JP2021012079A - Vehicle management system - Google Patents

Abstract

To provide a vehicle management system for managing parked vehicles capable of causing vehicles to appropriately evacuate when disaster occurs.SOLUTION: A vehicle management system 1 includes a terminal 4, and a vehicle control unit 3 for controlling an automatic travel of a vehicle S. The vehicle control unit performs: transmitting, in the case of obtaining an emergency alarm related to a disaster via a network, a reception start signal for instructing the terminal to start receiving a permission to evacuate the vehicle; and setting an evacuation spot and an evacuation route from a present position to the evacuation spot on the basis of a present position of the vehicle and the emergency alarm. The terminal, upon receiving the reception start signal, starts receiving, from a user, the permission to evacuate the vehicle, and transmits an evacuation instruction signal to the vehicle control unit upon receiving an input corresponding to the permission to evacuate the vehicle from the user. Upon receiving the evacuation instruction signal, the vehicle control unit causes the vehicle to start the automatic travel along the evacuation route.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to a vehicle management system that manages vehicles capable of autonomous driving.

An autonomous vehicle having a manual driving mode and an automatic driving mode is known (for example, Patent Document 1). The self-driving car of Patent Document 1 invalidates the manual driving operation when it detects that manual driving such as bad weather (for example, heavy rain, storm, snow, etc.) is dangerous while driving in the automatic driving mode. It switches to running in the forced automatic driving mode.

Japanese Patent No. 6065328

However, the mode switching of the autonomous driving vehicle of Patent Document 1 is performed during traveling. Therefore, in the autonomous driving vehicle of Patent Document 1, the vehicle cannot be evacuated when there is a risk of damage due to a disaster such as flooding of the parked vehicle.

In view of such a background, it is an object of the present invention to provide a vehicle management system capable of automatically traveling and evacuating a parked vehicle when there is a risk of damage to the parked vehicle due to a disaster.

In order to solve the above problems, one aspect of the present invention is a vehicle management system (1, 101, 201), in which a terminal (4) held by a user of a vehicle (S) outside the vehicle and the vehicle It is mounted, connected to the terminal via the network (35), holds map information, and controls the automatic running of the vehicle according to a set route based on the acquired current position of the vehicle and the map information. The vehicle control unit has a vehicle control unit (3), and when the vehicle control unit obtains an emergency warning regarding a disaster via the network, it instructs the terminal to execute the reception of the evacuation permission of the vehicle. Along with transmitting the start signal, the evacuation site and the evacuation route from the current position to the evacuation site are set based on the current position of the vehicle and the emergency alarm, and the terminal receives the reception start signal. At that time, the user executes the reception of the evacuation permission of the vehicle, and when the user receives the input corresponding to the evacuation permission of the vehicle, the evacuation instruction signal is transmitted to the vehicle control unit. When the vehicle control unit receives the evacuation instruction signal, the vehicle control unit starts the automatic traveling of the vehicle according to the evacuation route.

According to this aspect, when the vehicle control unit is notified of an emergency warning regarding a disaster, the terminal accepts the evacuation permission of the vehicle, and the user inputs the evacuation permission to the terminal, the vehicle automatically follows the evacuation route. Start running. As a result, the parked vehicle can be evacuated by inputting the user to allow evacuation in the event of a disaster.

In the above aspect, when the terminal receives the reception start signal, it executes the reception of the input corresponding to the permission or disapproval of the evacuation of the vehicle from the user, and the evacuation of the vehicle. The evacuation stop signal may be transmitted when the input corresponding to the disapproval is received, and the vehicle control unit may maintain the position of the vehicle when the evacuation stop signal is received.

According to this aspect, the position of the vehicle can be maintained by inputting the user to reject the evacuation of the vehicle. This makes it possible to prevent the vehicle from moving when the user wishes to use the vehicle.

In the above aspect, if the vehicle control unit does not receive either the evacuation instruction signal or the evacuation stop signal within a predetermined time after transmitting the reception start signal, the vehicle controls according to the evacuation route. It is advisable to start the automatic running of the above.

According to this aspect, even if there is no input from the user to the terminal, the vehicle starts automatic traveling along the evacuation route after a lapse of a predetermined time. As a result, the parked vehicle can be evacuated more reliably.

In the above aspect, the emergency warning includes flood damage occurrence information, the map information includes the altitude of each point, and the vehicle control unit includes the flood damage occurrence information and the evacuation site and the evacuation route based on the altitude. Should be set.

According to this aspect, an appropriate evacuation site and evacuation route for avoiding submersion of the vehicle can be set.

In the above aspect, the emergency warning includes flood damage occurrence information, the map information includes a hazard map, and the vehicle control unit provides the evacuation site and the evacuation route based on the flood damage occurrence information and the hazard map. It is good to set.

According to this aspect, an appropriate evacuation site and evacuation route for avoiding submersion of the vehicle can be set.

In the above aspect, the terminal includes a sensor (43) for acquiring the position of the terminal, and the vehicle control unit permits the user to evacuate the vehicle at the terminal after the emergency alarm is notified. When the input is received, the evacuation site is determined based on the current position of the vehicle, the emergency warning, and the position of the terminal, and the current position of the vehicle, the position of the terminal, and the position of the terminal are determined. The route connecting to the evacuation site may be set as the evacuation route.

According to this aspect, when the input permitting the evacuation of the vehicle is received, the evacuation route connecting the current position of the vehicle, the position of the terminal, and the evacuation place is set. When the vehicle travels along the evacuation route and reaches the position of the terminal, the user can board the vehicle. As a result, the vehicle and the user can be safely evacuated.

In the above aspect, the terminal includes a sensor (43) for acquiring the position of the terminal, and the vehicle control unit permits the user to evacuate the vehicle at the terminal after the emergency alarm is notified. When the input is received, the evacuation site and the confluence point between the vehicle and the user are determined based on the current position of the vehicle, the emergency warning, and the position of the terminal of the vehicle. The route connecting the current position, the confluence point, and the evacuation site may be set as the evacuation route.

