WO2019124421A1

WO2019124421A1 - Vehicle control system

Info

Publication number: WO2019124421A1
Application number: PCT/JP2018/046721
Authority: WO
Inventors: 真武下平; 吉洋安原; 昌嗣左近; 晴彦高木; 里紗夏川
Original assignee: パイオニア株式会社
Priority date: 2017-12-20
Filing date: 2018-12-19
Publication date: 2019-06-27

Abstract

To enable other people to move an unmanned automated vehicle, this vehicle control system (1) comprises: a vehicle control device (3) that controls the automated driving of an automated vehicle C; a sensor (4) that acquires surroundings information for the automated vehicle Cb; and a communication unit (5) that communicates with a terminal device (2) located outside of the automated vehicle Cb. Upon receiving, from the terminal device (2), request information relating to moving the automated vehicle Cb, the vehicle control device (3) determines on the basis of the surroundings information whether the automated vehicle Cb can be moved and if so, controls the movement of the vehicle.

Description

Vehicle control system

The present invention relates to a vehicle control system for controlling an autonomous driving vehicle.

In a vehicle (autonomously driven vehicle) capable of autonomous traveling, many techniques for automatically parking in a predetermined place by parallel parking or the like have been proposed as in Patent Document 1 and the like.

JP, 2017-65360, A

For example, in the case where another vehicle is parked at a position adjacent to the position where the autonomous driving vehicle stops, it may be desirable to change the position of the autonomous driving vehicle in order to secure a parking space. Alternatively, there is a case where the autonomous driving vehicle is desired to be temporarily moved by dropping an object below the position where the autonomous driving vehicle is stopped. Thus, convenience may be enhanced if another person can move the unmanned autonomous driving vehicle.

The problem to be solved by the present invention is, for example, that another person moves the unmanned autonomous driving vehicle as described above.

In order to solve the above problems, the invention according to claim 1 comprises a vehicle control device for controlling automatic driving of a vehicle, a peripheral information acquisition unit for acquiring peripheral information of the vehicle, and a terminal device outside the vehicle A communication unit for performing communication, the vehicle control device, upon receiving request information on movement of the vehicle from the terminal device, determines whether to move the vehicle based on the surrounding information, and When movement of the vehicle is possible, movement control of the vehicle is performed.

The invention according to claim 7 is a vehicle control method that is executed by a vehicle control system that controls automatic driving of a vehicle, and acquires a vehicle control step of controlling automatic driving of the vehicle and peripheral information of the vehicle. A peripheral information acquisition step, and a communication step of communicating with a terminal device outside the vehicle, wherein the vehicle control step includes, when receiving request information on movement of the vehicle from the terminal device, the peripheral information It is characterized in that whether or not movement of the vehicle is possible is determined based on the movement control of the vehicle when movement of the vehicle is possible.

The invention according to claim 8 is characterized in that the vehicle control method according to claim 7 is executed by a computer.

The invention according to claim 9 is a peripheral information acquisition unit for acquiring peripheral information of the vehicle, a communication unit for communicating with a terminal device outside the vehicle, the peripheral information, and information received from the terminal device. And an output unit for outputting to a vehicle control device that controls automatic driving of the vehicle.

The invention according to claim 10 is characterized in that a communication unit for communicating with the autonomous driving vehicle, an acquiring unit for acquiring request information on movement of the autonomous driving vehicle, and the request information from the communication unit to the autonomous driving vehicle And a control unit configured to transmit data.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the vehicle control system concerning the 1st Example of this invention. It is a functional block diagram of the terminal device shown by FIG. It is an explanatory view showing an example of a situation which wants to move an autonomous driving vehicle. It is a flowchart of operation | movement of the application currently installed in the terminal device shown by FIG. It is a flowchart of operation | movement of the vehicle control apparatus shown by FIG. It is a flowchart of operation | movement of the server apparatus shown by FIG. It is a functional block diagram of the detection apparatus concerning one Example of this invention. It is a flowchart of operation | movement of the application currently installed in the terminal device concerning the 2nd Example of this invention. It is a flowchart of operation | movement of the vehicle control apparatus concerning the 2nd Example of this invention.

