Server coordinated control system for vehicle

Abstract

[Problem] To coordinate, amongst a plurality of server devices, server control for automatic driving of an automobile. [Solution] A server coordinated control system for a vehicle comprises: a local server device that server controls travel through automatic driving of a vehicle in a limited area such as a parking lot; and a wide-area server device that server controls travel through automatic driving of the vehicle in a wide area including a connection road connected to the limited area. A wide-area coordinated communication unit of the wide-area server device transmits, to the local server device during vehicle travel, a control transfer notification regarding server control of the vehicle headed toward the limited area. The local server device takes over the server control of the vehicle on the basis of reception of the control transfer notification and begins communicating with the traveling vehicle to cause the vehicle to travel through automatic driving in the limited area.

Description

Vehicle server-linked control system

[0001] The present invention relates to a server-linked control system for a vehicle.

[0002] Development of autonomous driving for vehicles such as automobiles is underway. Generally, autonomous driving of a vehicle involves a driving control unit provided in the vehicle autonomously controlling the autonomous driving of the vehicle based solely on detection by vehicle sensors provided in the vehicle. In contrast, a new type of autonomous driving of a vehicle has been proposed, in which a vehicle is driven autonomously under server control by a server device. For example, Patent Document 1 discloses server-controlled parking control of an automatic vehicle control system at an automatic valet parking facility for a vehicle that has been driven autonomously by a car navigation system. Patent Document 2 also discloses server-controlled automatic valet parking of multiple autonomous vehicles in a parking lot.

[0003] JP 2021-196618 A JP 2022-135615 A

[0004] As disclosed in Patent Documents 1 and 2, a server device initiates server control for a vehicle stopped at a stop position set for a limited area such as a parking lot. In this case, a vehicle heading toward the limited area must stop at a stop position in the limited area. A vehicle cannot continue traveling from outside the limited area and travel within the limited area.

[0005] Furthermore, in Patent Documents 1 and 2, it is stated that vehicles can be driven autonomously in limited areas under the control of a server in the limited area. However, autonomous vehicles sold by each company are capable of driving autonomously in accordance with the policies of each company. They are not necessarily capable of driving autonomously under the control of a server in the limited area. Even if a vehicle is capable of driving autonomously under server control, it is not necessarily capable of driving in a manner that satisfies the server control of a server device in the limited area.

[0006] As described above, server control for automatic driving of vehicles needs to be improved to allow for cooperation between multiple server devices.

[0007] A server-linked control system for a vehicle according to a first embodiment of the present invention includes a local server device that performs server-control of the autonomous driving of a vehicle in a limited area in which the vehicle can travel, and a wide-area server device that performs server-control of the autonomous driving of the vehicle in a wide area including connecting roads connected to the limited area, and controls the autonomous driving of the vehicle through cooperation between the server control of the local server device and the server control of the wide-area server device, and the wide-area server device continuously transmits individual control information to the vehicle traveling in the wide area for causing the vehicle to travel in an autonomous driving manner under server control, thereby controlling the vehicle. The vehicle has a wide-area control unit that executes server control to drive the vehicle toward a limited area, and a wide-area cooperative communication unit that sends a control transfer notification to the local server device while the vehicle is driving, notifying the transfer of authority from the wide-area server device to the local server device for server control of the vehicle heading toward the limited area, and the local server device has a local cooperative communication unit that receives the control transfer notification from the wide-area server device, and a local control unit that takes over server control of the vehicle based on receiving the control transfer notification and initiates communication with the vehicle while it is driving for server control to drive the vehicle autonomously in the limited area.

[0008] A server-linked control system for a vehicle according to a second embodiment of the present invention includes a local server device that performs server-control of the autonomous driving of the vehicle in a limited area in which the vehicle can travel, and a wide-area server device that performs server-control of the autonomous driving of the vehicle in a wide area including connecting roads connected to the limited area, and controls the autonomous driving of the vehicle through collaboration between the server control of the local server device and the server control of the wide-area server device, and the wide-area server device continuously transmits individual control information to the vehicle traveling in the wide area for causing the vehicle to travel in an autonomous driving manner under server control, causing the vehicle to travel towards the limited area, and further controls the vehicle to travel in the limited area. The local server device has a wide-area control unit that executes server control for the vehicle traveling in the area to stop the vehicle at a stopping position in the limited area, and the local server device has a local control unit that takes over server control for the vehicle by starting communication with the vehicle stopped at the stopping position and starts server control between the stopped vehicle and the vehicle stopped at the stopping position for autonomous driving in the limited area, and a local judgment unit that judges whether the vehicle stopped at the stopping position is able to follow the server control, and the local control unit switches server control in the limited area for the vehicle stopped at the stopping position depending on the judgment result of the local judgment unit.

[0009] In a vehicle server cooperative control system according to a first embodiment of the present invention, a local server device performs server control of the autonomous driving of a vehicle in a limited area. A wide-area server device performs server control of the autonomous driving of a vehicle in a wide area including connecting roads connected to the limited area. This allows the vehicle to basically drive autonomously under server control in a wide area including the limited area. Furthermore, the local server device and the wide-area server device cooperate with each other in server control. Specifically, the wide-area server device has a wide-area control unit that executes server control of the vehicle to drive toward the limited area, as well as a wide-area cooperative communication unit. The local server device also has a local control unit that initiates communication with the vehicle for server control of the vehicle to drive autonomously in the limited area, as well as a local cooperative communication unit. The wide-area cooperative communication unit of the wide-area server device transmits a control transfer notification to the local server device while the vehicle is traveling, notifying the transfer of authority from the wide-area server device to the local server device regarding server control of the vehicle heading toward the limited area. Furthermore, the local coordination communication unit of the local server device receives a control transfer notification from the wide-area server device. The local control unit takes over server control of the vehicle based on the control transfer notification. After taking over server control, the local control unit starts communication with the traveling vehicle to perform server control for autonomously driving the vehicle through the limited area. This coordination of server control allows a vehicle heading toward the limited area to continue traveling from outside the limited area under continued server control through the limited area without, for example, stopping at a stop location within the limited area.

[0010] In a vehicle server-linked control system according to a second embodiment of the present invention, a local server device performs server-control of autonomous driving of a vehicle in a limited area. A wide-area server device performs server-control of autonomous driving of a vehicle in a wide area including connecting roads connected to the limited area. This allows the vehicle to basically drive autonomously under server control in a wide area including the limited area. Furthermore, the local server device and the wide-area server device cooperate with each other in server control. Specifically, a wide-area control unit of the wide-area server device continuously transmits individual control information to a vehicle traveling in the wide area for driving the vehicle autonomously under server control, thereby driving the vehicle toward the limited area. The wide-area control unit further performs server control of a vehicle traveling in the limited area to stop the vehicle at a stop position in the limited area. Meanwhile, when the vehicle stops at the stop position, the local control unit of the local server device begins communication with the vehicle and takes over server control of the vehicle. The local control unit that has taken over server control initiates server control between the vehicle stopped at the stop position and the vehicle stopped at the stop position for autonomous driving within the limited area. Through this server control coordination, the vehicle heading toward the limited area stops at the stop position within the limited area. Then, under the server control taken over by the coordination in the stopped state, the vehicle can travel autonomously under server control both outside the limited area and within the limited area.

[0011] Moreover, in the vehicle-server cooperation control system according to the second embodiment of the present invention, the local determination unit of the local server device determines whether the vehicle stopped at the stop position is able to follow the server control. The local control unit then switches server control in the limited area for the vehicle stopped at the stop position based on the determination result of the local determination unit. This is expected to reduce the likelihood of vehicle disruption in the limited area after server control is taken over. For example, if server control is taken over for a vehicle with poor server control followability without determining the server control capability, it cannot be said with certainty that the vehicle's running will not be disrupted under the server control of the local server device after server control is taken over. The vehicle-server cooperation control system according to the second embodiment of the present invention can prevent such disruption in the vehicle's running after server control is taken over.

[0012] In this way, the present invention can improve server control for automatic driving of a vehicle so that multiple server devices cooperate with each other.

[0013] FIG. 1 is a configuration diagram of a server cooperative control system for an automobile according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram of an example of a control system for the automobile of FIG. 1. The automobile of FIG. 2 is an example of an automobile capable of running by automatic driving under server control. FIG. 3 is a configuration diagram of the wide-area control server device of FIG. 1. FIG. 4 is a timing chart showing an overall flow of control when the wide-area control server device of FIG. 1 runs an automobile by automatic driving under control of the control server. FIG. 5 is a block diagram showing functions implemented by the wide-area control server device and local server devices of FIG. 1 to cooperate in server control of the automobile. FIG. 6 is a flowchart of an example of wide-area cooperative control by a wide-area cooperative communication unit of the wide-area control server device of FIG. 5. FIG. 7 is a flowchart of an example of control server control by a control control unit of the wide-area control server device of FIG. 5. FIG. 8 is a flowchart of an example of local cooperative control by a local cooperative communication unit of the local server device of FIG. 5. FIG. 9 is a flowchart of an example of local server control by a local control unit of the local server device of FIG. 5. FIG. 10 is a flowchart of an example of local determination control by the local determination unit of the local server device of FIG. 5. FIG. 11 is a flowchart of an example of vehicle driving control by the vehicle driving control device of FIG. 2. FIG. 12 is a timing chart when the wide-area control server device and the local server device cooperate while the vehicle is driving. FIG. 13 is a flowchart of an example of wide-area cooperative control according to a second embodiment of the present invention. FIG. 14 is a flowchart of an example of control server control according to the second embodiment of the present invention. FIG. 15 is a flowchart of an example of local server control according to the second embodiment of the present invention. FIG. 16 is a timing chart when the wide-area control server device and the local server device cooperate by the vehicle stopping at a stop position.

[0014] Hereinafter, the embodiment of the present invention will be described with reference to the drawings.

[0015] First Embodiment FIG. 1 is a configuration diagram of an automobile server cooperation control system 1 according to a first embodiment of the present invention. The automobile server cooperation control system 1 of FIG. 1 includes an autonomously driven automobile 2, a wide-area control server device 3 that performs server control of the autonomous driving of the automobile 2 over a wide area, and a local server device 4 that performs server control of the autonomous driving of the automobile 2 in a parking lot 12. Here, the automobile 2 is an example of a vehicle. The automobile 2 may basically be capable of autonomously controlling its own driving based on detection information from its own vehicle sensor. The parking lot 12 is a limited area in which the automobile 2 can drive and park. The parking lot 12 can be accessed from a wide-area connecting road 11 under the jurisdiction of the wide-area control server device 3. Also shown in FIG. 1 is a Global Navigation Satellite System (GNSS) satellite 110 that transmits GNSS radio waves.