According to this aspect, when the input permitting the evacuation of the vehicle is received, the evacuation site, the confluence point, and the evacuation route are set based on the current position of the vehicle and the position of the terminal. When the user moves to the confluence and the vehicle travels along the evacuation route to reach the confluence, the user can board the vehicle. As a result, the vehicle and the user can be safely evacuated.

In the above aspect, the vehicle control unit includes an outside world information acquisition device that acquires the surrounding conditions of the vehicle (11), and after the emergency alarm is notified, the vehicle is flooded around the vehicle by the outside world information acquisition device. When is confirmed, it is advisable to start the automatic traveling of the vehicle according to the evacuation route.

According to this aspect, when the inundation around the vehicle is confirmed, the vehicle starts automatic traveling according to the evacuation route, so that the submersion of the vehicle can be prevented more reliably.

In the above embodiment, when the vehicle control unit starts the automatic driving of the vehicle according to the evacuation route and then acquires information indicating that the inundation has been eliminated in the vicinity of the vehicle at the start of the automatic driving. May move the vehicle to the evacuation site by resetting the evacuation site to the position at the start of the automatic driving.

According to this aspect, when the inundation around the vehicle at the start of automatic driving is eliminated, the vehicle is moved to the position at the start of automatic driving, so that the user can easily understand the position of the vehicle after the disaster has subsided. Become.

In the above aspect, the vehicle control unit may notify the user that the movement to the evacuation site is completed when the movement of the vehicle to the evacuation site is completed.

According to this aspect, the user can easily understand the situation of the vehicle.

According to the above configuration, it is possible to provide a vehicle management system capable of automatically traveling and evacuating a parked vehicle when there is a risk of damage to the parked vehicle due to a disaster.

Configuration diagram of the vehicle management system according to the first embodiment Schematic configuration diagram of the vehicle on which the vehicle control unit according to the first embodiment is mounted. The functional block diagram of the vehicle control unit shown in FIG. Flow chart of evacuation process

Hereinafter, embodiments of the vehicle management system according to the present invention will be described with reference to the drawings.

<< First Embodiment >>
The vehicle management system 1 is a system for automatically driving and evacuating the vehicle S based on an emergency warning acquired from the notification server 2 that holds information on the disaster, and is mounted on the vehicle S as shown in FIG. The vehicle control unit 3 (control unit) is provided, and the terminal 4 held by the user of the vehicle S outside the vehicle is provided.

The vehicle S on which the vehicle control unit 3 is mounted is a four-wheel electric vehicle driven by electric power, and is a battery 6, a traveling motor 7 (propulsion device), a steering device 8, a braking device 9, and a vehicle sensor 10. The external sensor 11, the communication device 12, the navigation device 13, the control device 14, and the charging port 15 are provided. The traveling motor 7, the steering device 8, the braking device 9, the vehicle sensor 10, the outside world sensor 11, the communication device 12, the navigation device 13, and the control device 14 are communicably connected to each other by a CAN 15 (Control Area Network). ..

The traveling motor 7 is driven by receiving electric power supplied from the battery 6 (driving storage battery) to rotate the driving wheels. In the present embodiment, the left and right rear wheels of the vehicle S are driving wheels. The battery 6 supplies electric power not only to the traveling motor 7, but also to the steering device 8, the braking device 9, the control device 14, and the like.

The steering device 8 is a device for steering the steering wheels, and as shown in FIG. 2, a steering shaft 8a rotatably supported by a steering column and a steering wheel 8b provided at one end of the steering shaft 8a. It has. In the present embodiment, the left and right front wheels of the vehicle S are steering wheels. A pinion is provided at the other end of the steering shaft 8a, and the rack gear of the rack shaft 8c extending to the left and right meshes with the pinion. The rack shaft 8c is connected to the left and right knuckles that support the front wheels via tie rods at both left and right ends. When the steering wheel 8b rotates, the rack shaft 8c moves left and right, the knuckle rotates, and the left and right front wheels steer.

The steering shaft 8a is provided with a steering torque sensor 8d that detects steering torque and an assist motor 8e that applies assist torque according to the steering torque. That is, the steering device 8 constitutes an electric power steering. In another embodiment, the steering device 8 may include a reaction force motor and a steering motor, and may form a steer-by-wire in which the steering wheel 8b and the front wheels are mechanically separated.

The brake device 9 includes a hydraulically driven braking force generating device 9a (for example, a brake caliper) provided on each of the four wheels, and an electric cylinder 9b that supplies hydraulic pressure to the braking force generating device 9a.

The vehicle sensor 10 includes various sensors such as a steering angle sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, a yaw rate sensor 24, and an altitude sensor 25. The steering angle sensor 21 outputs a signal corresponding to the steering angle of the left and right front wheels (steering wheels) to the control device 14. The control device 14 acquires the steering angle based on the steering angle acquired by the steering angle sensor 21. The vehicle speed sensor 22 is provided on each of the front wheels and the rear wheels, and outputs a pulse signal generated in response to the rotation of the front wheels and the rear wheels to the control device 14. The control device 14 acquires the wheel speeds of the front wheels and the rear wheels based on the signals from the vehicle speed sensors 22, and acquires the vehicle speed by averaging the wheel speeds. The acceleration sensor 23 outputs signals corresponding to the vertical acceleration, the lateral acceleration, and the front-rear acceleration of the vehicle body to the control device 14. The control device 14 acquires the vertical acceleration, the lateral acceleration, and the front-back acceleration of the vehicle body based on the signal from the acceleration sensor 23. The yaw rate sensor 24 may be, for example, a gyro sensor, and outputs a signal corresponding to the rotational angular velocity around the vertical axis of the vehicle body to the control device 14. The control device 14 acquires the yaw rate of the vehicle body based on the signal from the yaw rate sensor 24. The control device 14 calculates the altitude of the vehicle S based on the signal from the altitude sensor 25. The altitude sensor 25 may be based on atmospheric pressure, and the control device 14 appropriately calibrates the vehicle S when the vehicle S is traveling at a point where the altitude is known, and determines the altitude from the altitude sensor 25 when parked. It is good to get and hold.