Hereinafter, a vehicle control system according to an embodiment of the present invention will be described. A vehicle control system according to an embodiment of the present invention includes a vehicle control device that controls automatic driving of a vehicle, a peripheral information acquisition unit that acquires peripheral information of the vehicle, and a communication unit that communicates with a terminal device outside the vehicle. And. Then, when the vehicle control device receives request information on the movement of the vehicle from the terminal device, the vehicle control device determines whether the vehicle can move based on the surrounding information, and moves the vehicle if the movement of the vehicle is possible. Take control. By doing so, for example, when there is a movement request or the like from a terminal device owned by another person, if the vehicle can be moved based on the surrounding information, it is a case where the vehicle (automatic driving vehicle) is unmanned. Even in the case where the request is made by another person, it can be moved.

The communication unit can communicate with an external device capable of determining whether the vehicle can move more broadly than the surrounding information, and the vehicle control device can not move the vehicle based on the surrounding information. The communication unit may transmit the peripheral information to the external device, and the movement control of the vehicle may be performed based on the response information from the external device received by the communication unit. In this way, when it is determined that the vehicle control device can not move based on the surrounding information, whether or not the vehicle can be moved outside the range included in the surrounding information, for example, by an external device such as an external server Can be determined.

Further, the request information may include information on the purpose of movement of the vehicle, and the vehicle control device may determine whether the vehicle can move or not based on the surrounding information and the information on the purpose. By doing this, it is possible to determine whether or not to move along the purpose of the movement of the vehicle.

In addition, the request information may be any one of request information related to a change in parking position of the vehicle and request information for temporarily moving the vehicle. By doing this, the purpose of the request, for example, whether to move the vehicle for parking the vehicle or to temporarily move the vehicle due to dropping an object under the vehicle or the like becomes clear. Thus, the vehicle can be moved along these purposes.

Further, the request information may include information on a desired movement position, which is a desired position after movement of the vehicle. In this way, when determining whether or not to move, it may be determined whether or not the user can move to the desired movement position, so the determination conditions can be simplified.

Further, the request information may include at least one of the moving direction or the moving distance of the vehicle. By doing this, the desired movement position of the vehicle can be indicated as the movement direction or movement distance. Therefore, the request information becomes clearer.

A vehicle control method according to an embodiment of the present invention includes communication between a vehicle control step of controlling automatic driving of the vehicle, a peripheral information acquisition step of acquiring peripheral information of the vehicle, and a terminal device outside the vehicle. And a process. When the vehicle control process receives request information on the movement of the vehicle from the terminal device, the vehicle control process determines whether the vehicle can move based on the surrounding information, and if the movement of the vehicle is possible, the movement control of the vehicle I do. By doing this, for example, when there is a movement request or the like from a terminal device owned by another person, it is possible to move the vehicle based on the surrounding information, even if the vehicle (automatic driving vehicle) is unmanned It becomes possible to move according to the request of the other person.

In addition, it may be a vehicle control program that causes a computer to execute the above-described vehicle control method. In this way, when there is a movement request or the like from a terminal device owned by another person, if the vehicle can be moved from the peripheral information using a computer, the case where the vehicle (autonomously driven vehicle) is unmanned Even if it is, it becomes possible to move according to the request of the said other person.

In addition, the detection device according to one embodiment of the present invention includes a peripheral information acquisition unit that acquires peripheral information of a vehicle, a communication unit that communicates with a terminal device outside the vehicle, and peripheral information and information received from the terminal device. It has an output part which outputs to a vehicle control device which controls automatic driving of vehicles. By doing this, the peripheral information acquisition unit can collect information necessary for determining that the autonomous driving vehicle is moved, and can output the information from the output unit to the vehicle control device collectively.

In addition, the terminal device according to the embodiment of the present invention includes a communication unit that communicates with the autonomous driving vehicle, an acquisition unit that acquires request information on movement of the autonomous driving vehicle, and request information from the communication unit. And a control unit for transmitting data. By doing this, it is possible to move the autonomous driving vehicle using the terminal device used by the person who wants to move the autonomous driving vehicle.