[0016] The local server device 4 communicates with each vehicle 2 in a limited area, such as a parking lot 12, and causes the vehicle 2 traveling in the limited area to travel autonomously under server control. The parking lot 12 in FIG. 1 is provided with a stopping position P3 where vehicles 2 entering and leaving the parking lot 12 can temporarily stop. In this case, the entering vehicle 2 stops at the stopping position P3 in the parking lot 12, then travels within the parking lot 12 by autonomous driving under server control of the local server device 4 and can park in an available parking space P4. The leaving vehicle 2 can start traveling from the parking space P4 by autonomous driving under server control of the local server device 4, travel within the parking lot 12 to the stopping position P3, and travel from the stopping position P3 to the connecting road 11. In this way, the local server device 4 server-controls the autonomous traveling of the vehicle 2 in the parking lot 12 where the vehicle 2 is allowed to travel.

[0017] The wide-area control server device 3 is connected to a carrier communication network 6 to which a base station 5 is connected in order to achieve low-latency communication with the vehicle 2. The wide-area control server device 3 is also connected to the Internet 7. In FIG. 1 , multiple base stations 5 are arranged along a connecting road 11 connected to a parking lot 12. The wide-area control server device 3 is able to communicate with multiple vehicles 2 traveling in a wide area under its jurisdiction with low latency through the multiple base stations 5. For example, a vehicle 2 traveling from a right-turn control start position P0 in FIG. 1 on the connecting road 11 toward the parking lot 12 can turn right in the traveling lane of the connecting road 11 at a right-turn waiting position P1 under the server control of the wide-area control server device 3 and enter the parking lot 12 from a position P2 before passing the shoulder of the connecting road 11 by automatic driving under the control of the control server. This allows the wide-area control server device 3 to control the vehicle 2 traveling in a wide area including the connecting road 11 connected to the parking lot 12 to travel by automatic driving under the control of the control server.

[0018] Fig. 2 is an explanatory diagram of an example of the control system 20 of the automobile 2 of Fig. 1. The automobile 2 of Fig. 2 is an example of an automobile that can be driven automatically under the control of a server.

[0019] The control system 20 of the automobile 2 in Figure 2 includes a sensor control device 21, an operation control device 22, a driving control device 23, a drive control device 24, a steering control device 25, a braking control device 26, an external vehicle communication control device 27, and a vehicle network 29 to which these are connected.

[0020] The vehicle network 29 may be a vehicle-specific network such as a Controller Area Network (CAN), a Local Interconnect Network (LIN), or a broadband network for vehicles. The vehicle network 29 may also include a general network conforming to the Institute of Electrical and Electronics Engineers (IEEE) 802.3 standard. By using such a vehicle network 29, the control devices provided in the control system 20 can input and output information to and from other control devices via the vehicle network 29.

[0021] The sensor control device 21 controls the operation of various vehicle sensors provided in the automobile 2, and outputs detected values ​​of the various vehicle sensors or processed information obtained by processing the detected values ​​to other control devices via the vehicle network 29. In Fig. 2, a GNSS receiver 31, an outside vehicle camera 32, a lidar 33, and a speed sensor 34 are connected as vehicle sensors to the sensor control device 21. In addition to these, an acceleration sensor, etc. may also be connected to the sensor control device 21.

[0022] The GNSS receiver 31 receives radio waves from a plurality of GNSS satellites 110 as shown in FIG. 1, and generates information on the position and time of the automobile 2 .

[0023] The speed sensor 34 detects the speed of the automobile 2. The speed sensor 34 may generate information on the speed of the automobile 2 in each of the yaw, pitch, and roll directions.

[0024] The exterior camera 32 captures images of the driving environment around the automobile 2 traveling on a road or the like. The exterior camera 32 may be a monocular camera, a compound eye camera, or a 360-degree camera. It is desirable that the exterior camera 32 be capable of capturing images of the front side, which is the direction of travel of the traveling automobile 2.

[0025] The lidar 33 emits a laser beam for scanning around the vehicle 2 and detects reflected light. The detection results of the lidar 33 become spatial information including the road surface around the vehicle 2. The sensor control device 21 may judge the images captured by the exterior camera 32 and the detection results of the lidar 33 to generate processed information such as information about unevenness of the road surface around the vehicle, the types of other vehicles around the vehicle, such as a preceding vehicle, and their relative directions and distances.

[0026] The operation control device 22 is connected to operation members such as a steering wheel, an accelerator pedal, a brake pedal, and a range lever (not shown) that are operated by the driver of the automobile 2. The operation control device 22 detects operations on these operation members and outputs operation information to other control devices via the vehicle network 29.

[0027] A vehicle communication device 37 provided in the automobile 2 is connected to the exterior-vehicle communication control device 27. The vehicle communication device 37 establishes a wireless communication path with a base station 5 with which it can communicate. The vehicle communication device 37 transmits and receives information to and from the wide-area control server 3 and the local server 4 via the base station 5. The exterior-vehicle communication control device 27 controls the operation of the vehicle communication device 37. The exterior-vehicle communication control device 27 outputs information that the vehicle communication device 37 receives from the wide-area control server 3 and the local server 4 to other control devices via the vehicle network 29. The exterior-vehicle communication control device 27 transmits information input from other control devices via the vehicle network 29 to the wide-area control server 3 and the local server 4 via the vehicle communication device 37 and the base station 5.

[0028] The drive control device 24 has a drive device that is provided in the automobile 2 and that generates drive power using, for example, gasoline or hydrogen as fuel, a motor that generates drive power using electricity, a transmission, or a combination of these. The drive control device 24 controls the operation of the drive device using control values ​​obtained via the vehicle network 29.

[0029] The steering control device 25 is connected to, for example, a steering device provided in the automobile 2. The steering control device 25 controls the operation of the steering device using control values ​​acquired through the vehicle network 29.

[0030] The braking control device 26 is connected to a braking device provided in the automobile 2. The braking control device 26 controls the operation of the braking device based on a control value acquired via the vehicle network 29.

[0031] The driving control device 23 controls the driving of the automobile 2. The driving control device 23 has high-precision vehicle map data 35 and a timer 36. The high-precision vehicle map data 35 includes link information and node information for each lane of the road as information about roads in a wide area on which the automobile 2 travels. The timer 36 measures time and hour.

[0032] The cruise control device 23 may switch between cruise control under manual driving by the driver and cruise control under automated driving. Furthermore, during automated driving, the cruise control device 23 may switch between autonomous automated driving based solely on vehicle sensor information and automated driving under server control of the wide-area control server device 3 or the local server device 4 in addition to vehicle sensor information. The cruise control device 23 acquires information on the vehicle's driving state and its surroundings from the sensor control device 21 and generates control values ​​according to the cruise control state. In this case, the cruise control device 23 may, for example, determine the conditions of the road and lane on which the vehicle is traveling based on the latest position of the vehicle in the high-precision vehicle map data 35, and generate control values ​​for steering and acceleration / deceleration. For example, when the cruise control device 23 determines that another vehicle or other moving object is approaching in front of the vehicle based on the latest image captured by the exterior camera 32, or when the individual control information includes information indicating an equivalent determination result, the cruise control device 23 generates a control value for deceleration and outputs it to the braking control device 26. The braking control device 26 executes deceleration control in accordance with the control value. This allows the automobile 2 to autonomously decelerate or stop so as not to interfere with the preceding vehicle. When the cruise control device 23 determines, based on the latest captured image from the exterior camera 32 or the like, that the stopped automobile 2 is ready to start, or when the individual control information includes information indicating an equivalent determination result, the cruise control device 23 generates a control value for acceleration and outputs it to the drive control device 24. The drive control device 24 executes acceleration control in accordance with the control value. This allows the automobile 2 to autonomously accelerate and start so as to follow the preceding vehicle. When the cruise control device 23 determines, based on the latest captured image from the exterior camera 32 or the like, that the traveling automobile 2 is likely to depart from its lane, or when the individual control information includes information indicating an equivalent determination result, the cruise control device 23 generates a control value for steering and outputs it to the steering control device 25. The steering control device 25 executes steering control in accordance with the control value. This changes the direction of the traveling automobile 2, allowing the automobile 2 to travel while maintaining the lane it is traveling in.When the vehicle's position obtained by the GNSS receiver 31 is compared with the vehicle high-precision map data 35 and it is determined that the vehicle needs to turn right, turn left, or change lanes, or when the individual control information includes information indicating an equivalent determination result, the cruise control device 23 generates a control value for steering and outputs it to the steering control device 25. The steering control device 25 executes steering control in accordance with the control value. This allows the automobile 2 to turn right, turn left, or change lanes.

[0033] As described above, vehicles such as the automobile 2 are becoming capable of traveling by automatic driving. Generally, the automatic driving of the automobile 2 is controlled autonomously by a driving control device 23 provided in the automobile 2, based solely on detection by automobile 2 sensors provided in the automobile 2. Meanwhile, research is also being conducted on a new type of automatic driving of the automobile 2, in which the automobile 2 travels by automatic driving under the server control of a server device such as the wide-area control server device 3 or the local server device 4. However, as described above, the local server device 4 initiates server control of the automobile 2 parked at the stop position P3 set for the parking lot 12. In this case, the automobile 2 traveling from the connecting road 11 to the parking lot 12 must stop at the stop position P3 in the parking lot 12. The automobile 2 cannot continue traveling outside the parking lot 12 under the server control of the wide-area control server device 3 and travel within the parking lot 12. Furthermore, the automobile 2 is capable of traveling by automatic driving in the parking lot 12 under the server control of the parking lot 12. However, autonomous vehicles sold by each company are capable of autonomous driving in accordance with the policies of each company. This does not necessarily mean that they can be driven autonomously under the server control of the parking lot 12. Even if a vehicle 2 is capable of autonomous driving under server control, it does not necessarily mean that the vehicle 2 will be able to follow the server control of the server device of the parking lot 12 in a manner that satisfies the server control. Thus, autonomous driving of the vehicle 2 under server control requires that the server control of the local server device 4 and the server control of the wide-area control server device 3 be appropriately coordinated to control the autonomous driving of the vehicle 2. An example of an embodiment for realizing such coordination of server control is described below.

[0034] In this embodiment, as shown in FIG. 1, an example will be described in which the local server device 4 is connected to the Internet 7 via a communication line 8 and is capable of communicating with the wide-area control server device 3.

[0035] Fig. 3 is a configuration diagram of the wide-area control server device 3 of Fig. 1. The wide-area control server device 3 of Fig. 3 has a server GNSS receiver 41, a server DB (database) 42, a server memory 43, a server CPU 44, a server communication device 45, and a server bus 49 to which these are connected.