The outside world sensor 11 (outside world information acquisition device) is a sensor that captures electromagnetic waves and light from the periphery of the vehicle S, detects an object outside the vehicle, and acquires the surrounding condition of the vehicle S, and is shown in FIGS. 2 and 3. As shown, it includes a sonar 31, an external camera 32, a radar 33 and a rider 34. The external sensor 11 outputs the detection result to the control device 14.

The sonar 31 is a so-called ultrasonic sensor, which emits ultrasonic waves around the vehicle S and detects the position (distance and direction) of the object by capturing the reflected wave. A plurality of sonars 31 are provided at the rear and front of the vehicle S, respectively.

The vehicle exterior camera 32 images the surroundings of the vehicle S including objects existing around the vehicle S (for example, peripheral vehicles and pedestrians), guardrails, curbs, walls, road markings drawn on the road surface, and the like. The vehicle exterior camera 32 may be, for example, a digital camera using a solid-state image sensor such as a CCD or CMOS. The vehicle exterior camera 32 includes at least a front camera 32A that images the front of the vehicle S and a rear camera 32B that images the rear. The vehicle exterior camera 32 may be, for example, a stereo camera.

The radar 33 emits radio waves such as millimeter waves around the vehicle S and captures the reflected waves to detect the position (distance and direction) of the object. A plurality of radars 33 are attached to arbitrary parts of the vehicle S.

The rider 34 irradiates the surroundings of the vehicle S with light such as infrared rays and captures the reflected light to detect the position (distance and direction) of the object. A plurality of riders 34 are provided at arbitrary positions on the vehicle S.

The communication device 12 mediates the connection of the control device 14 to the network 35 such as the Internet. As a result, the control device 14 can be connected to a network 35 such as the Internet via the communication device 12, and communicates with various servers and a terminal 4 owned by a user existing outside the vehicle S via the network 35. It is possible.

The navigation device 13 is a device that acquires the current position of the vehicle S and provides route guidance to the destination, and has a GPS receiving unit 36 and a map storage unit 37 (see FIG. 3). The GPS receiving unit 36 identifies the position (latitude and longitude) of the vehicle S based on the signal received from the artificial satellite (positioning satellite). The map storage unit 37 is composed of a known storage device such as a flash memory or a hard disk, and stores map information. In other embodiments, the GPS receiver 36 may be configured as part of the communication device 12. Further, the map storage unit 37 may be configured as a part of the control device 14, or may be configured as a part of a server capable of communicating via the communication device 12.

Map information includes road types such as expressways, toll roads, national roads, and prefectural roads, road information such as the number of lanes on the road and the central position of each lane, as well as address information (address / postal code), buildings, and parking. It includes facility information including the type of facility such as a lane, telephone number information, and the altitude of each point. Map information includes hazard maps that include information about potential inundation areas that indicate areas of danger during flooding.

As shown in FIG. 1, a charging port 15 for external charging is provided on the front portion of the vehicle S. A charging cable 39 provided on the charging stand 38 can be connected to the charging port 15 (see the alternate long and short dash line in FIG. 1). When the user performs a predetermined charging operation on the charging stand 38 while the charging cable 39 is connected to the charging port 15, a current flows into the battery 6 via the charging cable 39 to charge the battery 6.

The charging port 15 is provided with a connection sensor 40 that detects the connection of the charging cable 39. Further, the control device 14 is a signal such as a current sensor provided in an electric circuit between the charging port 15 and the battery 6, a voltage sensor that acquires a voltage value of each cell, and a temperature sensor that acquires the temperature of the battery 6. Based on the above, the charge rate (hereinafter, SOC) of the battery 6 can be obtained. When power is supplied from the battery 6 to various devices of the vehicle S, the control device 14 may appropriately update the SOC of the battery 6.

The control device 14 is an electronic control unit (ECU) composed of a central processing unit (CPU), a ROM, a RAM, peripheral circuits, input / output interfaces, various drivers, and the like. The control device 14 executes various vehicle controls by executing arithmetic processing according to the program by the CPU. The control device 14 may be configured as one hardware, or may be configured as a unit composed of a plurality of hardware. Further, at least a part of each functional unit of the control device 14 may be realized by hardware such as LSI, ASIC, FPGA, or may be realized by a combination of software and hardware.

The notification server 2 is a computer including a CPU, a memory, an HDD, and the like. As shown in FIG. 1, the notification server 2 can be connected to a server of a public institution such as the Japan Meteorological Agency, a control device 14, and a terminal 4 via a network 35. The notification server 2 acquires warning information regarding weather and disasters transmitted from a server of a public institution via a network 35. The alarm information acquired by the notification server 2 includes information related to the occurrence of flood damage (hereinafter referred to as flood damage occurrence information). Flood damage information should include warnings, warnings and special warnings issued by the Japan Meteorological Agency and local governments. The warnings should include at least heavy rain warnings and flood warnings, and the warnings should include heavy rain warnings.

In the present embodiment, the flood occurrence information includes meteorological information, flood information, and evacuation information. Meteorological information is a meteorological warning / warning issued by the Japan Meteorological Agency, including heavy rain warnings and special warnings. The inundation information is a designated river flood forecast generated by the Japan Meteorological Agency, and includes inundation warning information, inundation risk information, and inundation occurrence information. Evacuation information is provided by the municipality and includes evacuation preparations, evacuation advisories, and evacuation orders.

