuration of a server storage unit according to Embodiment 1. FIG. 9 is a diagram showing an example of a vehicle screen according to Embodiment 1. FIG. 10 is a diagram showing an example of the configuration of a server device according to a modification of Embodiment 1. FIG. 11 is a diagram showing an example of the configuration of a course traveling vehicle according to a modification of Embodiment 1. FIG. 12 is a diagram showing an example of cruise control for a plurality of course traveling vehicles according to Embodiment 1. FIG. 13 is a diagram showing an example of a fairway route according to Embodiment 2. FIG. 14 is a diagram showing an example of selecting a rain mode in a traveling environment mode, which is a weather mode, in Embodiment 2. FIG. 15 is a diagram showing an example of wide-turn control when a course traveling vehicle turns in Embodiment 2. FIG. 16 is a diagram showing an example of switching between automatic traveling and manual traveling in a PMV according to Embodiment 3. FIG. 17 is a diagram explaining cruise control processing according to Embodiment 3. FIG. 18 is a diagram explaining cruise control processing according to Embodiment 3. FIG. 10 is a diagram for explaining the driving control process according to the third embodiment. FIG. 11 is a diagram for explaining the driving control process according to the third embodiment. FIG. 12 is a diagram for explaining a case where the PMV according to the third embodiment is manually driven within a fairway. FIG. 13 is a diagram showing a comparative example for comparison with the driving control process of the PMV according to the fourth embodiment. FIG. 14 is a flow diagram showing the operation of the course traveling vehicle according to the fourth embodiment. FIG. 15 is a diagram showing a specific example of the driving control process by the course traveling vehicle according to the fourth embodiment.

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

[0012] Embodiment 1. *** Description of Configuration *** Figure 1 is a diagram showing an example of the overall configuration of a cruise control system 500 according to an embodiment. The cruise control system 500 is a system that controls the travel of a course traveling vehicle 100 used by a user 20 playing on a golf course 400. The user 20 is also referred to as a golfer or player who plays golf on the golf course 400.

[0013] The driving control system 500 controls the driving of the course traveling vehicle 100 that travels on the golf course 400. The driving control system 500 includes the course traveling vehicle 100 and a server device 200. For example, the course traveling vehicle 100 automatically drives the golf course 400 based on the driving route 50. The course traveling vehicle 100 can also switch between automatic driving and manual driving. Automatic driving is also referred to as automatic driving, autonomous driving, or autonomous movement. Manual driving is also referred to as manual driving or manual operation. The course traveling vehicle 100 communicates with the server device 200 via a network. The server device 200 is realized, for example, by a cloud computer. The server device 200 communicates with the course traveling vehicle 100 via a network. The server device 200 is also referred to as a control device that controls the course traveling vehicle 100.

[0014] 2 is a diagram showing an example of the configuration of a course traveling vehicle 100 according to this embodiment. The course traveling vehicle 100 is an example of a moving body that is used on a golf course. The course traveling vehicle 100 is an autonomous vehicle that carries a golf bag of a user 20 playing on the golf course and automatically drives around the golf course according to a travel route 50 transmitted from a server device 200.

[0015] The course traveling vehicle 100 is equipped with devices such as a display device 941, a vehicle camera 961, a LiDAR 962, and a position sensor 963. Although not shown, the course traveling vehicle 100 is also equipped with an automatic driving system for automatic driving according to a traveling route 50. The traveling route 50 is an example of a travel route along which a moving object travels.

[0016] The vehicle camera 961 is a camera that captures images of the surroundings of the course-traveling vehicle 100. The vehicle camera 961 is an example of a camera mounted on a moving body. For example, the vehicle camera 961 captures images of the trajectory of a golf ball, images of the user playing, images to detect obstacles, or images to measure the distance to an object. The vehicle camera 961 may be composed of multiple cameras, such as a camera that captures the trajectory of a golf ball and a camera that captures the image of the user playing. The vehicle camera 961 may also be composed of multiple types of cameras, such as a normal camera and an omnidirectional camera.

[0017] The LiDAR 962 detects the distance to objects around the course traveling vehicle 100. Multiple LiDARs 962 may be installed. By analyzing the distance information from the LiDAR 962 in combination with the images captured by the vehicle camera 961, the situation around the course traveling vehicle 100 can be detected more accurately. Use of the LiDAR 962 has the effect of enabling highly accurate detection of information such as the trajectory of a golf ball or the distance to an obstacle on the golf course. In addition, the LiDAR 962 installed on the course traveling vehicle 100 can also measure course shape data to update previously acquired course shape data.

[0018] Here, a brief description will be given of the basic functions of the vehicle camera 961 or LiDAR 962 in the course traveling vehicle 100. First, the self-position estimation function of the course traveling vehicle 100 will be described. The self-position estimation unit of the course traveling vehicle 100 generates an environmental map by SLAM processing using image data from the vehicle camera 961, point cloud data from the LiDAR 962, and measurement data from the IMU, and locates its own position and attitude using the previously acquired digital map. IMU is an abbreviation for Inertial Measurement Unit. Measurement data from the IMU includes data such as acceleration, velocity, and angular velocity. SLAM is an abbreviation for Simultaneous Localization and Mapping. In addition, in position location, the position and attitude may be located by composite positioning using satellite positioning data measured by RTK positioning using a GNSS receiver or measurement data such as azimuth angle measured by an electronic compass. RTK is an abbreviation for Real-time Kinematic.

[0019] Next, a brief description of the driving control function of the course traveling vehicle 100 will be given. The driving control unit 120, which will be described later, performs automatic driving control of the course traveling vehicle 100 according to the self-position estimated by the self-position estimation unit and a preset guidance route. The course traveling vehicle 100 also detects surrounding obstacles based on images or point cloud data acquired by the vehicle camera 961 or the LiDAR 962. The driving control unit 120 performs processing to control the movement of the course traveling vehicle 100 so as to avoid the detected obstacles or to slow down or stop the vehicle to avoid colliding with the obstacles. Surrounding obstacles include obstacles on the course, people (players, caddies, or galleries), golf club carts, and other course traveling vehicles 100. The course traveling vehicle 100 may also perform image tracking or radar tracking of a user aboard the course traveling vehicle 100 using image data from the vehicle camera 961 or point cloud data from the LiDAR 962. In addition to or instead of the LiDAR 962, millimeter wave radar may be used for obstacle detection, position location, or player tracking.

[0020] The position sensor 963 acquires position information of the course traveling vehicle 100. More specifically, the position sensor 963 acquires the position and time of the course traveling vehicle 100 during movement as position information. The position sensor 963 is, for example, a GPS. GPS is an abbreviation for Global Positioning System.

[0021] The autonomous driving system includes, for example, a communication device, a driving control unit, and a display device. The driving control unit controls the movement of the moving body. Specifically, the driving control unit controls the autonomous driving of the course traveling vehicle 100.

[0022] The course traveling vehicle 100 is, for example, a PMV that can travel with a person on board. PMV is an abbreviation for Personal Mobility Vehicle. Furthermore, when the course traveling vehicle 100 is used without a person on board, it may be an AMR. AMR is an abbreviation for Autonomous Mobile Robot.