[0036] The server communication device 45 is connected to the carrier communication network 6. The server communication device 45 transmits and receives vehicle information including at least the driving position of each of the vehicles 2, individual control information, and the like, between the vehicle communication devices 37 provided in the vehicles 2, and the like. In this way, the server communication device 45 receives vehicle information for each of the vehicles 2. The vehicle information may include location information such as the current position and current time of the vehicle 2, detection information from vehicle sensors, and the like. The server communication device 45 may also be connected to the Internet 7, for example, via the carrier communication network 6.

[0037] The server GNSS receiver 41 receives radio waves from the GNSS satellites 110 and generates information on the position and time of the wide-area control server device 3. This allows the time of the wide-area control server device 3 to match the time of the multiple vehicles 2 with high accuracy.

[0038] The server DB 42 accumulates and records vehicle information for each of the multiple automobiles 2 under the control of the wide-area control server device 3. The server DB 42 may be provided with server high-precision map data 54, a vehicle position / behavior DB (database) 53, and the like, as will be described later with reference to FIG. 4 . The server high-precision map data 54 may include information equivalent to the high-precision vehicle map data 35 used by the automobiles 2. The high-precision map data includes link information for each lane of a road and node information for intersections and the like. The nodes and links make it possible to identify the shape and distance of the lane in the longitudinal direction for each lane of a road. Furthermore, the node information generally includes position information that can be associated with the position of the vehicle for each node.

[0039] The vehicle position behavior DB 53 accumulates and records vehicle information received from a plurality of automobiles 2 .

[0040] The server memory 43 records data such as programs executed by the server CPU 44 and setting values.

[0041] The server CPU 44 reads and executes the programs recorded in the server memory 43. This realizes a server control unit that controls the operation of the wide-area control server device 3. In the wide-area control server device 3, functions of the server control unit include a reception processing unit 51, a control control unit 52, and a wide-area cooperative communication unit 55, as will be described later with reference to Figures 4 and 5.

[0042] 4 classifies the latest received vehicle information including location information from each vehicle 2 and records it in the vehicle location behavior DB 53 of the server DB 42, each time the server communication device 45 receives vehicle information including location information from each vehicle 2. This allows location information such as the latest location of each vehicle 2 to be recorded in the server DB 42. The vehicle information may include information such as the latest traveling position, traveling time, and vehicle speed of the vehicle 2, as well as information detected by vehicle sensors.

[0043] 4 and 5 uses information recorded in the server DB 42 to determine the possibility of interference between the vehicle 2 under control and another vehicle, for example, a vehicle outside its jurisdiction, and generates individual control information for the vehicle 2 according to the determination result. The control control unit 52 periodically generates individual control information for each of the multiple vehicles 2 and transmits it to each vehicle 2.

[0044] The local server device 4 may have a configuration similar to that of the wide-area control server device 3 shown in Fig. 3. The local server device 4 may include a local control unit 63, a local cooperative communication unit 62, a local determination unit 61, and the like, as will be described later with reference to Fig. 5.

[0045] Fig. 4 is a timing chart showing the overall flow of control when the wide-area control server device 3 in Fig. 1 drives the automobile 2 in an automatic driving mode under control server control. Fig. 4 shows the driving control device 23 of the automobile 2, the reception processing unit 51 of the wide-area control server device 3, and the control unit 52. In Fig. 4, time flows from top to bottom.

[0046] In step ST100, the driving control device 23 of the automobile 2 acquires the latest detection information from the vehicle sensors. In step ST101, the driving control device 23 transmits vehicle information from the vehicle communication device 37 to the wide-area control server 3. Here, the vehicle information includes the latest detection information from the vehicle sensors acquired in step ST100, the latest position and time-based location information of the host vehicle, and the like. When the server communication device 45 receives new vehicle information, the reception processing unit 51 of the wide-area control server 3 accumulates and records the received information in the vehicle position behavior DB 53. In step ST102, the driving control device 23 generates and outputs control values ​​to control the autonomous driving of the host vehicle. In step ST103, the automobile 2 performs driving control of the host vehicle in accordance with the control values ​​of the driving control device 23. In this way, by repeating the driving control from step ST100 to step ST103, the automobile 2 can continue driving while suppressing interference with the host vehicle.

[0047] Furthermore, the control control unit 52 of the wide-area control server device 3 repeatedly executes control server control. The control control unit 52 transmits individual control information in step ST20 each time control server control is executed. Here, the individual control information may include direct or indirect requests regarding the driving of the vehicle 2. The individual control information may include flag information that indirectly requests acceleration, deceleration, stopping, steering, etc. Alternatively, the individual control information may include control values ​​that directly request acceleration, deceleration, stopping, steering, etc. Furthermore, if the control control unit 52 determines in step ST18 that there is a possibility of interference with the vehicle 2, it transmits individual control information for suppressing the interference. If the driving control device 23 receives individual control information from the wide-area control server device 3, it uses the individual control information in the process of step ST102 to generate and output control values. This allows the vehicle 2 to drive autonomously under server control while suppressing interference with other vehicles, etc.

[0048] 5 is a block diagram showing functions implemented by the wide-area control server device 3 and the local server device 4 in FIG. 1 to coordinate server control of the automobile 2. The wide-area control server device 3 has a wide-area cooperative communication unit 55 in addition to the control control unit 52 described above.

[0049] The control control unit 52 continuously transmits wide-area control information to the automobile 2 traveling in a wide area to cause the automobile 2 to travel automatically under server control, and executes server control to cause the automobile 2 to travel toward the parking lot 12.

[0050] The wide-area cooperative communication unit 55, for example, sends a control transfer notification to the local server device 4 while the vehicle 2 is traveling, notifying the transfer of authority from the wide-area control server device 3 to the local server device 4 regarding server control of the vehicle 2 heading toward the parking lot 12.

[0051] The local server device 4 includes a local determination unit 61 , a local cooperation communication unit 62 , and a local control unit 63 .

[0052] The local cooperation communication unit 62 receives, for example, a control transfer notification from the wide-area control server device 3 .

[0053] For example, upon receiving the control transfer notification, the local control unit 63 starts continuous communication with the automobile 2. As a result, the local control unit 63 takes over server control of the automobile 2 from the administrative control unit 52 and executes server control to cause the automobile 2 to drive autonomously in the parking lot 12. For example, the local control unit 63 executes server control to cause the automobile 2 to drive autonomously to a parking space P4 in the parking lot 12, stop the automobile 2, and then park the automobile in the parking space P4. Here, the local control unit 63 may execute server control by instructing the automobile 2 to execute an autonomous driving function and a function for autonomously parking the automobile 2.

[0054] The local determination unit 61 determines, for example, whether the automobile 2 is able to follow the server control.

[0055] Fig. 6 is a flowchart of an example of wide-area cooperative control by the wide-area cooperative communication unit 55 of the wide-area control server device 3 of Fig. 5. The wide-area cooperative communication unit 55 periodically and repeatedly executes the wide-area cooperative control of Fig. 6 .

[0056] In step ST1, the wide-area cooperative communication unit 55 determines whether or not there is a vehicle 2 heading toward the parking lot 12 among the vehicles 2 under control of the control server. For example, the wide-area cooperative communication unit 55 may determine that a vehicle 2 traveling on a connecting road 11 connected to the parking lot 12 is a vehicle 2 heading toward the parking lot 12. In addition, for example, the wide-area cooperative communication unit 55 may determine that a vehicle 2 attempting to turn right or left on the connecting road 11 toward the entrance / exit of the parking lot 12 or a vehicle 2 with its blinker on for a right or left turn is a vehicle 2 heading toward the parking lot 12. As a result, the vehicle 2 in FIG. 1 can be determined by the wide-area cooperative communication unit 55 at the right turn control start position P0 on the connecting road 11 as a vehicle 2 heading toward the parking lot 12. If there is a vehicle 2 heading toward the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST2. If there is no vehicle 2 heading to the parking lot 12, the wide-area cooperative communication unit 55 ends this control.

[0057] In step ST2, the wide-area cooperative communication unit 55 transmits an advance notification about the vehicle 2 determined in step ST1 from the server communication device 45 to the local server device 4. The advance notification is received by the server communication device 45 of the local server device 4 via the Internet 7 and the communication line 8. The wide-area cooperative communication unit 55 transmits an advance notification to the local server device 4 about the vehicle 2 traveling at the right-turn control start position P0 on the connecting road 11 in FIG. 1 , for example.

[0058] In step ST3, the wide-area cooperative communication unit 55 determines whether the server communication device 45 has received a designated route from the local server device 4 that sent the advance notification. Here, the designated route is, for example, a route designated by the local server device 4 as a route for traveling from a right-turn waiting position P1 in the current lane of the connecting road 11 to a stopping position P3 in the parking lot 12. If the designated route has been received, the wide-area cooperative communication unit 55 proceeds to step ST4. If the designated route has not been received, the wide-area cooperative communication unit 55 proceeds to step ST5.

[0059] In step ST4 , the wide-area cooperative communication unit 55 notifies the control control unit 52 of the designated route designated by the local server device 4 .

[0060] In step ST5, the wide-area cooperative communication unit 55 transmits, as wide-area control information, the individual control information generated by the traffic control unit 52 for the vehicle 2 determined in step ST1 from the server communication device 45 to the local server device 4. The wide-area control information is received by the server communication device 45 of the local server device 4 via the Internet 7 and the communication line 8. The wide-area cooperative communication unit 55 may transmit, as wide-area control information, vehicle information including location information, such as the position of the vehicle 2 determined in step ST1, along with the individual control information. This allows the local server device 4 to obtain in advance not only the latest position of the vehicle 2 traveling toward the parking lot 12, but also information such as the latest speed and traveling trajectory of the vehicle 2. In this way, when the vehicle 2 travels from the connecting road 11 toward the parking lot 12, the wide-area cooperative communication unit 55 starts transmitting, as wide-area control information, the individual control information for the vehicle 2 and vehicle information including location information, such as the position of the vehicle 2, to the local cooperative communication unit 62 while the vehicle 2 is traveling on the connecting road 11.

[0061] In step ST6, the wide-area cooperative communication unit 55 determines whether the latest position of the automobile 2 determined in step ST1 has reached a position in front of the parking lot 12. Here, the position in front of the parking lot 12 may be a right-turn waiting position P1 in the travel lane of the connecting road 11 in FIG. 1 or a position P2 before passing the shoulder of the connecting road 11 immediately before the entrance / exit of the parking lot 12. If the automobile 2 determined in step ST1 has reached a position in front of the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST8. If the automobile 2 has not yet reached a position in front of the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST7.

[0062] In step ST7, the wide-area cooperative communication unit 55 determines whether the automobile 2 determined in step ST1 is stopped at the stopping position P3 in the parking lot 12. If the automobile 2 is stopped at the stopping position P3 in the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST8. If the automobile 2 is not stopped at the stopping position P3 in the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST9.