The terminal 4 is a wireless terminal that is portable to the user and can be connected to the network 35 via the mobile communication network, for example, a smartphone. The terminal 4 includes a touch panel 41 that receives input from a user and displays a screen, a processing device 42 that controls the screen display of the touch panel 41, and a GPS chip (module) for acquiring the position of the terminal 4. It includes a position sensor 43. A predetermined application for automatically driving the vehicle S to evacuate is installed in the terminal 4 based on an emergency warning regarding a disaster. The terminal 4 is always executing the application during startup.

The vehicle control unit 3 controls the drive of the traveling motor 7, the assist motor 8e of the steering device 8, the electric cylinder 9b of the braking device 9, and the like, and autonomously travels the vehicle S according to a set route (automatic traveling). It is a unit for making the vehicle, and includes a control device 14 and a navigation device 13.

When the notification server 2 acquires the alarm information from the server of the public institution, it transmits an emergency alarm signal including the alarm information to the control device 14. When the control device 14 acquires the emergency warning signal from the notification server 2, it executes an evacuation process for automatically driving the vehicle S to evacuate. In order to perform the evacuation process, as shown in FIG. 3, the control device 14 includes an automatic operation control unit 45, a storage state acquisition unit 46, an inundation risk calculation unit 47, an evacuation route determination unit 48, and a state management unit 49. including.

The automatic driving control unit 45 executes various controls related to the automatic running of the vehicle S. The automatic driving control unit 45 includes an outside world recognition unit 51, a vehicle position recognition unit 52, an action planning unit 53, and a travel control unit 54.

The outside world recognition unit 51 recognizes peripheral vehicles and obstacles based on the detection result of the outside world sensor 11, and acquires information such as their positions and sizes. The outside world recognition unit 51 also analyzes the detection result of the outside world sensor 11, more specifically, the image captured by the outside camera 32 based on a known image analysis method such as pattern matching, and is drawn on, for example, a road surface. Acquire the position of the white line and recognize the driving lane.

The own vehicle position recognition unit 52 detects the position of the vehicle S based on the signal from the GPS receiving unit 36 of the navigation device 13.

The action planning unit 53 sequentially creates an action plan (for example, starting of traveling, changing course, avoiding obstacles, stopping, parking) based on the instruction from the state management unit 49. The action planning unit 53 generates a target track on which the vehicle S should travel in the future based on the determined action plan. The target track is a sequence of track points, which are points that the vehicle S should reach at each time.

The travel control unit 54 controls the travel motor 7, the steering device 8, and the brake device 9 so that the vehicle S passes through the target track generated by the action planning unit 53.

The electricity storage state acquisition unit 46 appropriately updates the SOC of the battery 6 according to the power supply from the battery 6, and constantly acquires the SOC of the battery 6.

The inundation risk calculation unit 47 calculates the inundation risk based on the position of the vehicle S acquired by the own vehicle position recognition unit 52, the detection result of the outside world sensor 11, and the emergency warning signal transmitted from the notification server 2. .. The inundation risk is a numerical value indicating the risk of inundation when the vehicle S stays at the current position, and the higher the numerical value, the higher the risk of inundation. Therefore, as the risk of inundation increases, the probability of damage to the vehicle S also increases, and the need for vehicle movement increases.

More specifically, the inundation risk calculation unit 47 analyzes the peripheral image of the vehicle S acquired from the outside camera 32 and detects whether the vehicle S is located underground or is detected by the own vehicle position recognition unit 52. Based on the position of the vehicle S, it is determined whether the vehicle S is located in the parking lot adjacent to the reservoir. At this time, the control device 14 may determine whether the vehicle S is located underground based on the altitude of the vehicle S acquired by the altitude sensor 25. The inundation risk calculation unit 47 calculates the inundation risk as "12" as shown in Table 1 when the vehicle S is located underground or in a parking lot adjacent to the reservoir.

When the vehicle S is not located underground and is not located in the parking lot adjacent to the reservoir, the inundation risk calculation unit 47 provides weather information, flood information, and evacuation at the current position of the vehicle S. Calculate inundation risk based on the information. For example, the vehicle S is not located underground, is not located in the parking lot adjacent to the reservoir, and the current position of the vehicle S is within the inundation area on the hazard map. When the heavy rain warning, the flood warning information, and the evacuation preparation information are issued at the current position of the control device 14, the control device 14 calculates the inundation risk as “2” based on Table 1. This is the case where the vehicle S is not located underground, is not located in the parking lot adjacent to the reservoir, and the current position of the vehicle S is within the inundation area on the hazard map, and the vehicle S is currently located. When none of the heavy rain warning, the inundation warning information, and the evacuation preparation information is issued at the position, the control device 14 calculates the inundation risk as "0" based on Table 1.

The evacuation route determination unit 48 refers to the navigation device 13 to obtain the position of the own vehicle S, the map information, the hazard map, the altitude of each point included in the map information, and the warning information included in the emergency warning signal. Based on this, an evacuation site suitable for evacuation of the vehicle S is set. After that, the evacuation route determination unit 48 sets an evacuation route from the current position of the vehicle S to the evacuation site based on the hazard map held by the navigation device 13, the altitude of each point, and the warning information.

More specifically, for example, the evacuation route determination unit 48 estimates the point where the flooding of the river is predicted based on the flood damage occurrence information included in the warning information, and is included in the hazard map and the map information. By referring to the altitude of each point, the area that is predicted not to be flooded is acquired. Next, the evacuation route determination unit 48 selects a parking lot having sufficient space for parking or a place that does not violate the Road Traffic Act within the reachable range from the current position of the vehicle S from the acquired area. Extract and calculate the travel route and required time to reach the extracted location. After that, the control device 14 takes as short a time as possible, the altitude of each point on the travel route is as high as possible, and the travel route does not pass through the inundation assumption area shown in the hazard map. Set things as evacuation sites. In this way, the evacuation route determination unit 48 (control device 14) can set an appropriate evacuation site and evacuation route for avoiding submersion of the vehicle S based on the flood damage occurrence information, the altitude, and the hazard map.