[0023] The course traveling vehicle 100 according to this embodiment has seats for passengers, like a golf cart on a golf course, and can be automatically driven with the user seated. Since the user can also ride in the vehicle and travel, there is an advantage in that the playing time can be shortened compared to walking. The course traveling vehicle 100 can be automatically driven even when the user is not seated. For example, the user may be able to switch between an automatic driving mode when seated and an automatic driving mode when not seated by remote control. If the user wants to play golf on foot, the user can simply select the automatic driving mode when not seated.

[0024] The course traveling vehicle 100 can also switch between an automatic driving mode and a manual driving mode. The above-described mode switching in the course traveling vehicle 100 can be performed using a switch button or the like on the vehicle body or by remote control. The course traveling vehicle 100 may also have a function such as voice recognition for recognizing the user's voice or gesture recognition for recognizing the user's movements. This function allows the course traveling vehicle 100 to activate various functions in response to the user's voice or gestures. This reduces the user's workload and allows for more comfortable play. The course traveling vehicle 100 may also have a function to travel forward on the fairway at a minimum speed if the vehicle remains stopped on the fairway for a certain period of time. Since golf rules allow a driver to search for the ball for three minutes, the certain period of time can be set arbitrarily as long as the vehicle remains stopped for three minutes or more.

[0025] FIG. 3 is a diagram showing an example of the configuration of the server device 200 according to this embodiment.

[0026] The server device 200 is a computer. The server device 200 includes a processor 910 as well as other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. The processor 910 is connected to the other hardware via a signal line or a wireless connection and controls the other hardware.

[0027] The server device 200 includes, as functional elements, a prohibition band setting unit 210, a path calculation unit 220, a data transmission unit 230, and a server storage unit 250.

[0028] The functions of the prohibition band setting unit 210, the path calculation unit 220, and the data transmission unit 230 are realized by software. The server storage unit 250 is provided in the memory 921. The server storage unit 250 may be provided in the auxiliary storage unit 922, or may be provided separately in the memory 921 and the auxiliary storage unit 922.

[0029] The processor 910 is a device that executes a driving control program. The driving control program includes programs that implement the functions of the no-go zone setting unit 210, the route calculation unit 220, and the data transmission unit 230. The driving control program also includes programs that are executed to implement the functions of the course traveling vehicle 100, which will be described later.

[0030] The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0031] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. The auxiliary storage device 922 is a storage device that saves data. A specific example of the auxiliary storage device 922 is an HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, or DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0032] The input interface 930 is a port connected to an input device such as a mouse, keyboard, or touch panel. Specifically, the input interface 930 is a USB terminal. The input interface 930 may be a LAN interface or Bluetooth (registered trademark). USB is an abbreviation for Universal Serial Bus. LAN is an abbreviation for Local Area Network.

[0033] The output interface 940 is a port to which a cable of an output device such as a display is connected. The output interface 940 may also be a LAN interface or Bluetooth (registered trademark). Specifically, the output interface 940 is a USB terminal or an HDMI (registered trademark) terminal. Specifically, the display is an LCD. The output interface 940 is also called a display interface. HDMI (registered trademark) is an abbreviation for High Definition Multimedia Interface. LCD is an abbreviation for Liquid Crystal Display.

[0034] The communication device 950 has a receiver and a transmitter. The communication device 950 is connected to a communication network such as Wi-Fi (registered trademark), a LAN, the Internet, or a telephone line. Specifically, the communication device 950 is a communication chip or NIC. NIC is an abbreviation for Network Interface Card.

[0035] The driving control program is executed by the server device 200. The driving control program is read into the processor 910 and executed by the processor 910. The memory 921 stores not only the driving control program but also an OS. OS is an abbreviation for Operating System. The processor 910 executes the driving control program while executing the OS. The driving control program and the OS may be stored in an auxiliary storage device 922. The driving control program and the OS stored in the auxiliary storage device 922 are loaded into the memory 921 and executed by the processor 910. Note that part or all of the driving control program may be incorporated into the OS.

[0036] The server device 200 may include multiple processors that replace the processor 910. These multiple processors share the task of executing the driving control program. Each processor is a device that executes the driving control program in the same way as the processor 910.

[0037] Data, information, signal values ​​and variable values ​​used, processed or output by the driving control program are stored in memory 921, auxiliary storage device 922, or registers or cache memory within processor 910.

[0038] The "unit" of each of the prohibition zone setting unit 210, the route calculation unit 220, and the data transmission unit 230 may be interpreted as a "circuit," "step," "procedure," "process," or "circuitry." The driving control program causes a computer to execute a prohibition zone setting process, a route calculation process, and a data transmission process. The "processes" of the prohibition zone setting process, the route calculation process, and the data transmission process may be interpreted as a "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." The driving control method is a method performed by the course traveling vehicle 100 and the server device 200 executing a driving control program. The driving control program may be provided by being stored in a computer-readable recording medium. The driving control program may also be provided as a program product.

[0039] The various types of information exchanged in the server device 200 will be described later.

[0040] FIG. 4 is a diagram showing an example configuration of a course traveling vehicle 100 according to this embodiment. The course traveling vehicle 100 is equipped with a computer. The course traveling vehicle 100 includes a processor 910 as well as other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. As described above, the course traveling vehicle 100 also includes other hardware such as a vehicle camera 961, a LiDAR 962, and a position sensor 963. The processor 910 is connected to the other hardware via a signal line or a wireless connection and controls the other hardware. For simplicity, hardware having the same functions as the server device 200 will be denoted by the same reference numerals. However, it is obvious that the course traveling vehicle 100 and the server device 200 each include separate hardware.

[0041] The course traveling vehicle 100 includes, as functional elements, a reception unit 110, a traveling control unit 120, a display unit 130, and a vehicle memory unit 140.

[0042] The functions of the reception unit 110, the driving control unit 120, and the display unit 130 are realized by software. The vehicle storage unit 140 is provided in the memory 921. The vehicle storage unit 140 may be provided in the auxiliary storage device 922, or may be provided separately in the memory 921 and the auxiliary storage device 922.

[0043] The processor 910 is a device that executes a driving control program. The driving control program is a program that realizes the functions of the reception unit 110, the driving control unit 120, and the display unit 130. As described above, the driving control program also includes a program that is executed when realizing the functions of the server device 200.

[0044] The description of each piece of hardware is the same as that of the server device 200.

[0045] The "parts" of the reception unit 110, the driving control unit 120, and the display unit 130 may be read as "circuits," "steps," "procedures," "processing," or "circuitry." The driving control program causes a computer to execute reception processing, driving control processing, and display processing. The "processing" of the reception processing, driving control processing, and display processing may be read as "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program."

[0046] The various types of information exchanged in the course traveling vehicle 100 will be described later.

[0047] ***Description of Operation*** Next, the operation of cruise control system 500 according to this embodiment will be described. The operating procedure of cruise control system 500 corresponds to a cruise control method. Furthermore, a program that realizes the operation of cruise control system 500 corresponds to a cruise control program.

[0048] FIG. 5 is a flow diagram showing the operation of the cruise control system 500 according to this embodiment.