[0063] In step ST8, the wide-area cooperative communication unit 55 transmits a control transfer notification from the server communication device 45 to the local server device 4 to transfer server control for the vehicle 2 determined in step ST1 to the local server device 4. The control transfer notification is received by the server communication device 45 of the local server device 4 via the Internet 7 and the communication line 8. As a result, when this process is executed after the process of step ST6, the wide-area cooperative communication unit 55 transmits the control transfer notification to the local server device 4 while the vehicle 2 is traveling in the vicinity of the local server device 4. In contrast, when this process is executed after the process of step ST7, the wide-area cooperative communication unit 55 transmits the control transfer notification to the local server device 4 while the vehicle 2 is stopped at stop position P3. The wide-area cooperative communication unit 55 transmits the control transfer notification to the local server device 4 twice: once while the vehicle 2 is traveling in the vicinity of the local server device 4 and once while the vehicle 2 is stopped at stop position P3.

[0064] In step ST9, the wide-area cooperative communication unit 55 determines whether to end transmission to the local server device 4 for the vehicle 2 determined in step ST1. For example, if the vehicle 2 determined in step ST1 is stopped at stopping position P3, the wide-area cooperative communication unit 55 determines to end transmission to the local server device 4. Furthermore, for example, if the server communication device 45 has received a handover notification regarding server control from the local server device 4, the wide-area cooperative communication unit 55 determines to end transmission to the local server device 4. Then, if the wide-area cooperative communication unit 55 does not determine to end transmission to the local server device 4, the wide-area cooperative communication unit 55 returns the process to step ST3. The wide-area cooperative communication unit 55 repeats the processes from step ST3 to step ST9 until it determines to end transmission to the local server device 4. As a result, when the automobile 2 is traveling from the connecting road 11 toward the parking lot 12, the wide-area cooperative communication unit 55 can continuously transmit wide-area control information of the automobile 2 to the local cooperative communication unit 62 at least while the automobile 2 is traveling on the connecting road 11 or until it stops at the stopping position P3.

[0065] Fig. 7 is a flowchart of an example of control server control by the control control unit 52 of the wide-area control server device 3 of Fig. 5. The control control unit 52 periodically and repeatedly executes the control server control of Fig. 7.

[0066] In step ST11, the traffic control unit 52 acquires the latest positions of the multiple vehicles 2 traveling by autonomous driving under the control of the control server from the vehicle position behavior DB 53, and maps the multiple vehicles 2 onto the server high-precision map data 54. The traffic control unit 52 may also map other vehicles and moving objects traveling in the wide area under its jurisdiction onto the server high-precision map data 54. The traffic control unit 52 may also map an oncoming vehicle 15 traveling in the oncoming lane of the connecting road 11 in Figure 1, a pedestrian moving on the shoulder of the connecting road 11, and the like onto the server high-precision map data 54.

[0067] In step ST12, the control control unit 52 selects an unprocessed vehicle 2 from among a plurality of vehicles 2 that are traveling by automatic driving under the control of the control server.

[0068] In step ST13, the control control unit 52 determines whether the vehicle 2 selected in step ST12 is a vehicle 2 heading to the parking lot 12. The determination by the control control unit 52 in step ST13 may be the same as that by the wide-area cooperative communication unit 55 in step ST1. If the control control unit 52 determines that the vehicle 2 selected in step ST12 is a vehicle 2 heading to the parking lot 12, the control control unit 52 proceeds to step 14. If the control control unit 52 does not determine that the vehicle 2 selected in step ST12 is a vehicle 2 heading to the parking lot 12, the control control unit 52 proceeds to step 18.

[0069] In step ST14, the control control unit 52 determines whether the server communication device 45 has received the designated route for the vehicle 2 selected in step ST12 from the local server device 4 that sent the advance notification. If the designated route has been received, the control control unit 52 proceeds to step ST15 for the processing of step ST18 and subsequent steps. If the designated route has not been received, the control control unit 52 proceeds to step ST16.

[0070] In step ST15, the control unit 52 sets the designated route as the route of the automobile 2 selected in step ST12.

[0071] In step ST16, the control control unit 52 determines whether the server communication device 45 has received a takeover notification in response to the control transfer notification from the local server device 4 that transmitted the control transfer notification for the vehicle 2 selected in step ST12. If the takeover notification has not been received, the control control unit 52 proceeds to step ST17 for processing from step ST18 onwards. If the takeover notification has been received, the control control unit 52 proceeds to step ST18.

[0072] In step ST17, the control unit 52 executes the setting for the automobile 2 selected in step ST12 to stop at the stop position P3 in the parking lot 12.

[0073] In step ST18, the traffic control unit 52 determines the possibility of interference with other vehicles or moving objects regarding the travel of the vehicle 2 selected in step ST12. As illustrated in Fig. 1 , the vehicle 2 heading toward the parking lot 12 crosses the oncoming lane and the shoulder of the connecting road 11 and enters the parking lot 12 through the entrance / exit of the parking lot 12. In this case, the traffic control unit 52 may determine, for example, whether or not there is a possibility of interference with an oncoming vehicle 15 or a moving object on the shoulder of the road when the vehicle 2 selected in step ST12 travels toward the parking lot 12 from its current traveling state.

[0074] In step ST19, the traffic control unit 52 generates individual traffic control information for the traffic control server to control the autonomous driving of the vehicle 2 selected in step ST12. The individual traffic control information may include, for example, flag information indirectly requesting acceleration, deceleration, stopping, steering, or the like. For example, when the vehicle 2 is in a right-turn waiting position P1 on the traveling lane of the connecting road 11 in FIG. 1 , the traffic control unit 52 may generate individual traffic control information including a flag for steering to turn right. Furthermore, when the vehicle 2 is in a shoulder pre-crossing position P2 on the connecting road 11 in FIG. 1 , the traffic control unit 52 may generate individual traffic control information including a flag for decelerating and passing through the shoulder. Furthermore, when the vehicle 2 is in a stopping position P3 in the parking lot 12, the traffic control unit 52 may generate individual traffic control information including a flag for stopping. At this time, if the traffic control unit 52 determines in step ST18 that there is a possibility of interference, it generates individual traffic control information including a flag for, for example, deceleration or stopping, to suppress the interference. When a designated route is set, the traffic control unit 52 generates individual traffic control information so that the vehicle 2 travels along the designated route. The traffic control unit 52 executes server control so that the vehicle 2 travels along the designated route from the connecting road 11 toward the stop position P3. When a stop at the stop position P3 is set, the traffic control unit 52 generates individual traffic control information so that the vehicle 2 stops at the stop position P3.

[0075] In step ST20, the traffic control unit 52 transmits the individual traffic control information generated in step ST19 from the server communication device 45 to the vehicle 2 selected in step ST12. The individual traffic control information is received by the vehicle communication device 37 of the vehicle 2 via the carrier communication network 6 and the base station 5.

[0076] In step ST21, the control control unit 52 determines whether or not there are any unprocessed vehicles 2. If there are any unprocessed vehicles 2, the control control unit 52 returns the process to step ST12. The control control unit 52 repeats the processes from step ST12 to step ST21 for any new unprocessed vehicles 2. When there are no more unprocessed vehicles 2, the control control unit 52 ends this control.

[0077] In this way, the control control unit 52 transmits individual control information to the vehicle 2 traveling in a wide area so that the vehicle 2 travels along the specified route received from the local coordination communication unit 62. Furthermore, even after transmitting a control transfer notification while the vehicle 2 is traveling, the control control unit 52 continues transmitting individual control information to the vehicle 2 at least until the vehicle 2 stops at the stopping position P3 in the parking lot 12. Furthermore, if the local server device 4 does not take over server control of the vehicle 2, the control control unit 52 executes control server control to stop the vehicle 2 at the stopping position P3 in the parking lot 12.

[0078] Fig. 8 is a flowchart of an example of local cooperation control by the local cooperation communication unit 62 of the local server device 4 in Fig. 5. The local cooperation communication unit 62 periodically and repeatedly executes the local cooperation control in Fig. 8 .

[0079] In step ST31, the local cooperation communication unit 62 determines whether the server communication device 45 has received a prior notification. If the server communication device 45 has received a prior notification, the local cooperation communication unit 62 proceeds to step ST32. If the server communication device 45 has not received a prior notification, the local cooperation communication unit 62 proceeds to step ST33.

[0080] In step ST32, the local cooperation communication unit 62 generates a designated route for traveling from the connecting road 11 toward the stop position P3 for the automobile 2 traveling toward the parking lot 12, and transmits the generated route from the server communication device 45 to the wide-area control server device 3. As a result, the local cooperation communication unit 62 can transmit, to the wide-area cooperation communication unit 55 of the wide-area control server device 3, a designated route that continues to the traveling route of the automobile 2 in the parking lot 12 for the automobile 2 that has received the wide-area control information after receiving the advance notification.

[0081] In step ST33, the local cooperation communication unit 62 determines whether the server communication device 45 has received a control transfer notification for the automobile 2 traveling toward the parking lot 12. If the control transfer notification has been received, the local cooperation communication unit 62 proceeds to step ST34. If the control transfer notification has not been received, the local cooperation communication unit 62 proceeds to step ST35.

[0082] In step ST34, the local cooperation communication unit 62 determines whether or not the vehicle 2 traveling toward the parking lot 12 has good compliance with server control. Compliance with server control will be described later with reference to FIG. 10 . If compliance with server control is good, the local cooperation communication unit 62 proceeds to step ST36. If compliance with server control is not good, the local cooperation communication unit 62 proceeds to step ST35.

[0083] In step ST35, the local cooperation communication unit 62 determines whether the automobile 2 traveling toward the parking lot 12 is stopped at the stopping position P3 in the parking lot 12. If the automobile 2 is stopped at the stopping position P3 in the parking lot 12, the local cooperation communication unit 62 proceeds to step ST36. If the automobile 2 is not stopped at the stopping position P3 in the parking lot 12, i.e., if the automobile 2 has not reached the stopping position P3, the local cooperation communication unit 62 returns the process to step ST33. The local cooperation communication unit 62 basically repeats the processes from step ST33 to step ST35 until it receives a control transfer notification for the automobile 2 or until the automobile 2 stops at the stopping position P3 in the parking lot 12. If either of these determinations is true, the local cooperation communication unit 62 proceeds to step ST36.

[0084] In step ST36, the local cooperation communication unit 62 instructs the local control unit 63 to start local server control for the automobile 2 traveling toward the parking lot 12.

[0085] In step ST37, the local cooperation communication unit 62 transmits a takeover notification from the server communication device 45 to the wide-area control server device 3 to notify that server control for the automobile 2 traveling toward the parking lot 12 has been taken over. The takeover notification is received by the server communication device 45 of the wide-area control server device 3 via the communication line 8 and the Internet 7.