The state management unit 49 is based on the signal from the terminal 4, the detection result of the outside world sensor 11, the position of the vehicle S acquired by the own vehicle position recognition unit 52, the SOC of the battery 6 by the electricity storage state acquisition unit 46, and the like. The process related to switching between the state in which the vehicle S is automatically traveling to the evacuation site (hereinafter referred to as the evacuation state) and the state in which the vehicle S is stopped (hereinafter referred to as the stopped state) is executed. When switching the state of the vehicle S to the evacuation state, the state management unit 49 instructs the action planning unit 53 to travel on the evacuation route determined by the evacuation route determination unit. When the state management unit 49 determines that the vehicle S has arrived at the evacuation site, the state management unit 49 shifts the state of the vehicle S from the evacuation state to the stopped state, and transmits a completion notification to the terminal 4.

Next, the evacuation process executed by the control device 14 will be described with reference to FIG.

The control device 14 (inundation risk calculation unit 47) calculates the inundation risk in the first step ST1 of the evacuation process. Next, the control device 14 determines whether the inundation risk is equal to or higher than a predetermined threshold value (risk threshold value), and when the inundation risk is equal to or higher than the risk threshold value, the control device 14 executes step ST2, and when the risk is lower than the risk threshold value, control is performed. The device 14 finishes the evacuation process. The risk threshold may be set to 1, and in this embodiment, the risk threshold is set to 3.

The control device 14 (state management unit 49) transmits a reception start signal to the terminal 4 in step ST2. The reception start signal includes the acquired warning information, the peripheral image of the vehicle S acquired from the external camera 32, and the inundation risk. After transmitting the reception start signal, the control device 14 executes step ST3.

Upon receiving the reception start signal, the terminal 4 notifies the touch panel 41 that the alarm information has been acquired, the reception button that accepts the input corresponding to the evacuation permission of the vehicle S from the user, and the evacuation of the vehicle S is not permitted, that is. A stop button corresponding to the cancellation of evacuation execution is displayed. At this time, the terminal 4 may display the peripheral image of the vehicle S, the inundation risk, and the like on the touch panel 41 based on the acquired reception start signal. When there is an input to the reception button, the terminal 4 transmits an evacuation instruction signal including the position of the terminal 4 to the control device 14, and when there is an input to the stop button, the terminal 4 sends an evacuation stop signal. It is transmitted to the control device 14.

The control device 14 (state management unit 49) determines in step ST3 whether the evacuation instruction signal or the evacuation stop signal has been received from the terminal 4. When the evacuation instruction signal or the evacuation stop signal is received, the control device 14 executes step ST4, and when the evacuation instruction signal or the evacuation stop signal is not received, the control device 14 executes step ST5.

In step ST4, the control device 14 (state management unit 49) determines whether the signal received from the terminal 4 is an evacuation stop signal. When it is an evacuation stop signal, the control device 14 executes step ST6, and when it is not an evacuation stop signal, that is, when the signal received from the terminal 4 is an evacuation instruction signal, the control device 14 executes step ST7.

In step ST5, the control device 14 (state management unit 49) determines whether a predetermined time (hereinafter, standby time) has elapsed after transmitting the reception start signal. When it is determined that the standby time has elapsed, the control device 14 executes step ST7, and when it is determined that the standby time has not elapsed, the control device 14 executes step ST8.

The control device 14 (state management unit 49) may set the standby time so that the greater the risk of inundation, the shorter the standby time. In the present embodiment, when the inundation risk is 9 or more (when the vehicle S is in the inundation assumption area and the evacuation order is issued, and when the vehicle S is located underground and the heavy rain warning is issued. In (when), the control device 14 sets the standby time shorter than in the case where the inundation risk is 8 or less.

The control device 14 (state management unit 49) transmits an evacuation stop signal to the terminal 4 in step ST6. When the terminal 4 receives the evacuation stop signal, the terminal 4 displays a notification on the touch panel 41 that the evacuation of the vehicle S has been stopped. When the transmission of the evacuation stop signal is completed, the control device 14 ends the evacuation process.

In step ST7, the control device 14 (evacuation route determination unit 48) sets the position of the own vehicle S, the map information, the hazard map, the altitude of each point included in the map information, and the warning information included in the emergency warning signal. Based on this, an evacuation site suitable for evacuation of the vehicle S and an evacuation route are set.

More specifically, the control device 14 (evacuation route determination unit 48) acquires the position of the terminal 4 included in the evacuation reception signal. After that, when the inundation risk is 9 or more and 11 or less, that is, when the vehicle S is in the inundation assumption area and the evacuation order is issued, the current position of the vehicle S, the emergency warning, and the position of the terminal 4 Based on the above, the evacuation site and the confluence point between the vehicle S and the user are determined, and the evacuation route is set so as to connect the current position of the vehicle S, the confluence point, and the evacuation site in order. After that, the control device 14 transmits a signal for notifying the merging point to the terminal 4 (hereinafter, a merging point notification signal). When the terminal 4 receives the merging point notification signal, the processing device 42 causes the touch panel 41 to display the merging point and a notification urging the user to move to the merging point.

When the inundation risk is 8 or less, or 12 or more, the control device 14 determines the position of the own vehicle S, the map information held by the navigation device 13, the hazard map, and the altitude of each point included in the map information. An evacuation site and an evacuation route from the current position of the vehicle S to the evacuation site are set based on the warning information included in the emergency warning signal. When the setting of the evacuation route is completed, the control device 14 executes step ST9.

In step ST8, the control device 14 (state management unit 49) determines the presence or absence of inundation around the vehicle S based on the signal from the outside world sensor 11. More specifically, the control device 14 determines whether or not the periphery of the vehicle S is flooded based on a known method such as pattern matching based on the image captured by the external camera 32. Further, the control device 14 may determine the presence or absence of inundation around the vehicle S based on the signals acquired by the sonar 31, the radar 33, the rider 34, and the like. The control device 14 executes step ST7 when it is determined that the periphery of the vehicle S is flooded, and executes step ST3 when it is determined that the vicinity of the vehicle S is not flooded.