[0049] <No-Drive Zone Setting Process> In step S101, the no-drive zone setting unit 210 of the server device 200 acquires no-drive zone data 511 that indicates the locations of no-drive zones in which travel of the course traveling vehicle 100 is prohibited. The no-drive zone setting unit 210 acquires the no-drive zone data 511 using the measuring device 300. The measuring device 300 is a device that measures position information that identifies no-drive zones that correspond to at least one of a plurality of traveling environment modes.

[0050] FIG. 6 is a diagram showing a method for acquiring no-drive zone data 511 using a measuring device 300 according to this embodiment. The measuring device 300 is, for example, a positioning unit capable of receiving CLAS signals. CLAS positioning is a method of positioning that can perform positioning with an error of a few centimeters using the centimeter ball augmentation service. As shown in FIG. 6 , the measuring device 300 is carried by a golf course staff member. The golf course staff member uses the measuring device 300 to measure position information surrounding the no-drive zone. Specifically, the golf course staff member carries the measuring device 300 and moves around the golf course on foot, measuring position information surrounding the no-drive zone using the measuring device 300.

[0051] In step S102, the no-driving zone setting unit 210 sets the no-driving zone information 53 in which the no-driving zone data 511 is associated with each of the plurality of driving environment modes. The plurality of driving environment modes correspond to different environments. For example, the plurality of driving environment modes correspond to different weather conditions. Specifically, the plurality of driving environment modes may include a sunny weather mode and a rainy weather mode.

[0052] FIG. 7 is a diagram showing an example of three-dimensional map data 51 and no-drive zones according to this embodiment. The three-dimensional map data 51 shown in the left diagram of FIG. 7 is an example of high-precision three-dimensional map data used for automated driving. Cart paths, fairways, and the like can be identified. The driving control unit 120 of the course-driving vehicle 100 performs automated driving according to the driving route 50 transmitted from the server device 200. During automated driving according to the driving route 50, the driving control unit 120 acquires vehicle position information using the position sensor 963 and transmits it to the server device 200. The center diagram of FIG. 7 is a diagram showing a state in which measurement data measured by the measuring device 300 and the like is reflected in the three-dimensional map data 51. The center diagram of FIG. 7 shows the periphery of the fairway and the cart path.

[0053] Using the right diagram of FIG. 7 , an example of setting no-drive zones for multiple driving environment modes corresponding to different weather conditions will be described. For example, in rainy weather mode, no-drive zones are set on both ends of the cart path to prevent entry into the fairway. The circles in the right diagram of FIG. 7 indicate no-drive zones on both ends of the cart path. In other words, in rainy weather mode, no-drive zones are set on both ends of the cart path. On the other hand, in sunny weather mode, no-drive zones are set to allow entry and exit into the fairway to allow entry into the fairway. Therefore, in sunny weather mode, no-drive zones are not set on both ends of the cart path. Here, two modes, sunny weather mode and rainy weather mode, have been described as examples, but modes such as after-rain mode, snow mode, or cloudy weather mode may be created to set no-drive zones more precisely. Other examples of driving environment modes and no-drive zones will be described later.

[0054] The no-travel zone data, which is measurement data obtained by the measuring device 300, is transmitted to the server device 200, which is a cloud-based control system, via the Internet, for example. The no-travel zone setting unit 210 then sets the no-travel zone data as no-travel information 53.

[0055] In step S103, the data transmission unit 230 transmits the travel prohibition information 53 to the course traveling vehicle 100. For example, when the course traveling vehicle 100 is started up, the data transmission unit 230 transmits the travel prohibition information 53 to the course traveling vehicle 100. When the course traveling vehicle 100 is started up, other data such as the three-dimensional map data 51 is also transmitted to the course traveling vehicle 100.

[0056] Alternatively, the administrator may transmit a data request command to the server device 200 via the display device 941, which is the input interface 930 of the course traveling vehicle 100. When the server device 200 receives the data request command, it may transmit traveling prohibition information 53 to the course traveling vehicle 100 in accordance with the data request command. For example, a data request command including a traveling environment mode selected by the administrator may be transmitted to the server device 200. Then, the server device 200 may transmit to the course traveling vehicle 100 the traveling prohibition information 53 corresponding to the traveling environment mode included in the data request command.

[0057] FIG. 8 is a diagram illustrating an example of the configuration of the server storage unit 250 according to this embodiment. The server storage unit 250 stores a driving route 50, three-dimensional map data 51, player information 52, and no-drive information 53. The no-drive information 53 includes static no-drive zones, such as areas around greens, hills, bunkers, ponds, and shrubbery, where vehicles traveling on the course should be prohibited from traveling in advance. The no-drive zones also include dynamically occurring no-drive zones, such as areas where grass is growing, mud, and weak grass. There are also no-drive zones that dynamically occur depending on the driving environment mode, such as areas for entering and exiting the fairway. For dynamically occurring no-drive zones, when a change occurs in the no-drive zone, the no-drive zone data 511 acquired using the method shown in FIG. 6 is set as the no-drive information 53. Alternatively, the no-drive zone data 511 for dynamically occurring no-drive zones may be periodically acquired using the method shown in FIG. 6.

[0058] In step S104 , the reception unit 110 acquires the travel prohibition information 53 via the communication device 950 .

[0059] <Reception Process> In step S105, the reception unit 110 receives, via the input interface 930, a selection of a driving environment mode from a plurality of driving environment modes.

[0060] 9 is a diagram showing an example of a vehicle screen 61 according to this embodiment. The vehicle screen 61 is displayed on the display device 941 of the course traveling vehicle 100. When the course traveling vehicle 100 is started up, information such as a traveling route 50, three-dimensional map data 51, player information 52, and traveling prohibition information 53 is transmitted from the server device 200. The vehicle screen 61 is displayed based on this information.

[0061] In the example of FIG. 9 , a mode selection field 611 for selecting a driving environment mode and a player information selection field 612 are displayed. In the mode selection field 611, for example, a plurality of driving environment modes corresponding to various weather conditions are displayed in a pull-down menu, and the corresponding driving environment mode is selected from the plurality of driving environment modes. In the player information selection field 612, the play start time, whether the start is an IN start or OUT start, the group number, the number and name of the course traveling vehicle 100, etc. Information corresponding to each course traveling vehicle 100 is selected from the player information selection field 612. Hereinafter, the group number may be referred to as a group ID. Furthermore, the number of the course traveling vehicle 100 may be referred to as a PMVID. ID is an abbreviation for IDentifier.

[0062] In this embodiment, the selection of the driving environment mode is input by the administrator to each course traveling vehicle 100. Alternatively, the administrator may be configured to select the driving environment mode from the server device 200.

[0063] <Driving Control Processing> In step S106, the driving control unit 120 extracts, from the driving prohibition information 53, the no-driving zone data 511 that corresponds to the selected driving environment mode.

[0064] In step S107, the driving control unit 120 controls the driving of the course traveling vehicle 100 so that the course traveling vehicle 100 does not travel through the no-driving zone indicated by the extracted no-driving zone data 511. At this time, the course traveling vehicle 100 may be driven automatically or manually.