[0086] Fig. 9 is a flowchart of an example of local server control by the local control unit 63 of the local server device 4 in Fig. 5. The local control unit 63 periodically and repeatedly executes the local server control in Fig. 9.

[0087] In step ST41, the local control unit 63 determines whether or not the local cooperative communication unit 62 has instructed the start of local server control for the automobile 2 traveling toward the parking lot 12. If the start of local server control has been instructed, the local control unit 63 proceeds to step ST42. If the start of local server control has not been instructed, the local control unit 63 proceeds to step ST43.

[0088] In step ST42, the local control unit 63 acquires the latest wide-area control information for the vehicle 2 for which the start of server control has been instructed. The latest wide-area control information includes location information such as the latest position of the vehicle 2. The local control unit 63 then proceeds to step ST44.

[0089] In step ST43, the local control unit 63 determines whether the automobile 2 traveling toward the parking lot 12 is stopped at stopping position P3 in the parking lot 12. If the automobile 2 is not stopped at stopping position P3 in the parking lot 12, the local control unit 63 ends this control. If the automobile 2 is stopped at stopping position P3 in the parking lot 12, the local control unit 63 proceeds to step ST44.

[0090] In step ST44, the local control unit 63 starts communication with the target vehicle 2. If the local control unit 63 has received a control transfer notification for the target vehicle 2, or if the target vehicle 2 is stopped in a parking position in the parking lot 12, the local control unit 63 starts communication with the target vehicle 2. As a result, the local control unit 63 starts communication with the target vehicle 2 and takes over server control for the target vehicle 2.

[0091] In step ST45, the local control unit 63 executes local server control to cause the target vehicle 2 to travel autonomously in the parking lot 12. The local control unit 63 transmits, for example, control values ​​for controlling actuators such as the drive control device 24 of the target vehicle 2 to the target vehicle 2. As a result, the target vehicle 2 travels autonomously under local server control in the parking lot 12. The target vehicle 2 travels, for example, from a stopping position P3 in the parking lot 12 to a predetermined parking space P4.

[0092] In step ST46, the local control unit 63 determines whether or not to terminate control of the target vehicle 2. For example, if the target vehicle 2 is not parked in parking space P4 of the parking lot 12, i.e., if the target vehicle 2 is moving through the parking lot 12, the local control unit 63 determines not to terminate control of the target vehicle 2 and returns the process to step ST45. The local control unit 63 repeats the processes of steps ST45 to ST46 until the target vehicle 2 stops in parking space P4 of the parking lot 12, and continues server control of the target vehicle 2. Then, if the target vehicle 2 stops in parking space P4 of the parking lot 12, the local control unit 63 determines to terminate control of the target vehicle 2 and proceeds to step ST47.

[0093] In step ST47, the local control unit 63 executes local server control for parking processing for the automobile 2 parked in the parking space P4 in the parking lot 12. For example, the local control unit 63 executes local server control to stop the drive system of the automobile 2 parked in the parking space P4 in the parking lot 12 and activate the parking brake.

[0094] Fig. 10 is a flowchart of an example of local determination control by the local determination unit 61 of the local server device 4 of Fig. 5. The local determination unit 61 periodically and repeatedly executes the local determination control of Fig. 10. As described above, the wide-area cooperative communication unit 55 of the wide-area control server device 3 continuously transmits vehicle information, including individual control information and location information such as the latest position of the automobile 2, to the local server device 4 as wide-area control information.

[0095] In step ST51, the local determination unit 61 sets the result of the tracking ability determination to "unprocessed" in order to start the tracking ability determination. As a result, after the tracking ability determination is started and before the tracking ability determination is completed, the result of the tracking ability determination is no longer considered to be good.

[0096] In step ST52, the local determination unit 61 acquires the designated route of the automobile 2 related to the following capability determination. The designated route has been generated by the local cooperation communication unit 62.

[0097] In step ST53, the local determination unit 61 acquires wide-area control information of the automobile 2 related to the tracking ability determination. The wide-area control information is received by the server communication device 45 from the wide-area control server apparatus 3. The wide-area control information includes individual control information of the automobile 2 related to the tracking ability determination and vehicle information including location information such as position.

[0098] In step ST54, the local determination unit 61 determines whether it is possible to determine the tracking ability of the automobile 2. For example, if the local determination unit 61 has not been able to acquire a predetermined number or more of multiple positions while the automobile 2 is traveling along the designated route that can be compared with the designated route, the local determination unit 61 determines that it is not possible to determine the tracking ability of the automobile 2, and returns the process to step ST52. The local determination unit 61 repeats the processes from step ST52 to step ST54 until it is possible to determine the tracking ability of the automobile 2. Then, when it has acquired a predetermined number or more of multiple positions, the local determination unit 61 determines that it is possible to determine the tracking ability of the automobile 2, and proceeds to step ST55. Note that the local determination unit 61 may terminate this control if it is unable to acquire a predetermined number or more of multiple positions within a predetermined time.

[0099] Starting from step ST55, the local determination unit 61 starts a tracking ability determination for the vehicle 2 involved in the tracking ability determination. For example, the local determination unit 61 first calculates the distance of each position relative to the designated route, using the designated route as a reference. The local determination unit 61 then selects the maximum distance as the maximum error relative to the designated route. As a result, the local determination unit 61 calculates the value of the maximum error of the position of the vehicle 2 relative to the designated route. Alternatively, for example, the local determination unit 61 may calculate the value of the area enclosed by the designated route and line segments connecting multiple positions. Here, the position of the vehicle 2 indicates the position resulting from the vehicle 2 actually traveling along the designated route based on individual control information for autonomous driving. Therefore, the local determination unit 61 may obtain a value indicating the tracking ability of the vehicle 2 relative to the designated route based on multiple pieces of individual control information for the designated route and changes in the traveling and position of the vehicle 2 traveling in accordance with the individual control information.

[0100] In step ST56, the local determination unit 61 determines whether the value of the maximum error calculated in step ST55 is equal to or less than the threshold value for determining that the tracking ability is good. The local determination unit 61 determines whether the value of the maximum error calculated in step ST55 is equal to or less than the threshold value for determining that the tracking ability is good. If an area value or the like is calculated in step ST55, the local determination unit 61 may determine whether the calculated area value or the like is equal to or less than the threshold value for determining that the tracking ability is good. If the value of the maximum error calculated in step ST55 is equal to or less than the threshold value, the local determination unit 61 proceeds to step ST57. On the other hand, if the value of the maximum error calculated in step ST55 is not equal to or less than the threshold value, the local determination unit 61 proceeds to step ST59.

[0101] In step ST57, the local determination unit 61 updates the result of the tracking ability determination to be good. As a result, in step ST58, the local determination unit 61 permits the local-cooperative communication unit 62 to take over server control. The local-cooperative communication unit 62 determines that the tracking ability determination is good in step ST34 of FIG. 8 , and becomes able to take over server control of the automobile 2 from the wide-area control server device 3 while the automobile 2 is traveling.

[0102] In step ST59, the local determination unit 61 updates the result of the tracking ability determination to poor. As a result, in step ST60, the local determination unit 61 prohibits the local-cooperative communication unit 62 from taking over server control. The local-cooperative communication unit 62 determines that the tracking ability determination is poor in step ST34 of FIG. 8 and does not take over server control of the automobile 2 until it determines in step ST35 that the automobile 2 has stopped at the stopping position P3. After the automobile 2 has stopped at the stopping position P3, the local determination unit 61 takes over server control of the automobile 2 from the wide-area control server device 3.

[0103] In this way, the local determination unit 61 uses the wide-area control information continuously received about the vehicle 2 to determine whether the vehicle 2 is capable of following the designated route to server control by the wide-area cooperative communication unit 55 based on the designated route. This allows the local determination unit 61 to determine whether the vehicle 2 is capable of following the server control. Then, the local cooperative communication unit 62 can switch the server control by the local control unit 63 after receiving a control transfer notification from the wide-area control server device 3, depending on the determination result of the local determination unit 61. That is, if the determination result of the local determination unit 61 is good, the local cooperative communication unit 62 causes the local control unit 63 to take over server control while the vehicle 2 is traveling. In this case, the local control unit 63 takes over server control and executes it so that the vehicle 2, which is traveling under the server control of the wide-area control server device 3, continues traveling in an autonomous driving mode without stopping at the stopping position P3 in the parking lot 12. On the other hand, if the determination result of the local determination unit 61 is not good, the local cooperative communication unit 62 causes the local control unit 63 to take over server control after the automobile 2 stops at stopping position P3 in the parking lot 12. In this case, the local control unit 63 takes over and executes server control by restarting the automobile 2 parked at stopping position P3. The local control unit 63 executes local server control to cause the taken-over automobile 2 to drive autonomously in the parking lot 12.

[0104] Fig. 11 is a flowchart of an example of vehicle travel control by the travel control device 23 of the automobile 2 in Fig. 2. The travel control device 23 periodically and repeatedly executes the vehicle travel control of Fig. 11 .

[0105] In step ST71, the cruise control device 23 determines whether or not it is a control period for switching the vehicle from autonomous driving to autonomous driving. If it is not a control period, the cruise control device 23 repeats this process. After that, if it is a control period, the cruise control device 23 proceeds to step ST72.

[0106] In step ST72, the driving control device 23 determines whether or not server control information is present. Here, the server control information includes individual control information from the wide-area control server device 3 and information for local server control from the local server device 4. If individual control information or information for local server control is present, the driving control device 23 proceeds to step ST73. On the other hand, if neither individual control information nor information for local server control is present, the driving control device 23 proceeds to step ST76.

[0107] In step ST73, the driving control device 23 further determines whether or not there is information for controlling the local server. If there is information for controlling the local server, the driving control device 23 proceeds to step ST75. On the other hand, if there is no information for controlling the local server, the driving control device 23 proceeds to step ST74.

[0108] In step ST74, the cruise control device 23 prioritizes the use of information for local server control over individual control information, and executes cruise control for automatic driving using the information for local server control. Thereafter, the cruise control device 23 ends this control.

[0109] In step ST75, the cruise control device 23 executes cruise control for automatic driving using the individual traffic control information. After that, the cruise control device 23 ends this control.

[0110] In step ST76, the driving control device 23 executes driving control for autonomous automatic driving without relying on server control. After that, the driving control device 23 ends this control.

[0111] 12 is a timing chart showing a case where the wide-area control server device 3 and the local server device 4 cooperate with each other while the automobile 2 is traveling. In this case, the automobile 2 travels from the connecting road 11 toward the parking lot 12 and can travel to the parking space P4 without stopping at the stopping position P3 in the parking lot 12. FIG. 12 shows the automobile 2, the wide-area cooperative communication unit 55, and the local cooperative communication unit 62. In FIG. 12, time flows from top to bottom.

