TWI736170B - User carrying system using self-driving vehicles - Google Patents

Abstract

A user-carrying system (10) using an automatic driving vehicle, which includes an automatic driving vehicle (20) capable of accommodating at least one person and carrying out unmanned and automatic driving in the facility, and is registered with the operation of the automatic driving vehicle in the facility The management center (30) of the map data related to the range, and the network (40) connecting the autonomous vehicle and the management center; the user's ride information is sent to the management center via the network; the management center is based on the received Ride information to remotely monitor and/or remotely operate an autonomous vehicle, and when the autonomous vehicle is running, it arrives at the user’s boarding location from the current position or standby location, and then arrives from the boarding location as specified by the destination information When getting off the car, the management center will make driving information such as the driving path and driving speed of the autonomous vehicle from the user’s ride information based on the map data, and send the driving information to the autonomous vehicle via the network. Self-driving vehicles will drive autonomously in accordance with the driving information.

Description

User carrying system using self-driving vehicles

The present invention relates to a user-carrying system using autonomous vehicles for use in various facilities such as airports, ports, rail vehicle stations, bus terminals, shopping centers, etc. The self-driving vehicle on which the person rides is monitored remotely, or is delivered to the destination by unmanned automatic driving using remote operation.

For example, when a passenger who must use a wheelchair at an airport leaves the country, when the passenger himself/herself in a wheelchair goes to the airline's check-in counter (check-in counter), check-in, baggage check-in, etc. are required And after going through the boarding procedures such as customs inspection and departure inspection as needed, and after passing through the departure gate (departure gate), the waiting airport staff (airport staff) will accompany passengers from the departure gate to the boarding gate in the airport building The movement of the boarding gate is to guide the passenger to the boarding gate by pushing a wheelchair. In the airport building inside the departure gate, there are shops with toilets and souvenirs, and there are restaurants, etc. If passengers need them, employees will push wheelchairs to these toilets, shops, restaurants, etc. . When passengers have to get out of wheelchairs in restrooms, restaurants, etc., the staff will also provide assistance to assist passengers.

When the plane arrives, the airline staff will also push wheelchairs to guide the passengers from the entry gate to the entry gate. In this case, if there are toilets or restaurants in the entry gate, the staff will need to do so. They will also push wheelchairs to the restrooms or restaurants on the way.

However, the shortage of manpower has become a problem in recent years, and the airport terminal and other aspects are worrying about the shortage of manpower. In the case of a larger airport, in order to cope with a passenger using a wheelchair, the staff responsible for pushing the wheelchair and the staff guarding the operation need to have about one to two staff. For example, in large-scale airports, a total of hundreds of employees are required to be on standby a day on average, so the shortage of manpower is a serious problem. There are also the following situations: wheelchair users are also restrained due to confusion and cannot easily ask for help. Service (service), it is also difficult to go to the store you want to go to.

Even if they are not wheelchair users, they still have to walk a long distance from the exit gate to the boarding gate or from the entry gate to the entry gate in the wide airport building, and many users feel painful to walk. Moreover, because of the complicated movement path in the airport building, when you stop by, for example, the restroom, you will lose your sense of direction, and it will become unclear where the boarding gate or entry gate is the target destination, especially In the case of boarding, the boarding time will be limited, so there is a risk of being late for boarding.

Not only the airport, even in large commercial facilities and larger hospitals, etc., when patrolling the premises you want to go in a wide building, you still need to walk a relatively long distance or perform floor lifts. , This is not conducive to vulnerable persons such as the elderly, young children or injured persons.

The purpose of the present invention is to provide a user transportation system using autonomous vehicles that users can easily use in facilities such as airports and shopping malls. Surveillance or unmanned automatic driving to the destination by remote operation.

In order to achieve the above-mentioned object, the user carrier of the self-driving vehicle of the present invention The delivery system includes self-driving vehicles, a management center, and a network. The self-driving vehicle can accommodate at least one person in the vehicle and perform unmanned and automatic driving in the facility. The management center is registered with the aforementioned self-driving vehicle in the facility. The map data related to the operating range within the network is connected to the aforementioned autonomous vehicle and the aforementioned management center; the user’s ride information is sent to the aforementioned management center via the aforementioned network; the aforementioned management center is based on the received aforementioned The ride information is used to remotely monitor and/or remotely operate the aforementioned autonomous vehicle. When the aforementioned autonomous vehicle arrives at the user’s boarding position from the current position or standby place, and then from the boarding position to the destination information station When specifying a drop-off location, the aforementioned management center will create driving information such as the driving path and driving speed of the autonomous vehicle from the aforementioned user’s ride information based on the aforementioned map data, and send the driving information to the aforementioned network via the aforementioned network For the self-driving vehicle, the aforementioned self-driving vehicle will autonomously drive according to the aforementioned driving information.

According to the present invention, it is possible to provide an extremely excellent user transport system using an autonomous vehicle, which is used to transport the autonomous vehicle that the user rides in facilities such as airports, shopping malls, etc. through remote monitoring and/ Or remotely operated unmanned automatic driving can surely deliver to the destination within a predetermined time.

10, 10A: User Carrying System

20, 20A: self-driving vehicles

21: Vehicle body

21a: car door

21b: headlight

21c: Direction indicator

21d: Front monitoring stereo camera

21e: Surveillance sensor

21f: Display

21h: Two-dimensional LIDAR

22: Driving Department

22a: Wheel

23, 23A: Control Department

23a: Notification of start of delivery

23b: Arrival notice of boarding location

23c: Via location information

23d: Call information

23e: Notification of completion of delivery

23g: Vehicle status information

23h: abnormal alarm

24: Seating Department

25, 25A: Vehicle terminal

25a: Display

26: Vehicle identification information

27: Memory Department

30: Management Center

31: Transceiver Department

32: Memory Department

32a: Map information

33: Control Department

33a, 33b, 33e: driving information

33c: Correct driving information

35: Obstacle Detection Department

36: display

37: Alarm generating unit

40: Internet

50: Staff

51: Employee Terminal

60: User

61: Ride Information

61a: User Information

61b: Destination information

61c: Departure time information

62: User Terminal

70: Airport

70a, 70n: Floor

71: Elevator

72: restroom

73: Store

74: restaurants

80: carriage

81: elevator control device

82: server for building control

83, 84: Gateway

90: Standby place

91: Standby terminal

Fig. 1 is a schematic diagram showing the overall structure of an embodiment of the user carrying system using an automatic driving vehicle of the present invention.

Fig. 2 is a block diagram showing the structure of the autonomous vehicle used in the present invention.

Fig. 3A is a left side view showing the specific configuration of the autonomous vehicle in Fig. 2.

Fig. 3B is a perspective view showing the specific structure of the autonomous vehicle in Fig. 2.

Figure 4 is a top view of the autonomous vehicle shown in Figure 3.

Fig. 5A shows the front view of the autonomous vehicle in Fig. 3.

Fig. 5B shows a rear view of the autonomous vehicle in Fig. 3.

Fig. 6 is a block diagram showing the structure of the management center in the user delivery system of Fig. 1.