[0065] For example, the driving control unit 120 may stop the course traveling vehicle 100 when the course traveling vehicle 100 approaches within a predetermined distance of a no-driving zone. At this time, it is desirable that the driving control unit 120 perform control to gradually reduce the speed as the course traveling vehicle 100 approaches within the predetermined distance of the no-driving zone. Furthermore, when the course traveling vehicle 100 approaches within the predetermined distance of the no-driving zone, the driving control unit 120 may output a warning message to an output device of the course traveling vehicle 100 notifying that the course traveling vehicle 100 is approaching a no-driving zone. For example, the warning message may be displayed on the display device 941, notified by voice from a speaker, by flashing lights, or by vibration, etc.

[0066] The prohibited zone setting process will be described in more detail below. The course traveling vehicle 100 possesses three-dimensional map data 51 of the golf course as shown in the left diagram of Fig. 7. The three-dimensional map data 51 includes information such as latitude, longitude, and altitude.

[0067] As shown in FIG. 6 , golf course staff carry a measuring device 300 and walk around the no-drive zones on the golf course to measure the permitted and prohibited areas on a 3D map. Because the measuring device 300 is equipped with a GNSS antenna, the measurement data can be overlaid on the 3D map and displayed as shown in the center diagram of FIG. 7 . GNSS stands for Global Navigation Satellite System. Therefore, by dividing areas based on the measurement data, it is possible to set no-drive zones. Examples of no-drive zones to be measured include areas on the fairway where driving is considered difficult and the ends of cart paths. The circles on the right side of FIG. 7 indicate the areas at both ends of the cart path to be measured.

[0068] The driving control process will be described in more detail. For example, both ends of a cart path may be curbs, steep slopes, or gutters. Therefore, when the PMV's self-location recognition using LiDAR SLAM or GNSS indicates that it is approaching a no-drive zone, the PMV slows down and displays a GUI warning to the user to take a detour. GUI is an abbreviation for Graphical User Interface. For example, the driving control unit 120 controls the PMV to stop if it enters a no-drive zone. Furthermore, for example, if the PMV is on a fairway, the driving control unit 120 performs the same warning and operation as above before a pond, bunker, steep slope, etc.

[0069] In the present embodiment, the mobile object used on the golf course is a course-traveling vehicle such as a PMV or an AMR, but the mobile object used on the golf course may be any other type of mobile object.

[0070] ***Other Configurations*** <Variation 1> In this embodiment, the functions of each device of the course traveling vehicle 100 and the server device 200 are realized by software. As a variation, the functions of each device of the course traveling vehicle 100 and the server device 200 may be realized by hardware. Specifically, each device of the course traveling vehicle 100 and the server device 200 has an electronic circuit 909 instead of a processor 910.

[0071] Fig. 10 is a diagram showing an example of the configuration of a server device 200 according to a modified example of this embodiment. Fig. 11 is a diagram showing an example of the configuration of a course traveling vehicle 100 according to a modified example of this embodiment. The following description will be given using the server device 200 as an example. The same applies to the course traveling vehicle 100.

[0072] The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of the forbidden band setting unit 210, the path calculation unit 220, and the data transmission unit 230. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0073] The functions of the prohibition band setting unit 210, the path calculation unit 220, and the data transmission unit 230 may be realized by a single electronic circuit, or may be realized by distributing them among a plurality of electronic circuits.

[0074] As another modification, some of the functions of the prohibition band setting unit 210, the path calculation unit 220, and the data transmission unit 230 may be realized by electronic circuits, and the remaining functions may be realized by software. Also, some or all of the functions of the prohibition band setting unit 210, the path calculation unit 220, and the data transmission unit 230 may be realized by firmware.

[0075] Each of the processor and the electronic circuit is also called processing circuitry. That is, the functions of the forbidden band setting unit 210, the path calculation unit 220, and the data transmission unit 230 are realized by the processing circuitry.

[0076] ***Explanation of the Effects of the Present Embodiment*** The cruise control system according to the present embodiment can dynamically set no-drive zones by selecting a driving environment mode that corresponds to the environment, such as the weather. Therefore, the cruise control system can set no-drive zones according to the weather and environment on the day of play, making it possible to provide a course-traveling vehicle that prevents accidents and does not damage the golf course.

[0077] Several driving environment modes are prepared so that they can be changed depending on the environment, such as the weather. No-drive zones are created in advance by staff walking around the course using a positioning unit capable of receiving CLAS signals. Based on the measured no-drive zone data, the server device generates no-drive information that associates the driving environment mode with the no-drive zone data. The no-drive information is sent from the server device to the course vehicle when the GUI for the course vehicle is launched. The course vehicle can determine its location on a 3D map by obtaining its own position information using GNSS signals or LiDAR SLAM. The course vehicle controls its autonomous driving so as not to enter the pre-set no-drive zones for the weather.

[0078] The driving control system according to this embodiment can prevent cart accidents by designating areas where carts may roll over or obstacles such as curbs as no-drive zones in advance. Furthermore, designating areas on the fairway as no-drive zones can reduce adverse effects on the grass, especially during or after rain.

[0079] The driving control system according to this embodiment can set no-run zones depending on environmental factors such as weather. It can also set no-run zones that change dynamically, such as areas where grass is growing or areas under renovation, allowing for safer driving on the fairway.

[0080] Embodiment 2 In this embodiment, the following mainly describes the points added to embodiment 1. In this embodiment, the same reference numerals are used to designate components having the same functions as those in embodiment 1, and the description thereof will be omitted.

[0081] The configuration of the cruise control system 500 according to this embodiment is the same as that of the first embodiment.

[0082] FIG. 12 is a diagram illustrating an example of driving control for multiple course traveling vehicles 100 according to this embodiment. The course traveling vehicle 100 is one of multiple course traveling vehicles 100 used by multiple users playing on the same golf course. While a player may play alone on a golf course, typically, two to four people play as a group. The driving control unit 120 controls each of the multiple course traveling vehicles 100 to automatically drive along a predetermined driving route 50 for each of the multiple course traveling vehicles 100. When multiple course traveling vehicles 100 automatically drive on a fairway, it is preferable that the multiple course traveling vehicles 100 travel in a generally parallel line in the center region of the fairway, as shown in FIG. 12. This is to prevent damage to the course caused by multiple course traveling vehicles 100 traveling in the same area at the same time.

[0083] The driving control unit 120 controls the course traveling vehicle 100 to automatically drive along a fairway route 550, which is the traveling path 50. The fairway route 550 is a traveling path in which, when multiple course traveling vehicles 100 are automatically driven on a fairway, the traveling paths 50 of the multiple course traveling vehicles 100 travel side by side in approximately parallel fashion through the central region of the fairway.

[0084] Fig. 13 is a diagram showing an example of a fairway route 550 in this embodiment. Fig. 13 shows an example of the fairway routes 550 of course traveling vehicles "A02-1", "A02-2", "A02-3", and "A02-4" of group "A02". On the fairway of the golf course, the traveling paths 50 of each course traveling vehicle 100 are set so that the course traveling vehicles 100 can travel generally parallel to one another in the central region of the fairway.