In step ST9, the control device 14 (state management unit 49) determines whether or not the vehicle S travels according to the evacuation route and can reach the evacuation site. More specifically, the control device 14 determines that, for example, when the charging cable 39 is connected to the vehicle S by the connection sensor 40, the vehicle S cannot travel and therefore cannot reach the evacuation site. To do. Further, the control device 14 may determine that the evacuation site cannot be reached when the SOC of the battery 6 is low and the charge amount of the battery 6 is insufficient compared to the amount of electric power required to reach the evacuation site.

When the charging cable 39 is connected to the vehicle S, the control device 14 (state management unit 49) connects the vehicle of the charging cable 39 to the terminal 4 held by the parking lot manager, the owner of the vehicle S, the user, or the like. A cable disconnection request signal may be transmitted instructing the execution of a notification prompting the disconnection to S. When the control device 14 determines that the connection of the charging cable 39 is maintained based on the signal from the connection sensor 40 even after a lapse of a predetermined time after the cable release request signal is transmitted, the control device 14 cannot reach the arrival place. It is good to judge.

Further, when the vehicle S is parked in a garage with a shutter and the control device 14 determines that the shutter is closed based on the image captured by the external camera 32, the control device 14 is connected to the terminal 4 in step ST8. An open operation request signal may be transmitted to notify the user to open the shutter. When the terminal 4 receives the open operation request signal, the touch panel 41 displays a notification prompting the user to open the shutter. After that, if the shutter is not opened within a predetermined time, the control device 14 may determine that the vehicle S cannot reach the evacuation site.

Further, the control device 14 (state management unit 49) is based on the position of the vehicle S detected by the own vehicle position recognition unit 52 by the GPS receiving unit 36 or the peripheral image of the vehicle S captured by the external camera 32. When it is determined that S is located in the multi-story parking lot, it may be determined that the evacuation site cannot be reached. When the control device 14 determines that the evacuation site cannot be reached, step ST6 is executed, and in other cases, step ST10 is executed.

The control device 14 (state management unit 49) switches the vehicle S to the evacuation state in step ST10. After that, the control device 14 (automatic driving control unit 45) controls the vehicle by controlling the drive of the traveling motor 7, the assist motor 8e of the steering device 8, the electric cylinder 9b of the brake device 9, and the like, and the vehicle S. Is automatically driven along the evacuation route set in step ST3. However, when the vehicle S arrives at the confluence, the control device 14 may stop the vehicle S, confirm that the user has boarded the vehicle, and then restart the automatic traveling of the vehicle S. When the vehicle S reaches the evacuation site, the control device 14 executes step ST11.

When the vehicle S is located in the garage provided with a shutter that can be opened and closed based on a signal from the control device 14 at the start of automatic driving in step ST10, the control device 14 appropriately opens the shutter to move the vehicle S out of the garage. After moving, it is preferable to close the shutter and then start the automatic running of the vehicle S.

In step ST11, the control device 14 (state management unit 49) transmits a completion notification including information related to the evacuation point to the terminal 4. When the processing device 42 of the terminal 4 receives the completion notification, the touch panel 41 displays a notification that the evacuation of the vehicle S has been completed together with the information related to the evacuation point. When the transmission of the completion notification is completed, the control device 14 ends the evacuation process.

Next, the operation and effect of the vehicle management system 1 configured in this way will be described. When the warning information regarding the flood is transmitted from the server of the public institution, the notification server 2 receives the warning information and transmits the emergency warning information including the warning information to the control device 14. When the control device 14 receives the emergency alarm information, the control device 14 starts the evacuation process. When the control device 14 starts the evacuation process, if the inundation risk is equal to or higher than the risk threshold value (Yes in ST1), the control device 14 transmits a reception start signal to the terminal 4 (ST2). When the terminal 4 receives the reception start signal, the touch panel 41 is notified that the alarm information has been acquired, the reception button that accepts the input corresponding to the evacuation permission of the vehicle S from the user, and the user disallows the evacuation of the vehicle S. A stop button that accepts the corresponding input is displayed. In the present embodiment, at this time, the peripheral image of the vehicle S, the inundation risk, and the like are displayed on the touch panel 41 of the terminal 4. When the user inputs to the reception button displayed on the touch panel 41, the evacuation instruction signal is transmitted to the control device 14.

When the control device 14 receives the evacuation instruction signal (Yes in ST3 and No in ST4), the evacuation site and the evacuation route are set (ST7). When the setting of the evacuation site and the evacuation route is completed, the control device 14 determines whether or not the evacuation site can be reached, that is, whether or not the evacuation site can be evacuated (ST9). If evacuation is possible (Yes in ST9), the control device 14 autonomously drives the vehicle S along the evacuation route until the vehicle S arrives at the evacuation site (ST10). When the vehicle S arrives at the evacuation site, the control device 14 transmits a completion notification to the terminal 4 (ST11). As a result, the terminal 4 displays the information related to the evacuation point and the notification that the evacuation of the vehicle S is completed.

In this way, when the emergency information is notified to the control device 14 and the terminal 4 receives an input corresponding to the evacuation permit from the user, the vehicle S starts automatic driving along the evacuation route (evacuation route) and evacuates. .. In this way, when a disaster such as a flood occurs, the user can evacuate the parked vehicle S by inputting the evacuation permit (input to the reception button). Therefore, it is possible to prevent the parked vehicle S from being damaged (submerged, etc.) due to a disaster or the like.

When the control device 14 receives the evacuation stop signal (Yes in ST3, No in ST4), the evacuation stop signal is transmitted to the terminal 4 (ST6), and the touch panel 41 of the terminal 4 indicates that the evacuation of the vehicle S has been stopped. A notification will be displayed and the evacuation process will be completed. As a result, when a disaster such as a flood occurs, the user can maintain the position of the vehicle S by inputting the input corresponding to the disapproval of evacuation (input to the stop button). Therefore, for example, when the user wants to use the vehicle S for evacuation, it is possible to prevent the vehicle S from moving due to the start of automatic traveling.