Figure 7 is a schematic diagram showing various facilities in the airport when the driving range spans multiple floors.

Fig. 8 is a flow chart showing the user-carrying operations in the user-carrying system of Fig. 1 in sequence.

Fig. 9 is a flow chart showing the user conveying operations in the user conveying system of Fig. 1 when passing through locations are set in sequence.

Fig. 10 is a flow chart showing the operations of Fig. 1 when the user carries a call for help in the system in sequence.

Fig. 11 is a flowchart showing the operations of remote monitoring and/or remote operation of the autonomous vehicle in the user transport system of Fig. 1 in sequence.

Fig. 12 is a block diagram showing the configuration of a modified example of a user carrying system in which an autonomous vehicle can be moved by an elevator.

Fig. 13 is a flow chart of the user's transportation operation in the case of getting off the vehicle on the way through the route in Fig. 12 sequentially.

Hereinafter, the present invention will be described in detail based on the embodiment shown in the drawings.

Figure 1 shows the user carrying system of the present invention using an autonomous vehicle (hereinafter referred to as The overall structure of an embodiment of the user transport system). Figure 2 is a block diagram showing the structure of the autonomous vehicle used in the user transport system shown in Figure 1.

In Figure 1, the user transport system 10 includes an autonomous vehicle 20, a management center 30, a network 40, an employee terminal 51 carried by an employee 50, and a user terminal 62 carried by the user 60. The self-driving vehicle 20 transports the user 60 from an exit gate to a boarding gate or from an entry gate to an entry gate in an airport, for example. Although only one of the autonomous vehicle 20, employee 50, and user 60 are shown in the first figure, in fact, there are multiple autonomous vehicles 20 and multiple employees 50 that can be used for multiple users.者60.

The network 40 can be any configuration such as a leased line network or a public line network. Through the network 40, the autonomous vehicle 20 and the management center 30 are connected to each other, and the management center 30, the employee terminal 51 and the user terminal 62 are connected to each other.

The self-driving vehicle 20 has the same configuration as a single-passenger cart and is capable of unmanned automatic driving, and as shown in FIG. 2 includes a traveling section 22 and a control section 23, and includes a seating section 24 and The vehicle-mounted terminal 25 is attached with vehicle identification information 26 to specify the autonomous driving vehicle 20. The traveling part 22 is installed in the vehicle body 21 (the detailed structure of the autonomous driving vehicle 20 is shown below in Figure 3). In the lower part, the control unit 23 controls the aforementioned traveling unit 22 by automatic driving, the seating unit 24 is used to seat the user 60 who needs to be transported, and the in-vehicle terminal 25 performs various operations. The self-driving vehicle 20 is a place where it stands by at an appropriate place in the airport, near the exit gate, or near the entry gate, without being transported by the user 60 (referred to as a stand-by place). . User 60 has to enter from the exit gate and from The situation where the autonomous vehicle 20 is used as the standby place of the autonomous vehicle 20, and the situation where the autonomous vehicle 20 is used immediately after getting off the train, subway, bus, or other transportation means connected to the airport. The boarding information 61 can read the two-dimensional barcode printed on the surface of the boarding pass (boarding pass), such as QR Code (two-dimensional mobile barcode) (register Trademark), etc., are sent to the management center 30 via the network 40, and the control unit 23 of the autonomous vehicle 20 is notified from the management center 30. The ride information 61 can also be notified to the management center 30 and the control unit 23 of the autonomous vehicle 20 via the network 40 via online reservation or online check-in made by the user 60.

The in-vehicle terminal 25 is an information terminal device such as a commercially available tablet terminal, and its display portion 25a is arranged at a position where it can be easily viewed from the user 60 who has seated on the seating portion 24. The in-vehicle terminal 25 is provided with a reading unit (not shown) for inputting ride information 61 described later.

(In the case of using an autonomous vehicle before entering the gate of the airport)

In this case, the user 60 goes to the waiting place of the autonomous driving vehicle 20 immediately after getting off the train at a railway, subway, bus or other station. In the standby place, it is assumed that an autonomous vehicle 20 that can be used immediately is on standby.

The control unit 23 of the autonomous vehicle 20 obtains the ride information 61 according to the input of the user 60 in the in-vehicle terminal 25 and records it in the memory unit 27, and passes the ride information 61 together with the vehicle identification information 26 through the network 40 Send to the management center 30.

The ride information 61 includes user information 61a of a specific user 20, The destination information 61b indicating the alighting position and the departure time information 61c of the plane being boarded are printed on the surface of the boarding pass made of paper, etc. of the user 60, by scanning the boarding pass through the autopilot The reading unit (not shown) of the in-vehicle terminal 25 of the vehicle 20 reads the ride information 61. For reading the boarding pass or the printed QR Code (registered trademark), a scanner can be used. In addition, the ride information 61 can also be read through a short-range wireless method (hereinafter referred to as NFC (Near Field Communication)). In this case, the ride information 61 is written into the NFC-built-in card owned by the user 60 or the NFC chip already built-in in the mobile phone terminal. When the boarding pass is an electronic ticket, the boarding pass displayed on the display unit of an information terminal device (not shown) such as a smartphone carried by the user 60 The screen scans the reading part of the on-board terminal 25 of the self-driving vehicle 20, and the ride information 61 can be read. The boarding information 61 may also be configured to include the reservation information of the autonomous driving vehicle 20 so that the user can confirm that the reservation for the autonomous driving vehicle 20 has been made when booking the boarding pass in advance. The boarding information 61 including the reservation information of the autonomous vehicle 20 can also notify the management center 30 and The control unit 23 of the autonomous vehicle 20.

When there is no autonomous vehicle 20 in the vicinity of the user 60, the user 60 can also input the ride information 61 to the employee terminal 51 by calling a nearby employee 50 or the like. In this case, the employee terminal 51 sends the ride information 61 to the management center 30 via the network 40. The user 60 can also use A user terminal 62 carried by the body inputs the ride information 61 and sends it to the management center 30 via a portable line or the like.

When the control unit 23 of the autonomous vehicle 20 receives driving information 33a (described later) from the management center 30 via the network 40, it registers the driving information 33a in the memory unit 27, and notifies 23a of the start of loading and vehicle identification information 26 is sent to the management center 30 via the network 40, and based on the driving information 33a sent from the management center 30, the driving section 22 is controlled. The boarding position of the car information 61, or moving from the boarding position to the getting off position. The control unit 23 of the autonomous vehicle 20 makes a boarding position arrival notice 23b when the boarding position has been reached, and sends the boarding position arrival notice 23b and the vehicle identification information 26 to the management center 30 via the network 40.

The control unit 23 of the self-driving vehicle 20 displays on the display unit 25a of the in-vehicle terminal 25 including the driving route and the airport from the station where the vehicle is dropped off after the self-driving vehicle 20 has reached the boarding position and until it reaches the alighting position. The operation screen of the floor map in the airport, the input button for selecting and inputting the location, the start button for instructing the start of the transfer, and the call button for assistance such as requesting assistance (all not shown) ( Not shown). The user 60 who has been seated in the seating portion 24 of the autonomous vehicle 20 operates the start button on the operation screen displayed on the display portion 25a of the in-vehicle terminal 25, whereby the control portion 23 of the autonomous vehicle 20 The traveling unit 22 is controlled based on the traveling information 33a again, and moves from the riding position to the getting off position by unmanned automatic traveling.