Further, the request information may include any one of request information related to the change of the parking position of the vehicle and request information for temporarily moving the vehicle. By doing this, the purpose of the request, for example, whether to move the vehicle for parking the vehicle or to temporarily move the vehicle due to dropping an object under the vehicle or the like becomes clear. Thus, the vehicle can be moved along these purposes.

In addition, the request information may include information on the desired movement position of the vehicle. In this way, when determining whether or not to move, it may be determined whether or not the user can move to the desired position, so the determination conditions can be simplified.

Further, the request information may include at least one of the moving direction or the moving distance of the vehicle. By doing this, the desired movement position of the vehicle can be represented as the movement direction or movement distance. Therefore, the request information becomes clearer.

A vehicle control system according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 7. The vehicle control system 1 according to the present embodiment includes a vehicle control device 3 mounted on an autonomous driving vehicle C, a sensor 4, and a communication unit 5.

The vehicle control device 3 controls the engine, the brake, the steering wheel (steering device), etc. of the automatically driven vehicle C based on the result detected by the sensor 4 and the map information for automatic driving possessed by the vehicle control device 3 to perform automatic driving. The vehicle C is run autonomously (automatic driving). In addition, the vehicle control device 3 communicates with the terminal device 2 described later via the communication unit 5 and is automatically performed based on the request information on the movement of the vehicle transmitted from the terminal device 2 and the result detected by the sensor 4 It is determined whether the driving vehicle C can move or not, and when it is determined that the driving vehicle C can move, the autonomous driving vehicle C is moved.

The sensor 4 as the peripheral information acquisition unit includes a camera installed in the autonomously driven vehicle C, a lidar (LiDAR: Light Detection And Ranging), a sensor such as a radar, etc., a sensor for recognizing the surrounding environment including the surroundings of the autonomously driven vehicle C. . In addition, a speed sensor that detects the speed of the automatically driven vehicle C, an acceleration sensor that detects an acceleration, a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C, an attitude (direction etc.) of the automatically driven vehicle C It also includes equipment such as a gyro sensor that detects

The communication unit 5 performs direct wireless communication with the terminal device 2. Further, the communication unit 5 communicates with the server device 10 via the network N such as the Internet. The communication unit 5 can directly communicate with the terminal device 2 by Wi-Fi (registered trademark), Bluetooth (registered trademark) or the like. Communication with the network N may be performed via Wi-Fi (registered trademark), a cellular phone network, or the like.

The terminal device 2 is a terminal device used by another person who wants to move the autonomous driving vehicle C such as a smartphone or a tablet PC (other who is outside the autonomous driving vehicle C). In the terminal device 2, an application (communication program) having a function capable of communicating with the vehicle control device 3 of the automatically driven vehicle C and requesting movement of the automatically driven vehicle C is installed. Such an application may be developed and distributed to the public, for example, by a business operator who provides the autonomous driving vehicle C as a business vehicle such as a taxi, car share, or delivery vehicle.

The functional configuration of the terminal device 2 is shown in FIG. The terminal device 2 includes a communication unit 21, a control unit 22, an input unit 23, and a display unit 24.

The communication unit 21 communicates with the communication unit 5 of the automatically driven vehicle C by the above-described Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like.

The control unit 22 includes a CPU (Central Processing Unit), a memory, and the like for executing the above-described application.

The input unit 23 includes, for example, a touch panel, a push button, and the like, and various operations and the like from the user of the terminal device 2 are input.

The display unit 24 is configured of, for example, a liquid crystal display, and displays an operation screen of the application executed by the control unit 22 or the like, a processing result, and the like.

The server device 10 as an external device includes a central processing unit (CPU), a communication unit, a storage device, and the like. The server device 10 can move outside the range that can be detected by the sensor 4 of the automatically driven vehicle C when the vehicle control device 3 determines that the automatically driven vehicle C can not move according to the detection result of the sensor 4 of itself. It is determined whether That is, the server device 10 can determine whether or not the autonomous driving vehicle C can move in a wider range than the surrounding information.