[0085] The driving control unit 120 controls the course-traveling vehicles of the group to automatically drive along a fairway route 550 that is offset by a predetermined distance from the fairway routes traveled by multiple course-traveling vehicles of other groups. When the group in FIG. 13 is "A02," the other groups are groups such as "B02" and "A03" shown in FIG. 9. The fairway route 550 of the group that will use the golf course next to "A02" is offset by a predetermined distance, for example, 1 meter, from the fairway route 550 of "A02." This makes it possible to control the course-traveling vehicles of the group so that they do not travel in the same areas as course-traveling vehicles of other groups.

[0086] As shown in Figure 9, by selecting the driving environment mode and then selecting the group ID and PMVID, the driving route 50 within the fairway for each course-traveling vehicle 100 is determined. At this time, if it is possible to travel on the fairway in clear weather mode, the fairway route 550 will be the driving route. If the course-traveling vehicles travel in a line within the fairway, load will be placed on the grass only in specific areas within the fairway. On the fairway route 550, four vehicles automatically operate in parallel to distribute the load on the grass.

[0087] FIG. 13 shows an example in which the sunny weather mode is selected in the driving environment mode, which is a weather mode. By selecting the sunny weather mode in the weather mode and selecting a subsequent PMV ID, a driving route corresponding to that selection is set. On the fairway route 550 of Route 4, the PMV A02-1 automatically drives based on the outermost line. Similarly, the PMV A02-4 automatically drives based on the innermost line. In the case of sunny weather, the fairway route 550 can be traveled. Furthermore, when manually driving on the fairway, the no-drive zone setting by selecting the weather mode described above can prohibit entry into dangerous areas (steep slopes, bunkers, ponds, etc.). This can prevent accidents such as the cart tipping over or damaging the grass by driving into them.

[0088] 14 shows an example in which the rain mode is selected in the driving environment mode, which is the weather mode in this embodiment. When the rain mode is selected in the weather mode, only the cart path is set as the driving route 50 for automatic driving, regardless of the PMVID selection.

[0089] FIG. 15 is a diagram showing an example of wide-turn control when the course traveling vehicle 100 turns in this embodiment. When the course traveling vehicle 100 turns, the traveling control unit 120 controls the course traveling vehicle 100 so that the wheels of the course traveling vehicle turn in a wide turn without traveling in the same place. In the left diagram of FIG. 15 , the course traveling vehicle 100 rotates around an axis at the center. With this rotation control, all wheels may travel in the same place, potentially damaging the grass or the like. In the center diagram of FIG. 15 , one wheel of the course traveling vehicle 100 rotates around an axis. With this rotation control, the wheel serving as the axis may rotate in the same place, potentially damaging the grass or the like. In the right diagram of FIG. 15 , the course traveling vehicle 100 rotates around an axis on the outside of one wheel. With this rotation control, each wheel travels in a different place, reducing the possibility of damaging the grass or the like.

[0090] It is also possible to switch to manual driving during automatic driving and get close to the point where the golf ball will land. At this time, the driving control unit 120 controls the course-driving vehicle 100 to make wide turns, i.e., to prevent pivoting, in order to prevent the player from damaging the turf by driving.

[0091] ***Explanation of the Effects of the Present Embodiment*** As described above, with the cruise control system according to this embodiment, in clear weather mode, for holes where the vehicle can enter the fairway, up to four vehicles automatically drive approximately parallel in the center of the fairway. This makes it possible to reduce damage to the golf course, particularly the fairway. Furthermore, even when switching to manual driving on the fairway, cruise control can be performed to prevent the vehicle from entering no-drive zones. Furthermore, when turning, such as when switching to manual driving, the vehicle is controlled to allow wide turns. With the cruise control system according to this embodiment, it is possible to reduce driving in no-drive areas where rollovers could occur, and even when driving manually, wide-turn control can be performed to prevent rollovers due to sharp turns. Furthermore, it is possible to reduce damage to the golf course caused by repeatedly driving through specific areas.

[0092] Embodiment 3 In this embodiment, differences from or additions to embodiments 1 and 2 will be mainly described. In this embodiment, components having the same functions as those in embodiment 1 will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0093] Course traveling vehicle 100 according to this embodiment can be operated in any area when manually driven. Among these, at golf courses where the driving route is somewhat fixed, the destination for automatic driving may be manually passed, or the vehicle may proceed to the next destination without passing the destination. This embodiment describes an aspect of cruise control system 500 that can automatically and flexibly switch the destination for automatic driving even during manual driving.

[0094] The configuration of the cruise control system 500 according to this embodiment is similar to that of the first and second embodiments.

[0095] The course traveling vehicle 100 according to this embodiment includes a vehicle storage unit 140 that stores a traveling route 50 used for autonomous driving. When the course traveling vehicle 100 switches from manual driving to autonomous driving, the traveling control unit 120 extracts a traveling route 50 that is closest to the current position and yaw angle of the course traveling vehicle 100 from the traveling routes 50 stored in the vehicle storage unit 140, based on the current position and yaw angle of the course traveling vehicle 100. The traveling control unit 120 then updates the destination of the course traveling vehicle 100 based on the extracted traveling route 50.

[0096] The driving control unit 120 extracts waypoints having a yaw angle within a predetermined range of the current yaw angle of the course traveling vehicle 100 from the waypoints included in the traveling route 50. Then, the driving control unit 120 identifies the waypoint that is closest to the current position of the course traveling vehicle from the extracted waypoints. The driving control unit 120 updates the destination of the course traveling vehicle 100 to the destination of the traveling route 50 that includes the identified waypoint.

[0097] The cruise control system 500 according to this embodiment will be described below with reference to Figures 16 to 21. In this embodiment, the course traveling vehicle 100 will be referred to as a PMV.

[0098] FIG. 16 is a diagram illustrating an example of switching between automatic driving and manual driving in a PMV according to the present embodiment. The vehicle memory unit 140 stores the destination of the driving route 50 used for automatic driving of the PMV. The vehicle memory unit 140 is an example of a memory unit that stores the destination of the driving route 50. The memory unit that stores the destination of the driving route 50 may be the server memory unit 250 of the server device 200. When the PMV passes the destination of the driving route 50 while being manually driven, the driving control unit 120 automatically updates the destination of the PMV to the destination of the next driving route. The left diagram of FIG. 16 illustrates, for example, an assumed scene 1 in which the PMV passes the destination of automatic driving while being manually driven. For example, after the PMV returns from the fairway to the cart path, if the PMV continues to drive manually and arrives at the destination of route 1, the destination of the next route 2 is automatically set. At this time, the next destination may be automatically set (the next destination is confirmed), and the PMV may switch from manual driving to automatic driving. As described above, the above-described mode switching in the PMV may be performed using a switching button or the like on the vehicle body, or may be performed using a remote control. In addition, the driving control unit 120 may compare the current position with the destination of the driving route 50 based on position information from the position sensor 963 and destination information of the driving route 50 from the route calculation unit 220, and switch the mode from manual driving to autonomous driving based on the comparison result. For example, when the driving control unit 120 determines from the comparison result that the vehicle has manually arrived at the destination of route 1 and then passed the destination of route 1 and headed toward the destination of route 2, the mode may be switched from manual driving to autonomous driving.