Before the user 60 operates the start button, if the input button is operated to designate a passing place such as a restroom, a shop, a restaurant, etc. on the way, the control unit 23 of the autonomous vehicle 20 will generate passing location information indicating the passing place 23c, and put the passing place The information 23c and the vehicle identification information 26 are sent to the management center 30 via the network 40. In addition, the input button can be operated a plurality of times in order to select a plurality of passing locations until the user 60 operates the start button. When receiving the new driving information 33b including the contents of the passing location information 23c (via location) from the management center 30 via the network 40, the control unit 23 of the autonomous vehicle 20 will obtain the information from the boarding location based on the new driving information 33b. The unmanned automatic driving tour is used in sequence by passing through the passing locations designated by the location information 23c and stopping at each passing location, and each time it waits until the user 60 operates the start button of the in-vehicle terminal 25 again. When the user 60 operates the start button of the in-vehicle terminal 25, the control unit 23 of the self-driving vehicle 20 controls the traveling unit 22, and moves from the passing point to the next passing point or getting off the vehicle by unmanned automatic driving.

When the user 60 operates the call button of the in-vehicle terminal 25 at the boarding position, passing place, and getting off position, the control unit 23 of the autonomous vehicle 20 will create the call information 23d including the current position information, and combine the call information 23d and The vehicle identification information 26 is sent to the management center 30 via the network 40.

The control unit 23 of the self-driving vehicle 20 confirms that the user 60 got off the vehicle and completed the transportation of the user 60 after arriving at the alighting position, and sends the transportation completion notification 23e and the vehicle identification information 26 to the management center via the network 40 30, and control the traveling unit 22 to return to the standby position by unmanned automatic traveling. The standby position to return to may be the standby position to which the autonomous vehicle 20 belongs or the nearest standby position among the standby positions that have been installed in a plurality of places such as exit gates and entry gates in the airport. This is a standby position where the autonomous driving vehicle 20 on standby has fewer standby positions.

(In the case of entering from the exit gate)

The boarding information 61 such as QR Code (registered trademark) stored on the surface of the boarding pass of the user 60 or printed on the paper is read at the exit gate and sent to the management center 30 via the network 40. When the aforementioned management center 30 is notified of the boarding information 61 at the gate where the user 60 enters, it will retrieve the boarding information from the gate information and the boarding information 61 and wait for the nearest or the most convenient and best standby place to the user 60. The automatic driving vehicle 20 is determined, and the standby location information and the vehicle identification information 26 of the automatic driving vehicle 20 are determined.

Next, the standby location information and the vehicle identification information 26 are notified to the user terminal 62 of the user 60. When the vehicle identification information 26 is a combination of characters already displayed on the front of the autonomous vehicle 20, the user 60 walks to the waiting place where the notification has been received and rides on the designated autonomous vehicle 20. Or, the autonomous vehicle 20 will arrive at the current position of the user 60 to greet. In this case, the current position information and vehicle identification information 26 of the autonomous vehicle 20 located in the best place will be notified to the user terminal 62 of the user 60 from the autonomous vehicle 20.

The authentication unit, not shown, of the autonomous vehicle 20 is to authenticate whether the user 60 who has boarded the vehicle is a user 60 who has received a notification from the management center 30. In this case, the control unit 23 displays the prompt of the QR Code (registered trademark) requesting the boarding pass on the display unit 25a of the in-vehicle terminal 25, and scans the QR Code (registered trademark) of the reading unit (not shown) by reading (Registered trademark) to perform user 60 authentication.

After being authenticated, the autonomous driving vehicle 20 will travel autonomously along the driving route instructed by the user 60 via the in-vehicle terminal 25 of the autonomous driving vehicle 20. Since the autonomous driving of the authenticated autonomous vehicle 20 is the same as the case where the autonomous vehicle 20 is used before going to the gate of the airport described later, the description is omitted.

Since the user 60 scans the boarding pass through the on-board terminal 25 in an airport, for example, and accepts authentication After that, it is possible to quickly move to the desired boarding gate by self-disciplined driving, so the convenience of the user 60 will be significantly improved.

For example, as shown in FIGS. 3A to 5A and 5B, specifically, the autonomous driving vehicle 20 includes a traveling portion 22 that includes two pairs of wheels 22a at the front and rear lower portions of the vehicle body 21, and is mounted on the vehicle body 21 The left and right sides are equipped with doors 21a, and further equipped with headlights 21b and direction indicators 21c required for safe driving, and front monitoring stereo cameras 21d and monitoring sensors 21e required for unmanned automatic driving. Wait. Furthermore, the image signal 28 from the front monitoring stereo camera 21d or the monitoring sensor 21e is sent to the management center 30 via the network 40.

As shown in FIG. 5A, the autonomous vehicle 20 may also include a pair of display portions 21 f on both sides of the front surface of the vehicle body 21. The display portion 21f displays eye shape images, and displays eye shapes with various meanings according to the driving state of the autonomous vehicle 20, thereby enabling smooth driving with respect to general passengers in the airport. Furthermore, as shown in Figs. 5A and 5B, the autonomous vehicle 20 may also be equipped with a two-dimensional LIDAR (Light Detection and Ranging) 21h for light detection and ranging to monitor the front or rear. Sensor.

The management center 30 includes an information processing device such as a work station, a cloud server, etc., installed in an appropriate place, and as shown in FIG. 6 has a transceiver unit 31, a memory unit 32, a control unit 33, An obstacle detection unit 35, a display (display) 36, and an alarm generating unit 37. The processing on the management center 30 is executed by a computer controlled by a program (program) workstation, server, cloud server, etc., as a recording medium such as magnetic disk, semiconductor memory, etc. Anything that can be read by a computer. The program that has been recorded on the recording medium can also be directly installed on the computer and read by the computer, or Read in by computers via various networks. The storage unit 32 and the control unit 33 may also be configured as different individual servers, and they may be connected to each other by a LAN (Local Area Network) such as an intranet.

The transceiver unit 31 of the management center 30 is connected to the control unit 23 of each autonomous vehicle 20 and the employee terminal 51 of the employee 50 via the network 40 so as to be able to communicate with each other. The transmitting and receiving unit 31 of the management center 30 receives the vehicle identification information 26 and the transportation start notification 23a, the boarding position arrival notification 23b, and the boarding position arrival notification 23b, which indicate the state of the autonomous vehicle 20, from the respective autonomous vehicles 20 via the network 40. When the transfer completion notice 23e, the transfer start notice 23a, the boarding position arrival notice 23b, the transfer completion notice 23e, and the vehicle identification information 26 will be registered in the memory section 32 as a database and sent to Control unit 33. Thereby, the control unit 33 of the management center 30 can always grasp the status of all the autonomous vehicles 20 under management from the start notification 23a of the transportation, the notification 23b of the boarding position arrival, and the notification 23e of the completion of the transportation, and perform unified management. .