Next, operations of the terminal device 2 and the vehicle control device 3 configured as described above will be described with reference to the flowcharts of FIGS. 4 and 5. First, an example of a situation requiring the operations of FIGS. 4 and 5 will be described with reference to FIG. In FIG. 3, when it is desired to park the vehicle Cc in a space in which the automatically driven vehicles Ca and Cb are parked in parallel, the user of the vehicle Cc etc. It shows the situation that you want to move. Further, as described above, the autonomous driving vehicles Ca and Cb are vehicles owned by a specific company such as a taxi or car share, and are not privately owned. Furthermore, it is assumed that nobody rides on the automatically driven vehicles Ca and Cb in the state of FIG. 3 and can not directly contact with the users of these vehicles.

FIG. 4 is a flowchart of the operation of the application installed in the terminal device 2. This application is an application provided by a business owner such as car sharing of an autonomous driving vehicle or an autonomous driving taxi described above. First, in step S101, the control unit 22 specifies a vehicle to be moved. The identification method detects, for example, a vehicle possessed by a provider who has provided the application present in the periphery of the terminal device 2, and displays the number displayed on the license plate or the like of the detected vehicle on the display unit 24 of the terminal device 2. , And the user of the terminal device 2 may select, for example, a number corresponding to the autonomous driving vehicle Cb from the input unit 23 from the list.

For example, the method of detecting the vehicle possessed by the provider who has provided the application may transmit the position information of its own to a server possessed by the provider, and obtain the position information of a nearby vehicle from the server. . Or you may detect by transmitting the data etc. for vehicles which a provider has directly from a terminal device 2 (application) to a server etc., and obtaining a reply.

Next, in step S102, the control unit 22 causes the communication unit 21 to communicate with the vehicle identified in step S101. In the present embodiment, although direct communication with a vehicle is described, connection may be made via the network N.

Next, in step S103, the user of the terminal device 2 is made to input a request for the vehicle to be moved from the input unit 23. The request content includes information on a change in the parking position of the autonomous driving vehicle Cb, such as wanting to park behind (or in front of) the vehicle to be moved. Alternatively, a specific moving distance such as moving 1 m forward or a point to be moved may be input. However, it is preferable to place a limit on the movable range. The moving direction is not limited to the front and rear, but may be left and right. In this case, since it is an obstacle to passing, it is effective when the road width is left.

Next, in step S104, the control unit 22 transmits the request content and necessary information input in step S103 as request information from the communication unit 21 to the vehicle specified in step S101. The necessary information includes the size (full length, full width, etc.) of the vehicle (for example, the autonomous driving vehicle Cc) to be parked from now. The size of the vehicle is information necessary to calculate how much the vehicle to be moved should move when the specific movement distance is not specified. Further, the request information is not the information on the purpose of movement of the automatically driven vehicle Cb, the movement distance or movement point, but the request to simply move and the size of the vehicle to be parked by the vehicle control device 3 It may be determined whether the vehicle can move to park the vehicle.

Next, in step S105, the control unit 22 determines whether a response from the vehicle to which the request information has been transmitted in step S104 has been received via the communication unit 21 and the response is not received (S105: No) In step S105, if the response is received (S105: Yes), the process proceeds to step S106. The response in step S105 is a determination result regarding whether or not the vehicle can move.

Next, in step S106, the control unit 22 causes the display unit 24 to display the determination result on the possibility of movement of the vehicle included in the response received in step S105. As the determination result, it is either movable or not movable. In addition, when moving is allowed, the automatic confirmation vehicle is displayed after the terminal device 2 displays a confirmation button or the like of execution of movement before moving the automatic driving vehicle Cb, and the user of the terminal device 2 operates the confirmation button. Cb may be moved, and after it is determined that movement is possible, the automatically driven vehicle Cb is moved without confirmation, etc., and only the end of the movement is notified to the user of the terminal device 2 or the like. It is also good.

FIG. 5 is a flowchart of the operation (vehicle control method) on the side of the autonomous driving vehicle. Note that this flowchart may be configured as a computer program executed by a CPU or the like included in the vehicle control device 3. First, in step S201, the communication unit 5 connects communication with the terminal device 2. That is, to execute this step means that, for example, the autonomous driving vehicle Cb is designated as a target to be moved in the terminal device 2.