[0099] The assumed scenario 2 on the right side of Figure 16 illustrates a case in which the PMV does not pass through the autonomous driving destination. For example, if the PMV returns from the fairway to the cart path and attempts to head to the next hole manually without passing through the destination, a destination is set for a route with a waypoint that satisfies the following two conditions (the destination of driving route 2 in the example of Figure 16): (1) The closest waypoint to the PMV. (2) The waypoint that has the closest value to the PMV's yaw angle. After the destination of a route with a waypoint that satisfies the above two conditions (the destination of driving route 2 in the example of Figure 16) is set (the next destination is confirmed), the PMV may switch from manual driving to autonomous driving. The above-described mode switching in the PMV may be performed using a switching button on the vehicle itself or by remote control, as described above. In addition, the driving control unit 120 may determine that the PMV has headed toward the destination for a route with a waypoint that satisfies the above two conditions, and switch from manual driving to autonomous driving mode. Even in the case of assumed scene 1, the destination of a route that has a waypoint that satisfies the above two points may be set.

[0100] Next, the driving control process according to this embodiment will be described with reference to Figures 17 to 20. As shown in Figure 17, each row in the driving route 50 is a waypoint. A collection of waypoints forms the route for autonomous driving. A waypoint is composed of [x, y, z, yaw angle, speed].

[0101] In the PMV shown in Figure 17, the PMV is being manually driven in the direction of the arrow. The cruise control unit 120 searches for waypoints on the route that have yaw angles less than ±90° relative to the current PMV yaw angle. In the example shown in Figure 17, the PMV's yaw angle is within ±90° of 0.051 rad, so the range is between -1.519 and 1.621. The cruise control unit 120 extracts waypoints with yaw angles between -1.519 and 1.621.

[0102] Next, as shown in Fig. 18, the driving control unit 120 searches for the waypoint that is closest to the current PMV position (x, y, z) from among the extracted waypoints. The driving control unit 120 sets the route that has the waypoint obtained as a result of the search as the destination for autonomous driving. In the example of Fig. 18, the waypoint on Route 1 is closest to the current PMV coordinates, so Route 1 is selected.

[0103] The PMV in FIG. 19 is assumed to be in manual driving in the direction of the arrow. The PMV is assumed to be traveling toward the next hole (route 2) without passing the destination on route 1. The cruise control unit 120 searches for waypoints on the route that have yaw angles less than ±90° relative to the current PMV yaw angle. In the example of FIG. 19, the PMV's yaw angle is within ±90° of -1.567 rad, so the range is between -3.137 and 0.003. The cruise control unit 120 extracts waypoints with yaw angles between -3.137 and 0.003.

[0104] Next, as shown in Fig. 20, the driving control unit 120 searches for the waypoint that is closest to the current PMV position (x, y, z) from among the extracted waypoints. The driving control unit 120 sets the route that has the waypoint obtained as a result of the search as the destination for autonomous driving. In the example of Fig. 20, the waypoint on route 2 is closest to the current PMV coordinates, so route 2 is selected.

[0105] FIG. 21 is a diagram illustrating a case where a PMV according to this embodiment is manually driven within a fairway. When a PMV is manually driven within a fairway, the yaw angle can be any angle within 360°. Therefore, it is desirable to define the fairway in the same way as a no-drive zone, and to have specifications that do not change the driving route when the PMV's position information indicates that it is traveling within that zone. It is also desirable to limit the width of the road near the boundary from the fairway to the cart path so that it cannot turn 360°.

[0106] ***Explanation of Effects of the Present Embodiment*** Normally, when the first destination is reached through autonomous driving, the second destination is automatically set. However, if the vehicle is switched to manual driving during autonomous driving and passes the original first destination, and then the vehicle is switched back to autonomous driving, there may be cases where the second destination needs to be manually set again. Furthermore, when riding in a PMV, manual driving is possible in any area. Among these, at golf courses where the driving route is somewhat predetermined, it is conceivable that the destination set for autonomous driving will be passed through through manual driving. Alternatively, at golf courses, it is conceivable that the vehicle will proceed to the next destination without passing through the destination. Therefore, it is necessary to be able to automatically and flexibly switch destinations even during manual driving.

[0107] As described above, according to the cruise control system of this embodiment, an automated driving route is automatically set even when switching from automated driving to manual driving. In particular, according to the cruise control system of this embodiment, an automated driving route is automatically set when manual driving is performed, regardless of whether the destination has been reached or not.

[0108] Embodiment 4 In this embodiment, differences from or additions to embodiments 1 to 3 will be mainly described. In this embodiment, components having the same functions as those in embodiment 1 will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0109] The configuration of the cruise control system 500 according to this embodiment is the same as that of the first to third embodiments.

[0110] FIG. 22 is a diagram illustrating a comparative example for comparison with the PMV driving control process according to the present embodiment. Typically, when multiple PMVs are driving autonomously in a tandem and arrive at a destination, their behavior is as follows: First, only the lead PMV is determined to have arrived at the destination. The following PMVs are not yet in the destination state, but are stopped due to an obstacle detection in the previous PMV. In the case of a golf course, autonomous driving with up to four vehicles is conceivable. Therefore, as described above, the lead PMV arrives and departs for the next destination, after which the second PMV arrives at the first destination, and after departs for the next destination, the third PMV arrives, and so on. This causes the player in the lead PMV to wait at the next hole until the fourth PMV arrives. This may result in a delay in playing time.

[0111] In this embodiment, a course traveling vehicle 100 will be described that determines whether an autonomously driven mobile vehicle has arrived in a cascade, thereby preventing travel delays when arriving in a cascade. The course traveling vehicle according to this embodiment determines whether an arrival in a cascade has occurred when the following two conditions are met on the edge side, without using inter-vehicle communication or a control system, and switches all PMVs other than the leading PMV to the next destination. (A) A state in which an obstacle is detected. (B) A state in which the PMV is at the end of the traveling route.

[0112] Next, a description will be given of a cruise control process, which is the operation of the course traveling vehicle 100 according to this embodiment. The operation procedure of the course traveling vehicle 100 corresponds to a cruise control method. Furthermore, a program that realizes the operation of the course traveling vehicle 100 corresponds to a cruise control program.

[0113] The driving control process in the course traveling vehicle 100 according to this embodiment is as follows. The course traveling vehicle 100 automatically drives along a driving route 50. The driving control unit 120 of the course traveling vehicle 100 determines whether the course traveling vehicle 100 has detected an obstacle and whether the self-position of the course traveling vehicle 100 is within a predetermined range of the current destination of the automatic driving. If the course traveling vehicle 100 has detected an obstacle and the self-position of the course traveling vehicle 100 is within a predetermined range of the current destination of the automatic driving, the driving control unit 120 determines that the course traveling vehicle 100 has reached the current destination of the automatic driving. When the driving control unit 120 determines that the current destination of the automatic driving has been reached, it controls the course traveling vehicle to automatically drive along a driving route 50 to the next destination.