The transceiver unit 31 of the management center 30 receives the ride information 61 and the vehicle identification information 26 of the user 60 from the control unit 23 of the autonomous vehicle 20 via the network 40, and registers the ride information 61 in the memory unit 31, and output the riding information 61 to the control unit 33. In contrast, when the control unit 33 of the management center 30 receives the ride information 61 from the employee terminal 51, it will use the user information 61a, destination information 61b, and departure time information 61c included in the ride information 61. , Select the self-driving vehicle 20 that is close to the riding position of the user 60 and is not in a passenger-carrying state.

The control unit 33 of the management center 30 produces driving information 33a including the boarding position, the disembarking position specified by the destination information 61b, the departure time information 61c, the driving route and the driving speed, and sends it to the automated system via the network 40 Driving vehicle 20 or selected self-driving car 20 cars. Here, map data 32a related to the operating range of the entire facility area is registered in the memory unit 32 in advance, and the operating range of the entire facility area includes the driving route from the station where the user 60 gets off the bus to the airport. The driving range of the autonomous vehicle 20 in the airport. The control unit 33 of the management center 30 reads out the map data 32a from the memory unit 32 when creating the travel information 33a, and based on the map data 32a, determines an appropriate travel route from the boarding position and the getting off position, and then sets the travel speed so as to The user 60 who gets off the vehicle at the alighting position can arrive at the boarding gate before the time of the departure time information 61c.

As shown in Figure 7, the map data 32a is created to include the position of the elevator 71 in order to move to other floors when the driving range in the airport 70 as described above spans multiple floors. It is a three-dimensional map. Furthermore, the map data 32a includes not only the area within which the autonomous vehicle 20 can travel, but also location information. The location information includes various information such as restrooms 72, shops 73, or restaurants 74 in the airport 70. The height of the facility. The position information including the altitude is obtained by sensors such as GPS (Global Positioning System) sensors, inertial sensors, air pressure sensors, etc., which are mounted on the autonomous vehicle 20 and are not shown. The control unit 23 of the autonomous vehicle 20 controls the traveling unit 22 by using position information including height. In this way, the autonomous vehicle 20 will move to the front of the elevator 71, detect the stop of the elevator 71, enter the interior of the elevator 71 and then move to other floors, so that it can drive autonomously in the airport 70. Therefore, the autonomous vehicle 20 can safely and surely travel from the riding position to the getting off position.

When the control unit 33 of the management center 30 receives the via location information 23c and the vehicle identification information 26 from the autonomous vehicle 20 via the network 40, it will additionally modify the via location information 23c on the driving information 33a executed by the autonomous vehicle 20. And make a new The driving information 33b. Then, the control unit 33 of the management center 30 sends the new driving information 33b to the autonomous vehicle 20 via the network 40.

When the control unit 33 of the management center 30 receives the call information 23d and the vehicle identification information 26 from the autonomous vehicle 20 via the network 40, it selects the location of the autonomous driving vehicle from the location information of the employee terminal 51 of the employee 50 An employee 50 near the current position of the vehicle 20. The control unit 33 of the management center 30 sends call information 23d and vehicle identification information 26 to the employee terminal 51 of the employee 50 via the network 40.

The employee 50 is in the airport 70, for example, on standby near the exit gate or near the entry gate, and carries the employee terminal 51. When the employee terminal 51 has received the call information 23d and the vehicle identification information 26, it will display the current location (call location) contained in the call information 23d and the sender found by the vehicle identification information 26 on its display. The self-driving vehicle 20 is called, and the alarm is sounded. In this way, the employee 50 recognizes the call instruction by the sound of the alarm sound, and recognizes the current location (call location) and the autonomous vehicle 20 by viewing the screen of the display unit of the employee terminal 51. Therefore, the employee 50 can immediately move to the calling position, and contact the user 60 riding in the autonomous vehicle 20 to provide assistance such as assistance required by the user.

The operation of the user carrier system 10 of the present invention is as follows. Initially, the case where the user 60 is directly transferred from the riding position to the alighting position will be described in accordance with the flowchart in FIG. 8. In the flowchart of Fig. 8, first, in step A1, the user 60 scans the boarding pass, for example, through the reading section of the on-board terminal 25 of the autonomous vehicle 20 waiting in the departure gate of the airport 70 to input Ride information 61. In step A2, the ride information 61 is transmitted from the vehicle-mounted terminal 25 to the control unit 23 of the autonomous driving car 20. In step A3, the control unit 23 of the autonomous vehicle 20 sends the ride information 61 and the vehicle identification information 26 to the management center 30 via the network 40.

The control unit 33 of the management center 30 receives this information and in step A4, based on the map data 32a read from the memory unit 32, creates a travel including the boarding position, the getting off position, the departure time information 61c, the travel route, and the travel speed. Information 33a, and the driving information 33a is sent to the autonomous vehicle 20 via the network 40 in step A5.

When the autonomous vehicle 20 receives the driving information 33a, it registers the driving information 33a in the memory unit 27, and sends the loading start notification 23a and the vehicle identification information 26 to the management center 30 via the network 40 in step A6. The control unit 33 of the management center 30 sends the received delivery start notification 23a in step A7, and uses the vehicle identification information 26 to establish an association relationship with the data of the autonomous vehicle 20 and register it.

Next, the control unit 23 of the self-driving vehicle 20 controls the traveling unit 22 based on the traveling information 33a in step A8, and autonomously travels from the standby position to the boarding position. In the case where the standby position and the boarding position are the same, that is, for example, when the autonomous vehicle 20 is located in the exit gate, and the user 60 inputs the riding information 61 through the in-vehicle terminal 25 of the autonomous vehicle 20, The unmanned automatic driving system of this step A8 can be omitted.

When the autonomous vehicle 20 arrives at the boarding position in step A9, the control unit 23 of the autonomous vehicle 20 will make a boarding position arrival notification 23b in step A10, and send it to the management center via the network 40 together with the vehicle identification information 26 30. The control unit 33 of the management center 30 sends the received boarding position arrival notice 23b in step A11, and uses the vehicle identification information 26 to establish an association relationship with the data of the autonomous vehicle 20 and register it.

When the user 60 is seated on the seating portion 24 of the autonomous vehicle 20, the control portion 23 of the autonomous vehicle 20 will include the operation of the floor map, the input button, the start button, and the call button in the airport 70 in step A12 The screen is displayed on the display unit 25a of the in-vehicle terminal 25. Operation picture The surface system is displayed until the autonomous vehicle 20 reaches the getting-off position. When the user 60 needs assistance such as assistance during boarding, as will be described later, it is only necessary to operate the call button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25. In step A13, when the user 60 operates the start button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25 of the self-driving vehicle 20, the control unit 23 of the self-driving vehicle 20 controls the traveling unit 22, thereby The autonomous vehicle 20 will start unmanned automatic driving again in step A14, and move from the riding position to the getting off position.