Next, in step S202, the vehicle control device 3 receives (receives) the request information transmitted from the terminal device 2 via the communication unit 5. And while analyzing the content of the received request information, the surrounding information of the autonomous driving vehicle Cb which the sensor 4 detected is acquired.

Next, in step S203, it is determined whether the vehicle control device 3 can move according to the request included in the request information from the request information received and analyzed in step S202 and the peripheral information of the autonomous driving vehicle Cb. If it is movable (S203: Yes), the process proceeds to step S204. If it is not movable (S203: No), the process proceeds to step S206. That is, it is determined whether or not the automatically driven vehicle Cb can move. For example, whether or not the vehicle Cc can be parked enough to park the vehicle Cc by not detecting an obstacle or the like in the moving direction indicated by the request information by the sensor 4 such as a rider can determine whether it is movable or not It may be determined that the vehicle Cb is movable. Alternatively, when the vehicle Cc has a space enough to be parked, it is determined that the vehicle Cb can move if the vehicle Cb does not go out of the parkable area by a sign or a road marking detected by a rider or a camera etc. It is also good.

Next, in step S204, the vehicle control device 3 responds to the terminal device 2 via the communication unit 5 with the determination result in step S203, that is, that movement is possible as requested.

Next, in step S205, the vehicle control device 3 moves the autonomous driving vehicle Cb along the request. Note that, as described in step S106, movement may be performed after waiting for a confirmation operation from the terminal device 2, or after the movement is completed, a notification to the effect that the vehicle control device 3 indicates the end of movement to the terminal device 2 May be sent.

On the other hand, in step S206, as a result of the determination in step S203, the movement of the automatically driven vehicle Cb has been denied, so the vehicle control device 3 notifies the server device 10 via the communication unit 5. The information to be notified to the server device 10 includes the request information received from the terminal device 2 and the peripheral information of the autonomous driving vehicle Cb detected by the sensor 4 used for the determination in step S203 and the positional information of the autonomous driving vehicle Cb. . Here, the operation of the server device 10 will be described with reference to the flowchart of FIG.

First, in step S301, a notification is received (received) from the autonomous driving vehicle Cb. Then, the request information and the detection result of the sensor 4 and the position information included in the received notification are analyzed.

Next, in step S302, it is determined from the request information received and analyzed in step S301, the peripheral information, and the position information whether or not the autonomous driving vehicle Cb can be moved. In the determination of step S302, it is determined whether or not the image can be moved out of the area included in the peripheral information determined in step S203. This determination may be performed, for example, by a method of searching whether there is a point that can be parked in the vicinity from map information that the server device 10 has. Alternatively, if empty car information such as a parking lot or a parking meter can be obtained, the determination may be made based on the empty car information.

Then, in step S303, the determination result (response information) in step S302 is transmitted to the automatically driven vehicle Cb. The determination result includes not only whether or not the movement is possible, but also the position information of the movement destination if the movement is possible.

In the flowchart of FIG. 6, it is determined whether or not the automatically driven vehicle Cb can be moved based on the request information, the surrounding information, and the position information, but the user of the automatically driven vehicle Cb detects in advance the detection range of the sensor 4 The determination as to whether or not to move outward may be made with reference to the setting information may be made. By doing this, it is considered that the automatically driven vehicle Cb is moved to a position away from the original parking position by the movement of the automatically driven vehicle Cb so that the user of the automatically driven vehicle Cb is not inconvenient. Can.

If it is determined in step S303 that the movement is possible, the movement information to the terminal device etc. of the user of the automatically driven vehicle Cb and the movement destination position information (display on map, facility name, etc.) are transmitted. It is desirable to do.

The description will return to the flowchart of FIG. In step S207, it is determined whether the vehicle control device 3 receives the response information from the device server 10 via the communication unit 5. If the response information is not received (S207: No), the process waits in step S207. When the response information is received (S207: Yes), the process proceeds to step S208. The response information in step S207 is the determination result described in step S303.