[0114] The course traveling vehicle 100 is included in, for example, a group of multiple course traveling vehicles that automatically drive in a line on a golf course. The traveling control unit 120 detects the course traveling vehicle traveling ahead as an obstacle and determines that the current destination of the automatic driving has been reached when the vehicle's own position is within a predetermined range of the destination of the automatic driving.

[0115] 23 is a flow diagram showing the operation of the course traveling vehicle 100 according to this embodiment. In step S201, the traveling control unit 120 determines whether the destination of the traveling route has been reached. For example, the destination of the current automated driving is set to a predetermined position around the green of the hole on which the user of the course traveling vehicle is playing, and on the cart path. If the destination has been reached, the process proceeds to step S204. If the destination has not been reached, the process proceeds to step S202.

[0116] In step S202, the driving control unit 120 determines whether a course traveling vehicle traveling ahead has been detected as an obstacle. For example, the driving control unit 120 detects the course traveling vehicle traveling ahead as an obstacle by learning the shape of the course traveling vehicle traveling ahead. If an obstacle is detected, the process proceeds to step S203. If an obstacle is not detected, the process returns to step S201.

[0117] In step S203, the driving control unit 120 determines whether the vehicle's current position is within a predetermined range of the current destination of the autonomous driving. For example, the driving control unit 120 determines whether the vehicle's current position is within 10 meters of the current destination of the autonomous driving. If the vehicle's current position is within the predetermined range of the destination of the autonomous driving, the process proceeds to step S204. If the vehicle's current position is not within the predetermined range of the destination of the autonomous driving, the process returns to step S201.

[0118] In step S204, the driving control unit 120 updates the destination of the automatic driving to the destination of the next driving route. For example, the destination of the next driving route is set to a predetermined position around the green of the next hole and on the cart path.

[0119] 24 and 25 are diagrams showing a specific example of the driving control process by the course traveling vehicle 100 according to this embodiment. In Fig. 24 and Fig. 25, the course traveling vehicle will be referred to as a PMV.

[0120] The left diagram of Fig. 24 shows four PMVs driving automatically in a line on a golf course, and the right diagram of Fig. 24 shows the shape of the PMV ahead as seen from the following PMV.

[0121] In the left diagram of FIG. 25 , the leading PMV has arrived at the destination of Route 1. The following PMV has detected an obstacle. For example, the cruise control unit 120 of the following PMV can detect that the obstacle is the PMV ahead by learning that the shape shown in the right diagram of FIG. 24 is the PMV ahead. Among obstacle detection methods, the shape of the rear of a PMV is generally fixed, so it is possible to have the cruise control unit 120 learn that image. Alternatively, the cruise control unit 120 may register rear images of other PMVs in advance, so that it can detect the PMV ahead as an obstacle.

[0122] When the following PMV detects an obstacle and is within 10 m of the destination, it switches to the next destination, i.e., the destination on route 2. As a result, as shown in the right diagram of Figure 25, when the leading PMV starts off toward the next destination, the following PMV starts off toward the next destination immediately after it.

[0123] ***Other Configurations*** <Variation 2> In the cruise control system according to the present embodiment, the cruise control unit 120 may have the functions described in embodiment 3. The PMV, which is the course traveling vehicle 100, includes a vehicle storage unit 140 that stores a traveling route 50 used for autonomous driving. When the course traveling vehicle 100 switches from manual driving to autonomous driving, the cruise control unit 120 extracts, from the traveling routes 50 stored in the vehicle storage unit 140, a traveling route 50 that is closest to the current position and yaw angle of the course traveling vehicle 100, based on the current position and yaw angle of the course traveling vehicle 100. The cruise control unit 120 then updates the destination of the course traveling vehicle 100 based on the extracted traveling route 50.

[0124] The driving control unit 120 extracts waypoints having a yaw angle within a predetermined range of the current yaw angle of the course traveling vehicle 100 from the waypoints included in the traveling route 50. Then, the driving control unit 120 identifies the waypoint that is closest to the current position of the course traveling vehicle from the extracted waypoints. The driving control unit 120 updates the destination of the course traveling vehicle 100 to the destination of the traveling route 50 that includes the identified waypoint. The above functions were described in the third embodiment.

[0125] <Variation 3> In this embodiment, whether or not the destination has been reached is determined on the edge side. Other possible methods include the following: (a) The lead PMV communicates to the following PMVs via vehicle-to-vehicle communication that it has reached the destination, thereby informing the following PMVs that the lead PMV has arrived at the destination. (b) Each PMV may transmit its status to a server device, which is a control system, and the status of each PMV may be shared via the server device. This allows the arrival of the lead PMV at the destination to be shared among the other PMVs via the server device.

[0126] ***Description of Effects of the Present Embodiment*** As described above, the course traveling vehicle according to the present embodiment detects an obstacle and determines whether its own position is within a predetermined range of the current destination of autonomous driving. Then, the course traveling vehicle according to the present embodiment determines that it has reached the current destination of autonomous driving if it detects an obstacle and its own position is within a predetermined range of the current destination of autonomous driving. Therefore, the course traveling vehicle according to the present embodiment can determine that it has arrived at a cascade, and can prevent delays in traveling when it arrives at a cascade.

[0127] In the course traveling vehicle according to this embodiment, when the leading PMV starts traveling to the next destination, the trailing PMVs also automatically drive in tandem, thereby avoiding delays to play time. Furthermore, in this embodiment, the traveling control unit detects the PMV ahead by learning the shape of the PMV ahead. Therefore, this embodiment can avoid the problem of the route being switched when an obstacle other than a PMV is detected near the destination.

[0128] In the above first to fourth embodiments, a driving control system for a course traveling vehicle used on a golf course has been described as an example. However, the first to fourth embodiments can also be applied to PMVs or AMRs used in, for example, theme parks such as shopping malls and amusement parks, or event areas where various commercial facilities are scattered.

[0129] In the above first to fourth embodiments, each unit of each device in the cruise control system has been described as an independent functional block. However, the configuration of each device in the cruise control system does not have to be the same as in the above-described embodiments. The functional blocks of each device in the cruise control system may have any configuration as long as they can realize the functions described in the above-described embodiments. Furthermore, each device in the cruise control system may be a system composed of multiple devices rather than a single device.

[0130] For example, some of the functions of the server device 200 may be provided in the course traveling vehicle 100. Alternatively, some of the functions of the course traveling vehicle 100 may be provided in the server device 200.

[0131] Furthermore, it is possible to combine multiple parts of the first to fourth embodiments. Alternatively, it is possible to implement only one part of these embodiments. In addition, it is possible to combine these embodiments in any way, either as a whole or in part. That is, it is possible to freely combine the first to fourth embodiments, modify any of the components of each embodiment, or omit any of the components of each embodiment.

[0132] The above-described embodiments are essentially preferred examples and are not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, or the scope of use of the present disclosure. The above-described embodiments can be modified in various ways as needed. For example, the procedures described using flow charts or sequence diagrams may be modified as appropriate.