When the autonomous vehicle 20 arrives at the getting-off position in step A15 and the user 60 is confirmed to get off in step A16, the control unit 23 of the autonomous vehicle 20 will create a delivery completion notification 23e in step A17, together with the vehicle identification information 26 Send to the management center 30 via the network 40. When getting off the vehicle, when the user 60 needs assistance such as assistance, he only needs to operate the call button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25 as described later. The control unit 33 of the management center 30 accepts this call and in step A18, in step A18, the received delivery completion notice 23e establishes an association relationship with the data of the autonomous vehicle 20 through the vehicle identification information 26 and registers it.

Next, the control unit 23 of the autonomous vehicle 20 controls the traveling unit 22 in step A19, and returns to an appropriate standby position by unmanned automatic traveling. Based on the above, the transportation of the user 60 from the riding position to the getting off position is completed.

Next, according to the flowchart in FIG. 9, a case where the passing location is selected and the user 60 is transported from the boarding location to the getting off location via the passing location will be described. In the flowchart of Fig. 9, the autonomous vehicle 20 arrives at the boarding position by the aforementioned transport operation of the user 60, and the operation screen is displayed on the display unit 25a of the on-board terminal 25 of the autonomous vehicle 20 The state is described based on the state of step A12 in Fig. 8.

First, when the user 60 operates the input button and designates a passing place in step B1, In step B2, the control unit 23 of the autonomous vehicle 20 will generate the via location information 23c, and send the via location information 23c and the vehicle identification information 26 to the management center 30 via the network 40.

The control unit 33 of the management center 30 receives this information, reads the map data 32a from the memory unit 32 in step B3, and adds the travel information 33a related to the autonomous vehicle 20 based on the route location information 23c and the map data 32a. The location and the driving information 33a are corrected to create new driving information 33b, and the new driving information 33b is sent to the autonomous vehicle 20 via the network 40 in step B4.

When the user 60 operates the start button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25 of the self-driving vehicle 20 in step B5, the control unit 23 of the self-driving vehicle 20 controls the traveling unit 22, thereby automatically The driving vehicle 20 starts unmanned automatic driving again in step B6, and moves from the riding position to the passing position.

When the autonomous vehicle 20 arrives at the passing point and stops in step B7, the user 60 will remain in the state of being boarded in the autonomous vehicle 20 or get off the vehicle, and go to a facility such as a restroom 72, a shop 73, or a restaurant 74 as the passing point. After performing the desired action, ride in the autonomous vehicle 20 again. When the user 60 needs assistance such as assistance, as described later, it is only necessary to operate the call button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25. When the user 60 operates the start button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25 of the self-driving vehicle 20 in step B8, if there is a next passing place in step B9, the self-driving vehicle 20 is controlled The section 23 controls the traveling section 22, and the autonomous vehicle 20 starts unmanned automatic driving again in step B10, moves from the passing point to the next passing point, and returns to step B7.

In the case that there is no next passing place in step B9, autopilot The control unit 23 of the vehicle 20 controls the traveling unit 22, and the autonomous vehicle 20 will restart the unmanned automatic driving at step B11, and move from the passing point to the getting off position.

When the autonomous vehicle 20 arrives at the getting-off position in step B12 and the user 60 is confirmed to get off in step B13, the operations from step A17 to step A19 in the flowchart of FIG. 8 are then performed. When getting off the vehicle, when the user 60 needs assistance such as assistance, he only needs to operate the call button on the operation screen displayed on the display unit 25a of the in-vehicle terminal 25 as described later. Based on the above, the carrying operation of the user 60 who arrives at the getting off position from the riding position through the passing position is completed. In this way, the user 60 can also go to the passing place by specifying the passing place in advance while moving from the riding position to the getting off position by the autonomous vehicle 20.

Next, follow the flowchart in Fig. 10 to explain the operations when making a call for help at the boarding location, passing location, or getting off location. In the flowchart in Fig. 10, the autonomous vehicle 20 arrives at the boarding position, the passing place, or the getting-off position according to the aforementioned transportation operation of the user 60, and is displayed on the display unit of the on-board terminal 25 of the autonomous vehicle 20 25a shows the state of the operation screen for explanation.

First, when the user 60 operates the call button to select a help call in step C1, the control unit 23 of the autonomous vehicle 20 will create call information 23d including current location information in step C2, and combine the call information 23d and the vehicle identification information 26 Send to the management center 30 via the network 40. The control unit 33 of the management center 30 receives this information and in step C3 recognizes the current position (call position) of the autonomous vehicle 20 based on the current position information contained in the call information 23d, and in step C4 based on the The location information of the employee terminal 51 carried by the employee 50 in each location is used to select the employee 50 located near the call location. The control unit 33 of the management center 30 sends the call information 23d and the vehicle identification information 26 to the employee 50 via the network 40 in step C5. 的Employee Terminal 51.

The employee terminal 51 that has received the call information 23d and the vehicle identification information 26 displays the call location contained in the call information 23d and the self-driving vehicle 20 that made the call found by the vehicle identification information 26 in step C6. The display part (not shown) of the employee terminal 51 makes an alarm sound in step C7. The employee 50 recognizes the call by the alarm sound of his employee terminal 51 in step C8, and by watching the screen of the display part of the employee terminal 51 in step C9, he can recognize the call location and the autonomous driving Vehicle 20. The employee 50 immediately moves to the calling position in step C10, and faces the user 60 in the autonomous vehicle 20 in step C11, listens to the help content such as assistance required by the user 60, and uses it in step C12 The person 60 needs assistance, etc.

According to the above, the operation of providing help to the user 60 when calling for help is completed. After that, at the current position of the autonomous vehicle 20, that is, the boarding position, the passing place, or the getting off position, the transportation operation of the user 60 in FIG. 8 or FIG. 9 interrupted by the call for help operation is continued.

Next, the case of remote monitoring and/or remote operation of the autonomous vehicle 20 will be described in accordance with the flowchart in FIG. 11. The control unit 23 of the autonomous vehicle 20 generally controls the autonomous vehicle 20 to perform autonomous driving by using the map data 32a stored in the memory unit 32 in step D1. However, for example, in step D2, the image signal 28 from the front monitoring stereo camera 21d or the monitoring sensor 21e will be processed by the obstacle detection unit 35, and if an obstacle has been detected, the In step D3, the alarm generating unit 37 displays the occurrence of an obstacle on the remote monitoring display 36, or the alarm generating unit 37 generates a sound or an alarm sound to notify the administrator.

The manager of the management center 30 will accept this notification and confirm at step D4 The surrounding environment or conditions manually start remote operation and avoid obstacles. The manager can perform remote operation of the autonomous vehicle 20 while watching the image of the front of the autonomous vehicle 20 displayed on the display 36 through the front monitoring stereo camera 21d.