After the reception button and the stop button are displayed on the touch panel 41, even if the user does not input to either the reception button or the stop button (No in ST3), the evacuation occurs when the waiting time elapses (Yes in ST5). The location and evacuation route are set (ST7). After that, if it is possible to evacuate (Yes in ST9), the vehicle S automatically travels along the evacuation route and starts evacuating. In this way, even if the user cannot respond when the reception button and the stop button are displayed on the terminal 4, the vehicle S starts evacuating after the waiting time elapses, so that the parked vehicle S suffers a disaster or the like. Damage caused by (submersion, etc.) can be prevented more reliably.

Even before the lapse of a predetermined time (No in ST5), if inundation is confirmed around the vehicle S by the external camera 32 (Yes in ST8), an evacuation site and an evacuation route are set (ST7). If it is possible to evacuate (Yes in ST9), the vehicle S starts evacuating. In this way, when the vehicle S has a high risk of being submerged, the vehicle S can be evacuated quickly.

In step ST10, when the inundation risk is 9 or more and 11 or less, the evacuation route is set to connect the current position of the own vehicle S, the confluence point, and the evacuation place in order. As a result, when the user moves to the confluence and the vehicle S travels along the evacuation route and reaches the confluence, the user can board the vehicle S. As a result, the vehicle S and the user can be safely evacuated.

In the present embodiment, when the terminal 4 receives the reception start signal, the touch panel 41 displays a notification that the alarm information has been acquired, a reception button, a peripheral image of the vehicle S, a flood risk, and the like. In this way, in addition to the emergency warning, the control device 14 transmits the information of the own vehicle S to the terminal 4 as a reception start signal, so that the touch panel 41 can display the peripheral image of the vehicle S, the inundation risk, and the like. it can. As a result, the user can quickly acquire the status of the vehicle S.

When the movement of the vehicle S to the evacuation site is completed (ST11), the control device 14 sends a completion notification to the terminal 4, and notifies the touch panel 41 that the evacuation of the vehicle S has been completed together with the information related to the evacuation point. Is displayed. As a result, the user can grasp the status and position of the vehicle S after the evacuation is completed.

If the inundation risk is below the risk threshold (Yes in ST1), the evacuation process is terminated. As a result, the movement of the vehicle S can be prevented when the risk of inundation is sufficiently small and the movement of the vehicle S is unnecessary.

<< Second Embodiment >>
The vehicle management system 101 according to the second embodiment is different from the first embodiment in that the position of the terminal 4 is used as the confluence point in the evacuation process step ST6, and the other configurations are the same. The description of other configurations will be omitted.

Next, the effect of the vehicle management system 101 configured in this way will be described. In the vehicle management system 101 according to the second embodiment, the evacuation route is set so as to connect the current position of the own vehicle S, the position of the terminal 4, and the evacuation place. As a result, when the vehicle S travels along the evacuation route and reaches the position of the terminal 4, the user can board the vehicle S. As a result, the vehicle S and the user can be safely evacuated.

<< Third Embodiment >>
The vehicle management system 201 according to the third embodiment is different from the first embodiment in the evacuation processing steps ST9 and ST10 processing and the configuration of the notification server 2. Since the other configurations are the same, the description of the other configurations will be omitted. Hereinafter, the processing executed by the control device 14 in steps ST9 and ST10 will be described.

Similar to the first embodiment, the notification server 2 acquires warning information on weather and disasters transmitted from a server of a public institution via a network 35, and also acquires inundation information at each point. The inundation information should include the water level and the possibility of subsequent inundation.

Similar to the first embodiment, the control device 14 causes the vehicle S to travel along the evacuation route in step ST10. However, the control device 14 acquires inundation information from the notification server 2 at a point where the vehicle S was stopped at the start of automatic driving (hereinafter referred to as an evacuation start point) at predetermined time intervals while the vehicle S is running. When the control device 14 determines that the water level at the evacuation start point is zero and the possibility of future inundation is sufficiently small based on the inundation information, the control device 14 evacuates the evacuation site assuming that the inundation at the evacuation start point has been resolved. Reset to the starting point. After that, the control device 14 again sets an evacuation route from the current position of the vehicle S to the newly set evacuation site (evacuation start point). When setting the evacuation route, the control device 14 may refer to the notification server 2 to acquire the water level in the traveling route, and set the route that is easy to evacuate as the evacuation route. After that, the control device 14 drives the vehicle S according to the changed evacuation route, and when it reaches the evacuation site, that is, the evacuation start point, executes step ST11.

In step ST11, the control device 14 transmits a completion notification to the terminal 4 as in the first embodiment. However, when the evacuation site is reset to the evacuation start point in step ST10, the control device 14 notifies the completion and resets the evacuation site to the point where the vehicle S was stopped at the start of automatic driving. (Hereinafter referred to as reset notification) is transmitted to the terminal 4. Upon receiving the completion notification, the processing device 42 of the terminal 4 causes the touch panel 41 to display a notification that the evacuation of the vehicle S has been completed. At this time, when the terminal 4 receives the completion notification and the reset notification, the touch panel 41 displays a notification that the evacuation start point has returned to the evacuation start point because the inundation of the evacuation start point has been resolved. When the transmission of the completion notification is completed, the control device 14 ends the evacuation process.