[0133] 20 User, 50 Driving route, 51 Three-dimensional map data, 511 No driving zone data, 52 Player information, 53 No driving information, 61 Vehicle screen, 611 Mode selection field, 612 Player information selection field, 100 Course driving vehicle, 110 Reception unit, 120 Driving control unit, 130 Display unit, 140 Vehicle memory unit, 200 Server device, 210 No driving zone setting unit, 220 Route calculation unit, 230 Data transmission unit, 250 Server memory unit, 300 Measuring equipment, 400 Golf course, 500 Driving control system, 550 Fairway route, 909 Electronic circuit, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input interface, 940 Output interface, 941 Display device, 950 Communication device, 961 Vehicle camera, 962 LiDAR, 963 Position sensor.

Claims

1. A driving control system that controls the driving of a course-driving vehicle that drives on a golf course, comprising: a prohibited zone setting unit that acquires no-driving zone data indicating the locations of no-driving zones that prohibit the course-driving vehicle from driving, and sets no-driving information in which the no-driving zone data is associated with each of a plurality of driving environment modes corresponding to different environments; a reception unit that accepts a selection of a driving environment mode from the plurality of driving environment modes; and a driving control unit that extracts no-driving zone data that corresponds to the selected driving environment mode from the no-driving information, and controls the driving of the course-driving vehicle so that the course-driving vehicle does not drive through the no-driving zones indicated by the extracted no-driving zone data.

2. The driving control system according to claim 1, wherein the no-drive zone setting unit acquires the no-drive zone data from a measuring device that measures position information that identifies the no-drive zone to be associated with at least one of the plurality of driving environment modes.

3. The driving control system according to claim 2, wherein the measuring device is carried by a staff member of the golf course and measures position information surrounding the no-drive zone.

4. A driving control system as described in any one of claims 1 to 3, wherein the driving control unit stops the course traveling vehicle when the course traveling vehicle approaches within a predetermined distance of the no-driving zone.

5. A driving control system as described in any one of claims 1 to 4, wherein the driving control unit outputs a warning message to an output device of the course traveling vehicle notifying the vehicle of its approach to the no-driving zone when the course traveling vehicle approaches within a predetermined distance of the no-driving zone.

6. The driving control system according to any one of claims 1 to 5, further comprising: a server device that communicates with the course driving vehicle; the server device comprising the no-go zone setting unit and a server memory unit, the server memory unit storing the no-driving information; the course driving vehicle comprising the reception unit, the driving control unit and a vehicle memory unit; the reception unit acquiring the no-driving information from the server device at startup and storing it in the vehicle memory unit.

7. A driving control system as claimed in any one of claims 1 to 6, wherein the course traveling vehicle is included in a plurality of course traveling vehicles used by a plurality of users playing on the same golf course, and the driving control unit controls each of the plurality of course traveling vehicles to automatically drive along a predetermined driving route for each of the plurality of course traveling vehicles, and when the plurality of course traveling vehicles are automatically driven on a fairway, controls the plurality of course traveling vehicles to automatically drive along a fairway route, which is a driving route in which the plurality of course traveling vehicles run side by side in parallel through the central area of ​​the fairway.

8. The driving control system according to claim 7, wherein the driving control unit controls the vehicle to automatically drive along a fairway route that is a predetermined distance away from a fairway route on which multiple vehicles of other groups are driving on the course.

9. A driving control system as claimed in any one of claims 1 to 8, wherein the driving control unit controls the wheels of the course driving vehicle to rotate in a wide circle rather than traveling in the same place when rotating the course driving vehicle.

10. A driving control system according to any one of claims 1 to 6, wherein the course traveling vehicle is provided with a vehicle memory unit that stores a driving route to be used for automatic driving, and the driving control unit, when the course traveling vehicle switches from manual driving to automatic driving, extracts from the driving routes a driving route that is closest to the current position and yaw angle of the course traveling vehicle based on the current position and yaw angle of the course traveling vehicle, and updates the destination of the course traveling vehicle based on the extracted driving route.

11. A driving control system as described in claim 10, wherein the driving control unit extracts, from waypoints included in the driving route, waypoints having a yaw angle within a predetermined range of the current yaw angle of the course traveling vehicle, identifies from the extracted waypoints the waypoint closest to the current position of the course traveling vehicle, and updates the destination of the course traveling vehicle to the destination of the driving route including the identified waypoint.

12. A course traveling vehicle that travels on a golf course, comprising: a reception unit that acquires driving prohibition information in which no-driving zone data indicating the location of no-driving zones in which driving of the course traveling vehicle is prohibited is associated with each of a plurality of driving environment modes, and receives a selection of a driving environment mode from the plurality of driving environment modes; and a driving control unit that extracts no-driving zone data corresponding to the selected driving environment mode from the driving prohibition information, and controls the driving of the course traveling vehicle so that the course traveling vehicle does not travel through the no-driving zones indicated by the extracted no-driving zone data.

13. The course traveling vehicle according to claim 12, further comprising a vehicle memory unit that stores a traveling route to be used for automatic driving, and wherein when the course traveling vehicle switches from manual driving to automatic driving, the traveling control unit extracts from the traveling routes a traveling route that is closest to the current position and yaw angle of the course traveling vehicle based on the current position and yaw angle of the course traveling vehicle, and updates the destination of the course traveling vehicle based on the extracted traveling route.

14. A course traveling vehicle as described in claim 13, wherein the traveling control unit extracts, from waypoints included in the traveling route, waypoints having a yaw angle within a predetermined range of the current yaw angle of the course traveling vehicle, identifies from the extracted waypoints the waypoint closest to the current position of the course traveling vehicle, and updates the destination of the course traveling vehicle to the destination of the traveling route including the waypoint to be identified.

15. A driving control method used in a driving control system that controls the driving of a course-traveling vehicle that travels on a golf course, wherein a computer acquires no-drive zone data indicating the locations of no-drive zones where driving of the course-traveling vehicle is prohibited, and sets driving prohibition information in which the no-drive zone data is associated with each of a plurality of driving environment modes corresponding to different environments; the computer accepts a selection of a driving environment mode from the plurality of driving environment modes; the computer extracts no-drive zone data corresponding to the selected driving environment mode from the driving prohibition information, and controls the driving of the course-traveling vehicle so that the course-traveling vehicle does not travel through the no-drive zones indicated by the extracted no-drive zone data.

16. A driving control program used in a computer that controls the driving of a course-driving vehicle on a golf course, which causes a computer to execute the following steps: a prohibited zone setting process that acquires no-drive zone data indicating the locations of no-drive zones where the course-driving vehicle is prohibited from driving, and sets no-drive information in which the no-drive zone data is associated with each of a plurality of driving environment modes corresponding to different environments; a reception process that accepts the selection of a driving environment mode from the plurality of driving environment modes; and a driving control process that extracts no-drive zone data corresponding to the selected driving environment mode from the no-drive information, and controls the driving of the course-driving vehicle so that the course-driving vehicle does not drive through the no-drive zones indicated by the extracted no-drive zone data.

17. A driving control system that controls the driving of a course traveling vehicle that travels on a golf course, comprising: a memory unit that stores the destination of a driving route used for automatic driving of the course traveling vehicle; and a driving control unit that automatically updates the destination of the course traveling vehicle to the destination of the next driving route when the course traveling vehicle passes the destination of the driving route while being manually driven.

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