Next, in step D5, the control unit 23 of the autonomous vehicle 20 is notified to return to autonomous driving using the normal map data 32a. The control unit 23 of the self-driving vehicle 20 receives this notification and drives the self-driving vehicle 20 autonomously again in step D6, and the management center 30 performs remote monitoring. Since the management center 30 is configured to include a transceiver unit 31, a memory unit 32, a control unit 33, an obstacle detection unit 35, a display unit 36, and an alarm generating unit 37, the control unit 33 will be set to receive signals from the alarm generating unit 37 Switch from the remote monitoring of the autonomous vehicle 20 to the operating mode of the remote operation of the autonomous vehicle 20, and when the control unit 33 has switched to remote operation, the administrator and/or user 60 The way of remote maneuvering to control the self-driving vehicle.

Although the above-mentioned remote monitoring and/or remote operation switching has been described as an example of the detection of an obstacle, it can also receive emergency contact from the user 60 or the employee 50 in the case of emergency braking, for example. If there is a situation in which the map data 32a is not available, the network 40 is disrupted and communication is interrupted, and the autonomous driving function of the autonomous vehicle 20 fails. The sequence of remote monitoring and/or remote operation switching corresponding to these obstacles can be stored in the memory 32 as data of the remote operation.

In situations where the map data 32a is not available, the network 40 is disrupted and communication is interrupted, the autonomous driving function of the autonomous vehicle 20 is malfunctioning, etc., the user 60 and/or the administrator can also operate the autonomous driving The in-vehicle terminal 25 of the vehicle 20 manipulates the autonomous vehicle 20 manually. Specifically, when the autonomous vehicle 20 has an obstacle, the administrator informs the vehicle-mounted terminal 25 and performs remote control, and moves the autonomous vehicle 20. Stop at a waiting place or the nearest waiting place that does not affect the movement of other passengers. In addition, the administrator informs the user 60 that an obstacle has occurred through the speaker of the in-vehicle terminal 25, and the display unit 25a of the in-vehicle terminal 25 performs "an obstacle has occurred. Please follow the instructions of the administrator to operate the screen Control the screen on the screen and stop.” and so on. In this way, the administrator can stop the autonomous vehicle 20 by operating the display unit 25a by the user 60 while talking with the user 60.

In the case of a failure in the network 40 and communication interruption, the control unit 33 of the management center 30 switches the line of the transceiver unit 31 from the network 40 to an emergency line and informs the manager, and the manager informs the autonomous vehicle 20 The in-vehicle terminal 25 is also operated remotely to make the autonomous vehicle 20 move to the place to be avoided or the nearest standby place and stop. As an emergency line, a wireless line such as LTE (Long Term Evolution) of mobile phones or wireless LAN can be used.

According to the user carrying system 10 of the present invention, when the user 60 in the airport 70 has boarded the autonomous vehicle 20, the management center 30 can remotely monitor and/or operate remotely from the riding position to the alighting position , According to the need to pass the passing place, the autonomous vehicle 20 can be moved by unmanned automatic driving. In addition, since the management center 30 monitors obstacles in front of or on the side of the autonomous vehicle 20, in the event of an obstacle, the administrator will switch from remote monitoring of the autonomous vehicle 20 to remote operation. The automatic driving vehicle 20 can be remotely manipulated by the manager's manual method, so obstacles can be avoided. Therefore, it is possible to safely and reliably transport elderly people, people who have difficulty walking, or people with a lot of luggage from the exit gate to the boarding gate, or from the entry gate to the entry gate, while being transported Employees do not need to follow the care. In addition, the user 60 can stop by the restroom 72, shop 73, or restaurant 74 on the way if there is a need. When you come to these facilities halfway, or when you want to get on and off the autonomous vehicle 20, you can receive necessary assistance such as assistance by calling for help. In addition, the user 60 can move to the getting-off position reliably and quickly without walking by himself and without getting lost on the way. Even in a relatively wide place such as an airport 70 or a large commercial facility, the user 60 can still easily and surely move to the drop-off position within a predetermined time.

(Movement using elevator)

FIG. 12 is a block diagram showing the configuration of a user carrier system 10A in which the autonomous vehicle 20 can be moved by the elevator 71 as a modification. The difference from the user carrier system 10 shown in FIG. 1 is that the management center 30 and the autonomous vehicle 20 are connected to the elevator 71 installed in the airport 70 via the network 40, for example. The elevator 71 includes a car 80 and an elevator control device 81, and the elevator control device 81 is composed of a motor of the elevator car 80 and a motor drive unit (not shown) that controls the driving of the motor. The elevator control device 81 is connected to a building control server 82 through a gateway 83, for example, and the building control server 82 is connected to the network 40 through a gateway 84. In this way, in the user transportation system 10A, the management center 30, the autonomous vehicle 20, the waiting place 90 described later, and the like are mutually connected to the elevator 71 via the network 40.

The control unit 33 of the management center 30 is to execute the driving information of the autonomous driving vehicle 20 when the passing location information 23c or the driving information 33e of the autonomous driving vehicle 20 received via the network 40 includes the elevator 71 33a additionally corrects the passing location information 23c including the elevator 71 and creates the driving information 33e including the use of the elevator. The control unit 33 sends the driving information 33e and vehicle identification information 26 including the use of the elevator to the autonomous vehicle 20 and the elevator via the network 40 Control device 81. When the self-driving vehicle 20 moves before the elevator 71, and the in-vehicle terminal 25 of the self-driving vehicle 20 sends a notification to the elevator control device 81 to call the elevator 71, the elevator control device 81 will move the elevator 71 to the self-driving vehicle 20 The stopped floor 70a is notified of the arrival of the floor 70a designated by the autonomous vehicle 20 via the network 40. The autonomous vehicle 20 can enter by opening the door of the elevator 71 and move to other desired floors 70n.

Here, as shown in FIG. 12, the user transportation system 10A using the autonomous driving vehicle of the modified example is provided with a waiting place 90. Although only one standby place 90 is displayed in the user transportation system 10A using an autonomous vehicle in FIG. 12, a plurality of standby places 90 may be arranged. For example, waiting places 90 may be arranged on each floor of the airport 70 or various facilities.

The standby place terminal 91 of the standby place 90 is based on the boarding position arrival notice 23b, the via place information 23c, the call information 23d, the delivery completion notice, etc. sent together with the vehicle identification information 26 from each autonomous vehicle 20. The operation state of the autonomous vehicle 20 is measured, that is, each state of "standby" or "running" is detected, and vehicle state information 23g is produced and sent to the management center 30 via the network 40.

(After getting off the bus halfway, take the self-driving vehicle again)

Using the flowchart of FIG. 13 to explain the standby of the autonomous driving vehicle 20 in the case where the user gets off the autonomous driving vehicle 20 on the way through the route. When the autonomous vehicle 20 reaches the alighting position of the predetermined route in step B12, and confirms that the user 60 gets off the vehicle in step B13, the control unit 23 of the autonomous vehicle 20 will make a stop completion notification 23e on the way in step B14, and communicate with The vehicle identification information 26 is sent to the management center 30 via the network 40 together.