Next, in step S208, the vehicle control device 3 determines whether or not the response information received in step S207 allows the autonomous driving vehicle Cb to move, and makes the move possible (S208: Yes). The process proceeds to step S204, and if the movement is not possible (S203: No), the process proceeds to step S209. If it is determined that movement is possible, the mobile device 2 responds to the terminal device 2 in step S204 that movement is possible, and moves the autonomous driving vehicle Cb to the position designated by the server device 10 in step S205.

Next, in step S209, the vehicle control device 3 responds to the terminal device 2 via the communication unit 5 that the automatically driven vehicle Cb can not be moved because the movement is not possible even by the determination by the server device 10. .

As apparent from the above description, step S202 functions as a peripheral information acquisition process and a communication process, and step S205 functions as a vehicle control process.

Although the flowchart shown in FIG. 5 responds to the terminal device 2 that movement is not possible when the server device 10 does not move in response, for example, an automatically driven vehicle is accompanied by the fact that the current movement is not possible. A response may also be made to the effect that the operator such as the business owner who owns Cb can be contacted. Further, in the flowchart shown in FIG. 5, when it is determined that the vehicle control device 3 can not move, the server device 10 is notified. However, the server device 10 may not be provided, and the server device 10 is not notified. You may respond to the terminal device 2 via the communication unit 5 that the autonomous driving vehicle Cb can not move.

According to the present embodiment, the vehicle control system 1 includes the vehicle control device 3 for controlling the automatic driving of the autonomous driving vehicle C, the sensor 4 for acquiring the peripheral information of the autonomous driving vehicle Cb, and the autonomous driving vehicle Cb. A communication unit 5 that communicates with a certain terminal device 2 is provided. Then, when the vehicle control device 3 receives request information on the movement of the automatically driven vehicle Cb from the terminal device 2, the vehicle control device 3 determines whether or not the automatically driven vehicle Cb is moved based on the surrounding information, and moves the automatically driven vehicle Cb. If yes, the movement control of the vehicle is performed. In this way, for example, when there is a movement request or the like from the terminal device 2 owned by another person, if the automatically driven vehicle Cb can be moved based on the surrounding information, the case where the automatically driven vehicle Cb is unmanned Even in this case, it is possible to move the automatically driven vehicle Cb according to the request of the other person.

Further, the communication unit 5 can communicate with the server device 10 capable of determining whether the autonomous driving vehicle Cb can move in a wider range than the surrounding information, and the vehicle control device 3 can use the autonomous driving vehicle Cb based on the surrounding information. If the movement of the vehicle is not successful, the communication unit 5 transmits peripheral information to the server device 10, and movement control of the automatically driven vehicle Cb is performed based on the response information from the server device 10 received by the communication unit 5 There is. By doing this, when it is determined that the vehicle control device 3 can not move based on the surrounding information, the server device 10 may move the automatically driven vehicle Cb outside the range included in the surrounding information. Can be determined.

Further, the request information includes information on the purpose of movement of the automatically driven vehicle Cb, and the vehicle control device 3 determines whether or not the automatically driven vehicle Cb can move based on the surrounding information and the information on the purpose. By doing this, it is possible to determine whether or not the autonomous driving vehicle Cb is moved along the purpose of the movement.

Further, the request information is a request regarding the change of the parking position of the autonomous driving vehicle Cb. By doing this, for example, when it is desired to move the automatically driven vehicle Cb to park another vehicle, the user of the terminal device 2 moves the automatically driven vehicle Cb to park the vehicle used by itself. It is possible to

Further, the request information may include information on a desired movement position which is a desired position after movement of the autonomous driving vehicle Cb, for example, the movement direction or movement distance of the vehicle or the movement desired position. In this way, when determining whether or not to move, it may be determined whether or not the user can move to the desired position, so the determination conditions can be clarified.