[0112] The automobile 2 travels from a right-turn control start position P0 in FIG. 1 through a right-turn waiting position P1 in the current lane, a position P2 before passing the shoulder, and a stopping position P3 in the parking lot 12 to a parking space P4 in the parking lot 12 by automated driving under coordinated server control. The control control unit 52 of the wide-area control server device 3 repeatedly executes the control server control of FIG. 7 . The control control unit 52 repeatedly transmits individual control information according to the latest situation to the automobile 2, as indicated by multiple dashed arrows in step ST20 in the figure. This enables the automobile 2 traveling toward the parking lot 12 to travel from the connecting road 11 toward the parking lot 12 while suppressing interference with oncoming vehicles 15, pedestrians, and the like by automated driving under the control server control of the wide-area control server device 3. In particular, in this embodiment, the local coordinated communication unit 62 of the local server device 4 transmits the designated route to the wide-area control server device 3 in step ST32. In this case, the traffic control unit 52 generates individual traffic control information for traveling along the designated route. The vehicle 2 traveling toward the parking lot 12 can travel from the connecting road 11 toward the parking lot 12 along the designated route.

[0113] While the automobile 2 is traveling toward the parking lot 12 in this manner, the wide-area cooperative communication unit 55 of the wide-area control server device 3 repeatedly executes the wide-area cooperative control of FIG. 6 . The wide-area cooperative communication unit 55 repeatedly transmits the latest individual control information and vehicle information as wide-area control information to the local server device 4, as indicated by step ST5 with multiple dashed arrows in the figure. The local determination unit 61 of the local server device 4 determines whether the automobile 2 is able to follow the server control in step ST50 of the local determination control of FIG. 10 . Furthermore, when the automobile 2 reaches the near position, the wide-area cooperative communication unit 55 of the wide-area control server device 3 transmits a control transfer notification to the local server device 4 in step ST8. After processing steps ST33 and ST34 of FIG. 8 , the local cooperative communication unit 62 of the local server device 4 starts local server control in step ST36. This causes communication between the local server device 4 and the automobile 2 to begin. In addition, in step ST37, the local cooperative communication unit 62 transmits a handover notification to the wide-area control server device 3. Upon receiving the handover notification, the wide-area cooperative communication unit 55 of the wide-area control server device 3 terminates transmission of the wide-area control information to the local server device 4. In addition, the control control unit 52 terminates transmission of the individual control information to the automobile 2.

[0114] Meanwhile, the local control unit 63 of the local server device 4 starts local server control and starts transmitting information for local server control to the vehicle 2 in step ST47. Based on the handover notification, the local control unit 63 starts transmitting information for local server control to the vehicle 2 before the wide-area control server device 3 ends control server control. The local control unit 63 repeatedly transmits information for local server control to the vehicle 2. Note that the handover notification may be transmitted from the local server device 4 to the wide-area control server device 3 before the vehicle 2 enters the parking lot 12. However, even in this case, the vehicle 2 is considered to be at least located in front of the parking lot 12, even if it is not within the parking lot 12. Therefore, the local server device 4 can start local server control with the vehicle 2 located near the parking lot 12 via wireless communication or the like. Furthermore, even if local server control cannot be initiated, the vehicle 2 can receive individual control information from the wide-area control server device 3. The vehicle 2 can maintain its state of traveling toward the parking lot 12 by autonomous driving under server control.

[0115] This allows server control of the automobile 2 traveling toward the parking lot 12 to be linked so as to be continuous and uninterrupted. Before starting to receive information for local server control, the automobile 2 traveling toward the parking lot 12 travels toward the parking lot 12 along the designated route in accordance with the individual control information. After starting to receive information for local server control, the automobile 2 passes through stopping position P3 in the parking lot 12 without stopping, in accordance with the information for local server control, and is able to continue traveling to parking space P4 in the parking lot 12.

[0116] As described above, in this embodiment, the automobile server cooperative control system 1 includes a local server device 4 that performs server-control of the autonomous driving of the automobile 2 in the parking lot 12, and a wide-area control server device 3 that performs server-control of the autonomous driving of the automobile 2 in a wide area including the connecting road 11 connected to the parking lot 12. As a result, the automobile 2 can basically travel autonomously under server control in a wide area including the parking lot 12. Moreover, in this embodiment, the local server device 4 and the wide-area control server device 3 cooperate with each other in server control. The wide-area control server device 3 includes a control control unit 52 that executes server control to drive the automobile 2 toward the parking lot 12, as well as a wide-area cooperative communication unit 55. The local server device 4 also includes a local control unit 63 that initiates communication with the automobile 2 for server control to drive the automobile 2 autonomously in the parking lot 12, as well as a local cooperative communication unit 62. Then, the wide-area cooperative communication unit 55 of the wide-area control server device 3 transmits a control transfer notification to the local server device 4 while the vehicle 2 is traveling, notifying that authority for server control of the vehicle 2 heading toward the parking lot 12 has been transferred from the wide-area control server device 3 to the local server device 4. Furthermore, the local cooperative communication unit 62 of the local server device 4 receives the control transfer notification from the wide-area control server device 3. Based on receiving the control transfer notification, the local control unit 63 starts continuous communication with the vehicle 2 to take over server control of the vehicle 2, and starts communication with the traveling vehicle 2 for server control to drive the vehicle 2 autonomously in the parking lot 12.

[0117] In this embodiment, the wide-area cooperative communication unit 55 transmits a control transfer notification to the local server device 4 while the traveling vehicle 2 is traveling when the traveling vehicle 2 reaches a position on the connecting road 11 just before the parking lot 12. Meanwhile, the control control unit 52 continues transmitting wide-area control information to the vehicle 2 even after transmitting the control transfer notification while the vehicle 2 is traveling, until the vehicle 2 stops at least at stopping position P3 in the parking lot 12. If the local server device 4 has not taken over server control of the vehicle 2 by the time the vehicle 2 stops at stopping position P3, the control control unit 52 stops the vehicle 2 at stopping position P3. In other words, if the local server device 4 has not taken over server control of the vehicle 2 by the time the vehicle 2 stops at stopping position P3, the control control unit 52 performs server control to stop the vehicle 2 at stopping position P3.

[0118] In this embodiment, after the vehicle 2 stops at the stop position P3, the wide-area cooperative communication unit 55 transmits a new control transfer notification to the local server device 4 while the vehicle 2 is stopped. As a result, based on receiving the control transfer notification for the vehicle 2 stopped at the stop position P3, the local control unit 63 starts continuous communication with the vehicle 2 and takes over server control for the vehicle 2. The local control unit 63 that has taken over server control can start communication with the stopped vehicle 2 for server control to drive the vehicle 2 autonomously in the parking lot 12.

[0119] Furthermore, in this embodiment, when the automobile 2 travels from the connecting road 11 toward the parking lot 12, the wide-area cooperative communication unit 55 starts continuously transmitting wide-area control information of the automobile 2 to the local cooperative communication unit 62 while the automobile 2 is traveling on the connecting road 11. The local cooperative communication unit 62 generates a designated route from the connecting road 11 to the stopping position P3 for the automobile 2 receiving the wide-area control information, which continues from the traveling route of the automobile 2 in the parking lot 12, and transmits the generated designated route to the wide-area cooperative communication unit 55. The traffic control unit 52 transmits the wide-area control information to the automobile 2 traveling in the wide area so that the automobile 2 travels along the designated route received from the local cooperative communication unit 62, and executes server control to cause the automobile 2 to travel along the designated route from the connecting road 11 toward the stopping position P3. As a result, the automobile 2 traveling toward the parking lot 12 can travel autonomously under server control along the route designated for the parking lot 12. As a result, the local control unit 63 can take over and execute server control while the vehicle 2 is traveling, assuming that the vehicle 2 is traveling along the specified route toward the parking lot 12. The traveling state of the vehicle 2, such as its traveling posture, when the server control is taken over can be the traveling state from the specified route, and it can be expected that the traveling state will be less likely to be disturbed when the server control is taken over. In contrast, if, for example, a route is not specified, the actual traveling state of the vehicle 2 when the server control is taken over may vary. Depending on the degree of this variation, the traveling state of the vehicle 2, such as its traveling posture, may be disturbed when the server control is taken over while the vehicle 2 is traveling. In this embodiment, the occurrence of such a situation can be suppressed.

[0120] In this embodiment, the wide-area cooperative communication unit 55 continuously transmits wide-area control information to the local cooperative communication unit 62. The local determination unit 61 of the local server device 4 uses the wide-area control information continuously received about the vehicle to determine whether the wide-area cooperative communication unit 55 is able to follow the designated route to server control based on the designated route, thereby determining whether the local control unit 63 of the vehicle is able to follow the server control. Furthermore, the local cooperative communication unit 62 switches the server control of the local control unit 63 after receiving a control transfer notification from the wide-area control server device 3, depending on the determination result of the local determination unit 61. Specifically, for example, if the determination result of the local determination unit 61 is good, the local cooperative communication unit 62 causes the local control unit 63 to take over server control while the vehicle is traveling, thereby controlling the vehicle's autonomous driving in the limited area. On the other hand, if the determination result of the local determination unit 61 is not good, the local cooperative communication unit 62 causes the local control unit 63 to take over server control after the vehicle stops, and controls the autonomous driving of the vehicle in the limited area. This is expected to make it less likely that the vehicle's driving in the limited area after taking over server control will be disrupted under the server control by the local server device 4. If server control of a vehicle that does not have good tracking ability to follow server control is taken over while the vehicle is running, it cannot be denied that the vehicle's driving may be disrupted under the server control by the local server device 4 after taking over server control.

[0121] By coordinating these server controls, in this embodiment, a car 2 heading towards a parking lot 12 can continue driving from outside the parking lot 12 in the parking lot 12 under server control that continues through coordination, without stopping, for example, at stopping position P3 in the parking lot 12.

[0122] In this manner, in this embodiment, the server control for the automatic driving of the automobile 2 can be improved so that the wide-area control server device 3 and the local server device 4 cooperate with each other.

[0123] Second Embodiment In the above-described embodiment, as shown in FIG. 1 , the local server device 4 is connected to the Internet 7 via a communication line 8. In this case, the local server device 4 and the wide-area control server device 3 can transmit and receive information to each other to coordinate and take over server control. However, in the real world, the local server device 4 and the wide-area control server device 3 may not be able to communicate with each other to coordinate and take over server control. It is also possible that the local server device 4 is not connected to the Internet 7 via the communication line 8. For example, if the local server device 4 is not connected to the Internet 7 via the communication line 8, the local server device 4 and the wide-area control server device 3 cannot communicate with each other to coordinate and take over server control. This embodiment describes server collaboration in such a case where the local server device 4 and the wide-area control server device 3 do not or cannot communicate with each other. Note that this embodiment can also be used effectively in the above-described embodiment, even when a communication error occurs on the Internet 7 and the local server device 4 and the wide-area control server device 3 cannot communicate with each other.