The control unit 33 of the management center 30 is referred to in step B15 to get off the bus on the way to complete the communication Knowing 23e and the vehicle identification information 26, for example, the best or second best waiting place 90 that is closest to the riding position of the user 60 is selected. In step B16, the control unit 33 of the management center 30 queries the terminal 91 of the standby place 90 selected in step B15 for the vehicle identification information 26 of the autonomous vehicle 20 on standby, and selects the autonomous vehicle 20A on standby In step B17, the corrected driving information 33c related to the next driving of the user 60 is prepared and sent to the in-vehicle terminal 25A of the selected autonomous vehicle 20A via the network 40. The control unit 23A of the self-driving vehicle 20A controls the traveling unit 22 in such a way that it can catch up with the next approach time of the user 60 since the step B18, thereby starting the driving of the self-driving vehicle 20A, and reaches the user 60 in the step B19 The next transfer and boarding position. At this time, the management center 30 displays the vehicle identification information 26 of the autonomous vehicle 20A or the scheduled time of arrival at the re-riding position on the user terminal 62 of the user 60. It is also possible to notify the user terminal 62 of the vehicle identification information 26 or the scheduled time of arrival at the re-riding position from the in-vehicle terminal 25 via push notification when the autonomous vehicle 20 arrives at the re-riding position. And perform user 60 authentication.

After getting in the car, in step B20, when the user 60 operates the start button on the operation screen of the display unit 25a of the in-vehicle terminal 25 of the autonomous vehicle 20, the autonomous vehicle 20 controls the traveling unit 22 by the control unit 23 And start unmanned automatic driving again, and move from the riding position to the next or final alighting position.

When the autonomous vehicle 20 reaches the next alighting position in step B21 and the user 60 is confirmed to get off in step B22, the same operations as steps A17 to A19 in the flowchart of FIG. 8 are then performed. As the return destination for the autonomous vehicle 20A in step A19 to return to the appropriate standby position, the nearest standby place 90 or the standby place 90 instructed by the management center 30 is selected.

When the management center 30 selects the standby place 90 in step B15, the standby state can be selected The waiting place 90 where the autonomous vehicle 20A is located in order to shorten the travel distance and travel time of the user 60 from the riding position. When the management center 30 selects the standby location 90, it is also possible to compare one of the autonomous vehicles 20A that returns to the standby location 90 at the earliest during the driving while the autonomous vehicle 20A in the standby location 90 is not in the standby state. The driving time, the driving time of the autonomous vehicle 20 with other standby places 90, and the standby place 90 where the autonomous vehicle 20A can reach the re-boarding position of the user 60 early is selected.

According to the above configuration, the management center 30 sends the corrected driving information 33c to the in-vehicle terminal 25 of the automatic driving vehicle 20, and the control unit 23 of the automatic driving vehicle 20 can control the driving of the automatic driving vehicle 20 based on the corrected driving information 33c. The section 22 autonomously drives to the re-riding position of the user 60. Thereby, there is no need for transportation personnel, and the user 60 can be quickly and efficiently transported to the re-riding position even if the manpower is insufficient.

(Using the vital sensor installed by the user)

In the case where the user terminal 62 of the user 60 shown in FIG. 12 is equipped with a sensor (so-called physiological sensor) that can detect the movement of the user 60 such as an acceleration sensor, it can be detected and used Person 60’s actions or physical health-related information, that is, health information. As physiological sensors, there are pulse oximeters that measure arterial oxygen saturation or pulse rate, and sensors that measure heart rate or body surface temperature, or can detect the number of steps A three-axis acceleration sensor that can measure blood pressure, pulse rate, steps, step distance, etc., such as a three-axis acceleration sensor that can measure blood pressure, pulse rate, steps, and distance of steps. Some of these sensors have a sensor part installed on the body of the user 60. For example, a pulse oximetry analyzer is installed on the fingers, and a sensor for measuring heart rate or body surface temperature is installed on the chest.

The health information can be sent to the in-vehicle terminal 25 of the self-driving vehicle 20 via wireless LAN such as WiFi (registered trademark) and Bluetooth (registered trademark) according to the wishes of the user 60. It can also be sent from the vehicle terminal 25 via the network 40 to the management center 30 and/or the employee terminal 51. In the case that the physiological sensor detects the physical abnormality of the user 60, the abnormal alarm 23h from the physiological sensor can be sent from the vehicle terminal 25 as an abnormal alarm 23h to the management center 30 or employee terminal 51.

For example, in the case where the user terminal 62 has a built-in three-axis acceleration sensor and an application that detects the health information is stored, the abnormal alarm 23h from the physiological sensor of "falling down" and the vehicle identification The information 26 and the user information 61a are sent from the vehicle-mounted terminal 25 to the employee terminal 51. In this way, the employee terminal 51 that has received the abnormality alarm 23h and the vehicle identification information 26 will display the abnormality alarm 23h and the self-driving vehicle that made the call based on the vehicle identification information 26 on its display unit (not shown). 20, and make the employee terminal 51 sound an alarm. The employee 50 recognizes the call by the sound of the alarm, and recognizes the call location and the autonomous vehicle 20 through the display screen of the employee terminal 51 and immediately moves to the call location. In this way, the user 60 who rides the autonomous vehicle 20 will face to face, listen to the content of the help required by the user 60, and provide the help required by the user 60.

The abnormal alarm 23h from the physiological sensor of the user 60 can also be monitored in the management center 30. In the case that the physiological sensor detects the physical abnormality of the user 60 and generates an abnormal alarm 23h from the physiological sensor, a remote operation can be performed to move the autonomous vehicle 20 on which the user 60 rides to For example, a stand-by place for employees in an airport. The abnormal alarm 23h from the physiological sensor is sent from the user terminal 62 via the on-board terminal 25 of the self-driving vehicle 20 to the management center 30, and the employees of the management center 30 can perform remote operations to inform the user The self-driving vehicle 20 boarded by 60 moves to a predetermined place.

The present invention can be implemented in various forms without departing from the scope of its interest. For example, in the above-mentioned embodiment, although the autonomous vehicle 20 is configured to allow only one person to ride on its seating portion 24, it is not limited to this, and can be provided like an electric cart. A plurality of users 60 rides in the vehicle, and it is also possible to have a cargo platform on which the user 60’s baggage can be placed.

In the above-mentioned embodiment, although the operating range of the autonomous vehicle 20 is limited to the airport 70, it is even on the railway, bus, taxi, and other means of transportation such as the railway, subway, and Shinkansen connected to the airport 70. In the case of large-area facilities such as stations, harbor terminals, large-scale commercial facilities, or large-scale residential facilities, etc., it is the operating range, and even on general roads, it can still be used to transport the user 60 from the boarding position to alighting The location of the autonomous vehicle 20 is operated by unmanned autonomous driving by preparing map data in advance.

In the case of the airport 70, it has been explained that the boarding pass of the user 60 is read at the gate, and the boarding information 61 is notified to the management center 30. Here, the gate refers to a place where the user 60 will prompt the user 60 for the boarding information 61 before boarding the autonomous vehicle 20 when using facilities such as the airport 70 and perform authentication procedures, that is, the initial boarding location. In the case of a railway or Shinkansen, the ticket is regarded as a ticket with information 61 stored on it or various cards with built-in NFC. The gate is equivalent to the gate of the ticket gate of the station, and it can be used by The read riding information 61 performs autonomous driving of the autonomous vehicle 20.