Next, the effect of the vehicle management system 201 configured in this way will be described. After the vehicle S starts evacuation, when the inundation at the evacuation start point is resolved, the vehicle S moves to the evacuation start point. In this way, since the vehicle S autonomously returns to the original position when the inundation is eliminated, it becomes easier for the user to understand the situation of the vehicle S. Further, it is possible to save the user the trouble of returning the evacuated vehicle S to the original position, and the convenience of the vehicle S is enhanced.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment. In step ST7, when the inundation risk is 9 or more and 11 or less, that is, when the vehicle S is in the inundation assumption area and the evacuation order is issued, the evacuation route is set to the own vehicle S. It was configured to connect the current location, confluence, and evacuation site, but is not limited to this aspect. For example, when the terminal 4 is in the inundation area and the evacuation order is issued, the merging point is set, and the control device 14 sets the evacuation route to the current position of the own vehicle S, the merging point, and the evacuation place. May be set to connect. Further, as in the second embodiment, in the control device 14, when the terminal 4 is in the inundation assumption area and the evacuation order is issued, the control device 14 sets the evacuation route to the current position of the own vehicle S. , The position of the terminal 4, and the evacuation site may be set to be connected.

In the above embodiment, the control device 14 calculates the inundation risk based on whether or not the current position of the vehicle S is within the inundation assumption area on the hazard map, but the present invention is not limited to this embodiment. For example, the control device 14 considers that the vehicle S is in the inundation area when the altitude of the vehicle S acquired by the altitude sensor 25 is lower than the water level of the river predicted in the future, and is based on Table 1. The inundation risk may be calculated.

In the above embodiment, the terminal 4 is held by the user who uses the vehicle S, but the present invention is not limited to this mode, and the terminal 4 may be held by the owner of the vehicle S. For example, if the vehicle S is a shared vehicle provided for a car sharing service or a rental car, the terminal 4 may be held by an administrator who manages the vehicle S.

In the above embodiment, the case where the warning information mainly includes information related to flood damage has been described, but the present invention is not limited to this embodiment. For example, the warning information may be related to snow, hail, hail, etc., or may be related to fire, eruption, tsunami, etc.

1: Vehicle management system according to the first embodiment 3: Vehicle control unit 4: Terminal 11: External sensor 35: Network 43: Position sensor (sensor)
101: Vehicle management system according to the second embodiment 201: Vehicle management system S according to the third embodiment: Vehicle

Claims (10)

Terminals held by users of vehicles outside the vehicle,
It is mounted on the vehicle, connected to the terminal via a network, holds map information, and controls automatic traveling of the vehicle according to a set route based on the acquired current position of the vehicle and the map information. Has a vehicle control unit and
When the vehicle control unit acquires an emergency warning regarding a disaster via the network, the vehicle control unit transmits a reception start signal instructing the terminal to execute the reception of the evacuation permission of the vehicle, and at the same time, the present of the vehicle. Based on the position and the emergency alert, the evacuation site and the evacuation route from the current position to the evacuation site are set.
When the terminal receives the reception start signal, it executes the reception of the evacuation permission of the vehicle from the user, and receives the input corresponding to the evacuation permission of the vehicle from the user. Send an evacuation instruction signal to the vehicle control unit and
The vehicle management system, characterized in that, when the vehicle control unit receives the evacuation instruction signal, it starts the automatic traveling of the vehicle according to the evacuation route. When the terminal receives the reception start signal, the terminal receives an input corresponding to the permission or disapproval of the evacuation of the vehicle from the user, and corresponds to the disapproval of the evacuation of the vehicle. When the input is accepted, an evacuation stop signal is sent and
The vehicle management system according to claim 1, wherein the vehicle control unit maintains the position of the vehicle when receiving the evacuation stop signal. If neither the evacuation instruction signal nor the evacuation stop signal is received within a predetermined time after the vehicle control unit transmits the reception start signal, the vehicle control unit performs the automatic traveling of the vehicle according to the evacuation route. The vehicle management system according to claim 2, wherein the vehicle is started. The emergency warning includes flood damage information
The map information includes the altitude of each point.
The vehicle management according to any one of claims 1 to 3, wherein the vehicle control unit sets the evacuation site and the evacuation route based on the flood occurrence information and the altitude. system. The emergency warning includes flood damage information
The map information includes hazard maps.
The vehicle according to any one of claims 1 to 3, wherein the vehicle control unit sets the evacuation site and the evacuation route based on the flood occurrence information and the hazard map. Management system. The terminal includes a sensor that acquires the position of the terminal.
After the emergency warning is notified, the vehicle control unit receives the input corresponding to the evacuation permission of the vehicle from the user at the terminal, the current position of the vehicle, the emergency warning, and the like. The evacuation route is determined based on the position of the terminal, and the current position of the vehicle, the position of the terminal, and the route connecting to the evacuation site are set in the evacuation route. The vehicle management system according to any one of items 1 to 5. The terminal includes a sensor that acquires the position of the terminal.
After the emergency warning is notified, the vehicle control unit receives the input corresponding to the evacuation permission of the vehicle from the user at the terminal, the current position of the vehicle, the emergency warning, and the like. Based on the position of the terminal and the evacuation site, the confluence point of the vehicle and the user is determined, and the evacuation route connects the current position of the vehicle, the confluence point, and the evacuation site. The vehicle management system according to any one of claims 1 to 5, wherein the vehicle management system is set to. The vehicle control unit includes an outside world information acquisition device that acquires the surrounding conditions of the vehicle, and when the outside world information acquisition device confirms inundation in the vicinity of the vehicle after the emergency warning is notified, the vehicle control unit includes an outside world information acquisition device. The vehicle management system according to any one of claims 1 to 7, wherein the automatic traveling of the vehicle according to the evacuation route is started. When the vehicle control unit starts the automatic running of the vehicle according to the evacuation route and then acquires information indicating that the inundation has been eliminated in the vicinity of the vehicle at the start of the automatic running, the evacuation site The vehicle management system according to any one of claims 1 to 8, wherein the vehicle is moved to the evacuation site by resetting the position at the start of automatic driving. Any of claims 1 to 9, wherein the vehicle control unit notifies the user that the movement of the vehicle to the evacuation site is completed when the movement of the vehicle to the evacuation site is completed. The vehicle management system according to one section.

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