[0124] The wide-area control server 3 and the local server 4 of this embodiment have the same configuration as in the above-described embodiment, as shown in Fig. 5. Each unit of the wide-area control server 3 and the local server 4 executes the same control as in the above-described embodiment, except for the following.

[0125] Fig. 13 is a flowchart of an example of wide-area cooperative control according to the second embodiment of the present invention. The wide-area cooperative communication unit 55 of the wide-area control server device 3 repeatedly executes the wide-area cooperative control of Fig. 13. The connection points A, A in Fig. 13 are connected to the connection points A, A shown in the wide-area cooperative control of Fig. 6.

[0126] In step ST81, the wide-area cooperative communication unit 55 determines whether or not there is a vehicle 2 heading toward the parking lot 12 among the vehicles 2 under control of the control server. If there is a vehicle 2 heading toward the parking lot 12, the wide-area cooperative communication unit 55 proceeds to step ST82. If there is no vehicle 2 heading toward the parking lot 12, the wide-area cooperative communication unit 55 ends this control.

[0127] In step ST82, the wide-area cooperative communication unit 55 determines whether the local server device 4 that performs server control in the parking lot 12 to which the automobile 2 is heading is capable of cooperation. The wide-area cooperative communication unit 55 may, for example, perform test communication with the local server device 4 to determine whether the local server device 4 is capable of cooperation. Alternatively, the wide-area cooperative communication unit 55 may determine whether the local server device 4 is capable of cooperation based on whether the local server device 4 in the parking lot 12 to which the automobile 2 is heading is listed in a communication-enabled list or the like previously stored in the server memory 43. If the local server device 4 is capable of cooperation, the wide-area cooperative communication unit 55 proceeds to step 2 of FIG. 6 in accordance with connection point A. In this case, the wide-area cooperative communication unit 55 transmits advance notifications, receives designated routes, transmits wide-area control information, and transmits control transition notifications to and from the local server devices 4 that are capable of cooperation, until it determines in step ST9 that transmission has ended. While the automobile 2 is traveling toward the parking lot 12, the local server device 4 can take over server control from the wide-area control server device 3 and start transmitting information for local server control in the parking lot 12 to the automobile 2. Then, when a handover notification is received or the automobile 2 stops at stopping position P3 in the parking lot 12, the wide-area cooperative communication unit 55 ends this control. In this way, when the local server device 4 is capable of cooperation, the wide-area cooperative communication unit 55 transmits a control transfer notification, etc. from the wide-area cooperative communication unit 55 to the local server device 4 and executes control for server cooperation.

[0128] On the other hand, if the local server device 4 is not capable of cooperation, the wide-area cooperative communication unit 55 proceeds to step ST83. In step ST83, the wide-area cooperative communication unit 55 instructs the traffic control unit 52 to stop the automobile 2 at the stop position P3 in the parking lot 12. Thereafter, the wide-area cooperative communication unit 55 ends this control.

[0129] Fig. 14 is a flowchart of an example of control server control according to the second embodiment of the present invention. The control control unit 52 of the wide-area control server device 3 repeatedly executes the control server control of Fig. 14. In Fig. 14, the same steps as those in Fig. 7 are designated by the same reference numerals as in Fig. 7. Then, when the control control unit 52 determines in step ST43 that the automobile 2 is stopped at the stop position P3, the process proceeds to step ST91.

[0130] In step ST91, the control control unit 52 determines whether or not there is an instruction from the wide-area cooperative communication unit 55 to stop the automobile 2 at stopping position P3 in the parking lot 12. If there is no instruction to stop at stopping position P3 in the parking lot 12 in step ST83 of FIG. 13 , the control control unit 52 proceeds to step ST18. In this case, the control control unit 52 generates individual control information for driving the automobile 2 toward the parking lot 12 in step ST18 and transmits it to the automobile 2 in step ST20. The automobile 2 drives toward the parking lot 12 by automatic driving under server control of the wide-area control server device 3. On the other hand, if there is an instruction to stop at stopping position P3 in the parking lot 12, the control control unit 52 proceeds to step ST17. In this case, the control control unit 52 executes the setting to stop at the stop position P3 in the parking lot 12 in step ST17, generates individual control information to stop at the stop position P3 in step ST19, and transmits this to the vehicle 2 in step ST20. The vehicle 2 travels under automatic driving under the server control of the wide-area control server device 3 so as to stop at the stop position P3 in the parking lot 12.

[0131] In this way, the control control unit 52 of the wide-area control server device 3 continuously transmits individual control information to the vehicle 2 traveling in a wide area to cause the vehicle 2 to travel autonomously under server control, causing the vehicle 2 to travel toward the parking lot 12, and further executes server control to cause the vehicle 2 traveling in the parking lot 12 to stop at stopping position P3 in the parking lot 12. In this case, the control control unit 52 repeatedly executes the control server control of FIG. 14 to generate individual control information to cause the vehicle 2 to travel from the connecting road 11 toward the parking lot 12 and further individual control information to stop the vehicle 2 at stopping position P3 in the parking lot 12, and transmits these to the vehicle 2. Then, when the vehicle 2 stops at stopping position P3 in the parking lot 12, the control control unit 52 may terminate the control server control for the vehicle 2. The control control unit 52 may terminate the generation and transmission of individual control information to the vehicle 2 stopped at stopping position P3 in the parking lot 12. In addition, if the local server device 4 is not capable of collaboration, the wide-area collaborative communication unit 55 can stop the automobile 2 at the stopping position P3 in the parking lot 12 by instructing the control control unit 52 to execute server control to stop the automobile 2 at the stopping position P3 in the parking lot 12.

[0132] 15 is a flowchart of an example of local server control according to the second embodiment of the present invention. The local control unit 63 of the local server device 4 repeatedly executes the local server control shown in FIG.

[0133] In the local determination control of FIG. 10 , the local determination unit 61 acquires driving trajectory information from the automobile 2 stopped at stop position P3 and determines whether the vehicle 2 is able to follow the server control in step ST50. The driving trajectory information may be a collection of past driving positions of the automobile 2. The local determination unit 61 updates the determination result of the followability to good or bad depending on the determination result of the followability to the server control. Furthermore, if the local determination unit 61 cannot determine whether the vehicle 2 is able to follow the server control, the determination result of the followability is left unprocessed. A determination result of bad or unprocessed is not a determination result of good. Furthermore, unlike in FIG. 10 , since the automobile 2 is stopped at stop position P3, the local determination unit 61 may test control the actuators of the automobile 2 and determine whether the vehicle 2 is able to follow the server control based on the results of the actuator operation amount during the test control.

[0134] In Fig. 15, the same steps as in Fig. 9 are designated by the same reference numerals as in Fig. 9. Then, when the local control unit 63 determines in step ST43 that the automobile 2 is stopped at the stopping position P3 in the parking lot 12, it proceeds to step ST92.

[0135] In step ST92, the local control unit 63 determines whether the tracking ability of the server control of the automobile 2 stopped at the stop position P3 is good. If the tracking ability is good, the local control unit 63 proceeds to step ST44. As a result, the local control unit 63 starts communication with the automobile 2 stopped at the stop position P3, thereby taking over server control of the automobile 2. The local control unit 63 starts server control for the stopped automobile 2 to travel autonomously in the parking lot 12 with the automobile 2 stopped at the stop position P3. The local control unit 63 starts server control for the autonomous travel of the automobile 2 in the parking lot 12 from the state where the automobile 2 is stopped at the stop position P3. If the determination result of the local determination unit 61 is good, the local control unit 63 takes over server control of the automobile 2 stopped at the stop position P3, and performs server control of the autonomous travel of the automobile 2 in the parking lot 12.

[0136] On the other hand, if the tracking ability is not good, the local control unit 63 proceeds to step ST93. In step ST93, the local control unit 63 transmits an autonomous driving instruction to the automobile 2 stopped at the stop position P3 to drive autonomously to the parking space P4 and park there. When the determination result of the local determination unit 61 is not good in this way, the local control unit 63 does not directly take over server control of the automobile 2 stopped at the stop position P3, but causes the automobile 2 to drive autonomously in the parking lot 12. Note that after receiving the autonomous driving instruction, the automobile 2 stopped at the stop position P3 may be driven manually by the driver through the parking lot 12 and parked in the parking space P4. Then, the local control unit 63 terminates this control.

[0137] In this way, the local control unit 63 switches the server control in the parking lot 12 for the automobile 2 stopped at the stop position P3 depending on the determination result of the local determination unit 61.

[0138] FIG. 16 is a timing chart showing a case where the wide-area control server device 3 and the local server device 4 cooperate with each other when the automobile 2 stops at a stopping position P3. In this case, the automobile 2 travels from the connecting road 11 toward the parking lot 12 and stops at a stopping position P3 in the parking lot 12. The automobile 2 then starts traveling in the parking lot 12 from the stopping position P3 and travels to a parking space P4. FIG. 16 shows the automobile 2, the wide-area cooperative communication unit 55, and the local cooperative communication unit 62. In FIG. 16, time flows from top to bottom. Unlike FIG. 12, the wide-area control server device 3 and the local server device 4 do not communicate with each other.

[0139] Automobile 2 travels from right-turn control start position P0 in FIG. 1 through right-turn waiting position P1 in the travel lane, position P2 before passing the shoulder, and stopping position P3 in the parking lot 12 to parking space P4 in the parking lot 12 by automated driving under coordinated server control. Then, the control control unit 52 of the wide-area control server device 3 repeatedly executes the control server control of FIG. 14 . As indicated by multiple dashed arrows in step ST20 in the figure, the control control unit 52 repeatedly transmits individual control information according to the latest situation to automobile 2. As a result, automobile 2 traveling toward parking lot 12 can travel from connecting road 11 toward parking lot 12 and stop at stopping position P3 in the parking lot 12 while suppressing interference with oncoming vehicles 15 and pedestrians by automated driving under the control server control of the wide-area control server device 3. When automobile 2 stops at stopping position P3 in the parking lot 12, the control control unit 52 terminates transmission of the individual control information to automobile 2. While the automobile 2 is traveling toward the parking lot 12 in this manner, the wide-area cooperative communication unit 55 of the wide-area control server device 3 repeatedly executes the wide-area cooperative control of FIG.

[0140] On the other hand, when the automobile 2 stops at stopping position P3 in the parking lot 12, the local determination unit 61 of the local server device 4 determines whether the automobile 2 is able to follow the server control in step ST50 of the local determination control in Fig. 10. Also, when the automobile 2 stops at stopping position P3 in the parking lot 12, the local server control unit of the local server device 4 starts communication with the automobile 2 stopped at stopping position P3 in the parking lot 12 in step ST44 in Fig. 15. Thereafter, the local cooperation communication unit 62 repeatedly transmits information for local server control to the automobile 2 in steps ST45 and ST47.