The general road three-dimensional map system can use a map composed of a three-dimensional point group called a point cloud. The point cloud system uses three-dimensional LiDAR (three-dimensional LiDAR) for light detection and ranging. .

It is not limited to the above-mentioned help call in the airport 70, of course, it can also be applied to the nursing or monitoring or care of the health status of the user 60 of the autonomous vehicle 20 who is hospitalized or checked in in a hospital or various nursing facilities. In this case, the staff in the hospital or various nursing facilities who provide care or nursing or the physical therapist in charge of rehabilitation will become the staff. In the case of such a facility, the gate of the airport 70 is equivalent to the window through which the user prompts the check-in information of the user 60 and applies for check-in when the user first uses the nursing facility, that is, the place where the authentication procedures are performed.

10: User Carrying System

20: Self-driving vehicles

30: Management Center

40: Internet

50: Staff

51: Employee Terminal

60: User

61: Ride Information

61a: User Information

61b: Destination information

61c: Departure time information

62: User Terminal

Claims (12)

A user-carrying system using an automatic driving vehicle includes an automatic driving vehicle, a management center, a user terminal, and a network. The self-driving vehicle can accommodate at least one person in the vehicle and carry out unmanned and automatic driving in the facility. The center is registered with map data related to the operating range of the aforementioned autonomous vehicle, the user terminal is carried by the user and entered with the user’s ride information, and the network is connected to the aforementioned autonomous vehicle and the aforementioned management center , And connect the management center and the aforementioned user terminal; when the aforementioned user wants to take the aforementioned autonomous vehicle, the aforementioned ride information of the user and the current location of the vehicle to be boarded are sent through the aforementioned user terminal via the aforementioned network To the aforementioned management center; the aforementioned management center is: from the aforementioned user’s aforementioned current location information and aforementioned vehicle information, it retrieves the best self-driving vehicle for the aforementioned user, and determines which of the aforementioned self-driving vehicles is in the best place. Current location information and vehicle identification information; notify the user terminal of the current location information and the vehicle identification information of the autonomous vehicle in the best place, and obtain information from the user’s current location and the ride The vehicle information is based on the aforementioned map data to produce driving information such as the driving path and driving speed of the autonomous vehicle; the driving information is sent to the vehicle via the aforementioned network by means of remote monitoring and/or remote operation of the aforementioned autonomous vehicle The best self-driving vehicle; the aforementioned best self-driving vehicle will autonomously drive from the current position or standby location of the self-driving vehicle to the user’s current position to meet the aforementioned driving information according to the aforementioned driving information. The current position of the user who has been in the car will autonomously drive to the drop-off position specified by the destination information. The user transport system using an autonomous vehicle according to claim 1, wherein the control unit of the autonomous vehicle is equipped with an authentication unit that checks whether the user who has boarded the vehicle is received from the management center Authentication to the notified user; after the aforementioned autonomous vehicle completes the authentication performed by the aforementioned authentication unit, it autonomously travels along the route indicated by the vehicle-mounted terminal of the aforementioned autonomous vehicle. According to claim 1, the user transport system using an autonomous vehicle, wherein the employee terminal is connected to the aforementioned management center via the aforementioned network, and the employee carrying the employee terminal is placed in the aforementioned facility. The user transportation system using an automated driving vehicle as described in claim 1, wherein in the case where a user who has got off on the way gets on the automated driving vehicle again, the management center selects the current location of the automated driving vehicle or In the standby location, the current location or standby location of the autonomous vehicle is selected by shortening the travel distance and travel time from the re-boarding location of the user who has got off the vehicle on the way; the automatic driving in the foregoing current location or standby state is generated The modified driving information of the vehicle, and the modified driving information is sent to the on-board terminal of the autonomous vehicle; the control part of the autonomous vehicle controls the driving part of the autonomous vehicle to autonomously drive to the aforementioned use based on the aforementioned modified driving information The rider's location. The user carrying system using an autonomous driving vehicle as described in claim 1, wherein a reading means is provided in the autonomous driving vehicle; The aforementioned user inputs the aforementioned ride information by making the aforementioned reading means read the medium containing the aforementioned ride information. The user transportation system using an autonomous vehicle as described in claim 1, wherein the user terminal carried by the user is used to input the above-mentioned ride information, and the inputted ride information is sent via the aforementioned network To the aforementioned management center. The user transportation system using an autonomous vehicle as described in claim 1, wherein in addition to destination information, the aforementioned ride information includes at least one passing location information; the aforementioned management center patrols sequentially and stops at each The autonomous vehicle is driven to the drop-off location specified by the destination information while passing the passing location specified by the location information. The user transportation system using an autonomous vehicle as described in claim 1, wherein the autonomous vehicle is equipped with a calling means; by the user operating the calling means, the autonomous vehicle will transmit the call information via the network Send to the aforementioned management center; the aforementioned management center sends the received call information to the employee terminal via the network; the employee who receives the aforementioned call information via the aforementioned employee terminal moves to the autonomous vehicle based on the call information Its current position, and provide necessary assistance to the user. The user transportation system using an automated driving vehicle as described in claim 1, wherein the above-mentioned boarding information includes the arrival time of the alighting position; the aforementioned management center is based on the manner in which the autonomous driving vehicle arrives at the alighting position before the arrival time Run the aforementioned autonomous vehicle. The user transportation system using an autonomous vehicle according to claim 1, wherein the management center is configured to include a control unit, an obstacle detection unit, and an alarm generating unit; the control unit has an operation mode, and the operation mode is The remote monitoring of the autonomous vehicle is switched to the remote operation of the autonomous vehicle by the signal of the alarm generating unit; the control unit is switched to the remote operation by the administrator and / Or the user performs remote manipulation to control the aforementioned self-driving vehicle. The user transport system using an autonomous vehicle as described in claim 1, wherein the aforementioned driving information includes movement information of the elevator, and the movement information of the elevator is sent from the aforementioned management center to the aforementioned elevator via the aforementioned network. Control device; when the autonomous vehicle has moved to the boarding floor of the elevator, the autonomous vehicle sends an arrival signal to the elevator control device and calls the elevator; board the elevator that arrives, and use the travel information The designated destination floor leaves the elevator. The user transport system using an autonomous vehicle as described in claim 1, wherein the user terminal of the user is equipped with a physiological sensor; the physiological sensor detects the abnormality of the user’s body In this case, the abnormal alarm from the physiological sensor is sent from the user terminal to the management center or employee terminal via the on-board terminal of the autonomous vehicle; the employee of the management center who receives the abnormal alarm is Perform remote operations to move the self-driving vehicle on which the aforementioned user rides to a predetermined place; or the employee who received the aforementioned abnormal alarm on the aforementioned employee terminal is based on the abnormal alarm Move to the current position of the self-driving vehicle and provide necessary assistance to the user.

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