[0141] This allows server control of automobile 2 traveling toward parking lot 12 to be coordinated. Before automobile 2 traveling toward parking lot 12 begins to receive information for local server control, automobile 2 travels toward parking lot 12 in accordance with the individual control information and stops at stopping position P3 in parking lot 12. Then, while stopped at stopping position P3 in parking lot 12, automobile 2 begins to receive information for local server control. After that, automobile 2 can travel to parking space P4 in parking lot 12 and park there in accordance with the information for local server control.

[0142] As described above, in this embodiment, the automobile server linkage control system 1 includes the local server device 4 that performs server-control of the automated driving of the automobile 2 in the parking lot 12, and the wide-area control server device 3 that performs server-control of the automated driving of the automobile 2 in a wide area including the connecting road 11 connected to the parking lot 12. As a result, the automobile 2 can basically travel under server control in an automated driving manner in a wide area including the parking lot 12. Moreover, in this embodiment, the local server device 4 and the wide-area control server device 3 cooperate with each other in server control. The control control unit 52 of the wide-area control server device 3 continuously transmits wide-area control information to the automobile 2 traveling in the wide area for causing the automobile 2 to travel under server control in an automated driving manner, thereby causing the automobile 2 to travel toward the parking lot 12. The control control unit 52 also executes server control to the automobile 2 traveling in the parking lot 12 to stop the automobile 2 at a stop position P3 in the parking lot 12. Furthermore, the local control unit 63 of the local server device 4 takes over server control of the vehicle 2 by starting communication with the vehicle 2 stopped at the stopping position P3, and starts server control between the vehicle 2 stopped at the stopping position P3 and the vehicle 2 for autonomous driving in the parking lot 12. By such coordination of server control, the vehicle 2 heading toward the parking lot 12 stops at the stopping position P3 in the parking lot 12, and can continue driving in the parking lot 12 from outside the parking lot 12 under server control that continues due to the coordination in the stopped state.

[0143] Moreover, in this embodiment, the local determination unit 61 of the local server device 4 determines whether the vehicle 2 stopped at the stopping position P3 is able to follow the server control. The local control unit 63 then switches the server control in the parking lot 12 for the vehicle 2 stopped at the stopping position P3 based on the determination result of the local determination unit 61. Specifically, if the determination result of the local determination unit 61 is good, the local control unit 63 takes over server control for the vehicle 2 stopped at the stopping position P3 and controls the vehicle 2 to travel by autonomous driving in the parking lot 12. In contrast, if the determination result of the local determination unit 61 is not good, the local control unit 63 does not take over server control for the vehicle 2 stopped at the stopping position P3, and causes the vehicle 2 to travel by autonomous automatic driving or manual driving in the parking lot 12. This can be expected to make it less likely that the travel of the vehicle 2 in the parking lot 12 will be disrupted under the server control by the local server device 4 after the server control is taken over. Furthermore, if server control is taken over for a vehicle 2 that does not have good tracking capabilities with respect to server control, the driving of the vehicle 2 after taking over server control may become disrupted under the server control of the local server device 4. In such a case, the local server device 4 drives the vehicle 2 by autonomous automatic driving or manual driving, rather than automatic driving under server control. As a result, it can be expected that the driving of the vehicle 2 in the parking lot 12 will be less disrupted.

[0144] In this manner, in this embodiment, the server control for the automatic driving of the automobile 2 can be improved so that the wide-area control server device 3 and the local server device 4 cooperate with each other.

[0145] The above-described embodiment is an example of a preferred embodiment of the present invention, but the present embodiment is not limited to this, and various modifications and changes are possible within the scope of the gist of the invention.

[0146] 1...Automobile server linkage control system, 2...Automobile (vehicle), 3...Wide area control server device, 4...Local server device, 5...Base station, 6...Carrier communication network, 7...Internet, 8...Communication line, 11...Connecting road, 12...Parking lot, 15...Oncoming vehicle, 20...Control system, 21...Sensor control device, 22...Operation control device, 23...Driving control device, 24...Drive control device, 25...Steering control device, 26...Braking control device, 27...External vehicle communication control device, 29...Vehicle network, 31...GNSS receiver, 32...External vehicle camera, 33...Lidar, 34...Speed ​​sensor, 35...Vehicle high-precision ground FIG. 1 shows a diagram of a vehicle using a GNSS satellite in accordance with an embodiment of the present invention; FIG. 2 shows a diagram of a vehicle using a GNSS satellite in accordance with an embodiment of the present invention; FIG. 3 shows a diagram of a vehicle using a GNSS satellite in accordance with an embodiment of the present invention;

Claims

1. A server-linked control system for a vehicle, comprising: a local server device that performs server-control of the autonomous driving of a vehicle in a limited area in which the vehicle can travel; and a wide-area server device that performs server-control of the autonomous driving of the vehicle in a wide area including connecting roads connected to the limited area, wherein the autonomous driving of the vehicle is controlled by linking the server control of the local server device and the server control of the wide-area server device, wherein the wide-area server device comprises: a wide-area control unit that continuously transmits individual control information for causing the vehicle to travel in an autonomous driving manner under server control to the vehicle traveling in the wide area, and executes server control for causing the vehicle to travel toward the limited area; and a wide-area linked communication unit that transmits a control transfer notification to the local server device while the vehicle is traveling, notifying that authority for server control of the vehicle traveling toward the limited area has been transferred from the wide-area server device to the local server device; and the local server device comprises: a local linked communication unit that receives the control transfer notification from the wide-area server device; a local control unit that takes over server control of the vehicle based on receiving the control transfer notification and starts communication with the vehicle while it is traveling in order to perform server control that causes the vehicle to travel autonomously in the limited area.

2. The vehicle server cooperative control system of claim 1, wherein the wide-area cooperative communication unit transmits the control transfer notification to the local server device while the vehicle is traveling when the vehicle reaches a position on the connecting road just before the limited area, and the wide-area control unit continues to transmit the individual control information to the vehicle even after transmitting the control transfer notification while the vehicle is traveling until the vehicle stops at least at a stopping position in the limited area, and if the local server device does not take over server control of the vehicle by the time the vehicle stops at the stopping position, stops the vehicle at the stopping position.

3. The vehicle server cooperative control system of claim 2, wherein the wide area cooperative communication unit transmits a new control transfer notification to the local server device after the vehicle has stopped at the stopping position, and the local control unit takes over server control of the vehicle based on receiving the control transfer notification for the vehicle stopped at the stopping position, and starts communication with the stopped vehicle for server control of the vehicle to drive autonomously in the limited area.

4. A server-linked control system for a vehicle as described in any one of claims 1 to 3, wherein when the vehicle travels from the connecting road towards the limited area, the wide-area cooperative communication unit starts transmitting the individual control information of the vehicle and the vehicle's location information to the local cooperative communication unit while the vehicle is traveling on the connecting road, the local cooperative communication unit transmits to the wide-area cooperative communication unit a designated route from the connecting road to the stopping position for the vehicle receiving the individual control information, and the wide-area control unit transmits individual control information to the vehicle traveling in the wide area so that the vehicle travels along the designated route received from the local cooperative communication unit, and executes server control for the vehicle to travel along the designated route from the connecting road towards the stopping position.

5. A vehicle server cooperative control system as described in claim 4, wherein the wide area cooperative communication unit continuously transmits the individual control information and the vehicle location information to the local cooperative communication unit, the local server device has a local judgment unit that uses the individual control information and the vehicle location information that are continuously received for the vehicle to judge whether the vehicle is able to follow server control, and the local cooperative communication unit switches the server control of the local control unit after receiving the control transfer notification from the wide area server device depending on the judgment result of the local judgment unit.

6. The vehicle server cooperation control system of claim 5, wherein the local cooperation communication unit, if the judgment result of the local judgment unit is good, causes the local control unit to take over server control while the vehicle is traveling, thereby controlling the autonomous driving of the vehicle in the limited area, and if the judgment result of the local judgment unit is not good, causes the local control unit to take over server control after the vehicle has stopped, thereby controlling the autonomous driving of the vehicle in the limited area.

7. The vehicle server cooperation control system of claim 1, wherein the wide area cooperation communication unit, when there is a vehicle heading toward the limited area, determines whether the local server device that executes server control in the limited area is capable of cooperation, and if the local server device is capable of cooperation, sends the control transfer notification from the wide area cooperation communication unit to the local server device and starts control for server cooperation, and if the local server device is not capable of cooperation, instructs the wide area control unit to execute server control to stop the vehicle at a stopping position in the limited area, and the local control unit takes over server control of the vehicle by starting communication with the vehicle stopped at the stopping position, and starts server control for the vehicle to travel by autonomous driving in the limited area from a state where the vehicle is stopped at the stopping position.

8. A server-linked control system for a vehicle, comprising: a local server device that performs server control of the autonomous driving of a vehicle in a limited area in which the vehicle can travel; and a wide-area server device that performs server control of the autonomous driving of the vehicle in a wide area including connecting roads connected to the limited area, wherein the autonomous driving of the vehicle is controlled by linking the server control of the local server device and the server control of the wide-area server device, wherein the wide-area server device has a wide-area control unit that continuously transmits individual control information for causing the vehicle to travel in an autonomous driving manner under server control to the vehicle traveling in the wide area, causing the vehicle to travel toward the limited area, and further executes server control for the vehicle traveling in the limited area to stop the vehicle at a stop position in the limited area, and the local server device has a local control unit that takes over server control of the vehicle by initiating communication with the vehicle stopped at the stop position, and initiates server control for the stopped vehicle to travel in an autonomous driving manner in the limited area between the vehicle and the vehicle stopped at the stop position, a local determination unit that determines whether the vehicle stopped at the stop position is able to follow server control, and the local control unit switches server control in the limited area for the vehicle stopped at the stop position depending on the determination result of the local determination unit.

9. A server-linked control system for a vehicle as described in claim 8, wherein the local control unit, when the judgment result of the local judgment unit is good, takes over server control of the vehicle stopped at the stopping position and controls the vehicle to travel by autonomous driving in the limited area, and when the judgment result of the local judgment unit is not good, does not take over server control of the vehicle stopped at the stopping position and causes the vehicle to travel by autonomous automatic driving or manual driving in the limited area.

10. A vehicle server-linked control system as described in claim 1, 2, or 8, wherein the limited area is a parking lot where the vehicle can drive and park, the local server device causes the vehicle driving in the parking lot to drive automatically under server control, and the local control unit executes server control in the parking lot to drive the vehicle to a parking space in the parking lot and park it in the parking space.

11. The vehicle server-linked control system according to claim 10, wherein the wide-area server device is for causing the vehicle traveling in a wide area including the connecting roads connected to the parking lot to travel autonomously under the control of a control server.

Images