In the embodiment described above, the sensor 4 and the communication unit 5 are described as separate components, but as shown in FIG. 7, the sensor 4, the communication unit 5, and the interface (I / F) 41, The detection device 40 may be configured as The interface 41 outputs the request information received by the communication unit 5 and the peripheral information acquired by the sensor 4 to the vehicle control device 3. By doing this, the sensor 4 can collect information necessary for determining that the autonomous driving vehicle C is moved, and can collectively output the information from the interface 41 to the vehicle control device 3. In addition, the detection device 40 determines whether the autonomous driving vehicle C can move or not by the control unit (not shown) of the detection device 40 based on the request information received by the communication unit 5 and the peripheral information acquired by the sensor 4. The movement control information of the automatically driven vehicle C when the movement of the vehicle C is possible may be generated and output to the vehicle control device 3. By doing this, the processing load of the vehicle control device 3 can be reduced.

Next, a vehicle control system according to a second embodiment of the present invention will be described with reference to FIGS. 8 and 9. FIG. The same parts as those of the first embodiment described above are designated by the same reference numerals and the description thereof will be omitted.

Although the first embodiment has been described for the purpose of parking in the rear (or front) of the vehicle to be moved as request information to be transmitted from the terminal device 2 to the vehicle control device 3, the vehicle is desired to be moved in this embodiment. It is a case where it is an object to move a vehicle temporarily by dropping an object below.

FIG. 8 is a flowchart of the operation of the application installed in the terminal device 2 according to the present embodiment. In the flowchart of FIG. 8, steps S101 to S106 are the same as in FIG. However, the information about the purpose of movement of the autonomous driving vehicle Cb included in the request information input in step S103 is an object to temporarily move the above-mentioned vehicle.

Step S107, which is advanced from step S106, may move the automatically driven vehicle Cb to the original position by picking up the dropped object or the like when the automatically driven vehicle Cb moves in response to the request transmitted in step S104. It is determined whether or not. This determination may be made based on whether or not an input to move the terminal device 2 to the original position has been made. When it is desired to move the autonomous driving vehicle Cb to the original position (S107: Yes), the process proceeds to step S108, and when it is not desirable to move the autonomous driving vehicle Cb to the original position (S107: No), the process waits in step S107.

Next, in step S108, since the input for moving to the original position is performed, request information for moving the autonomous driving vehicle C to the original position is transmitted to the vehicle. In addition, after that, information indicating that the vehicle has returned to the original position may be received from the automatically driven vehicle C, and the information may be displayed on the display unit 24 of the terminal device 2.

FIG. 9 is a flowchart of the operation of the autonomous driving vehicle according to the present embodiment. In the flowchart of FIG. 9, steps S201 to S205 are the same as in FIG. In step S210, which is advanced from step S205, the vehicle control device 3 receives the request information for moving the automatically driven vehicle Cb transmitted from the terminal device 2 through the communication unit 5 to the original position. Then, in step S211, the vehicle control device 3 moves the autonomous driving vehicle Cb to the original position (the position before the movement in step S205). As the original position, for example, latitude information and longitude information obtained by GPS or the like may be stored in a memory or the like in the vehicle control device 3 before moving in step S205.

Further, in FIG. 9, when step S203 is No, that is, when it is not movable, in step S209, a notification that the autonomous driving vehicle Cb can not be moved is responded to the terminal device 2 via the communication unit 5. In this embodiment, since it is premised to move temporarily after moving, it is because it is not desirable to move to a distance out of the detection range of the sensor 4. However, if it may be moved out of the detection range of the sensor 4, steps S206 to S208 of FIG. 5 may be executed.

According to this embodiment, the request information is a request to temporarily move the autonomous driving vehicle Cb. By doing this, for example, when it is desired to move the vehicle temporarily by dropping an object under the automatically driven vehicle C, etc., the user of the terminal device 2 moves the automatically driven vehicle C and picks up an object etc. It becomes possible.

In addition, by notifying the purpose of temporarily moving, the operation can be performed in consideration of moving the autonomous driving vehicle Cb to the original position.

Further, the present invention is not limited to the above embodiment. That is, those skilled in the art can carry out various modifications without departing from the gist of the present invention in accordance with conventionally known findings. Of course, as long as the configuration of the vehicle control system of the present invention is provided by such a modification, it is of course included in the scope of the present invention.

1 vehicle control system 2 terminal device 3 vehicle control device 4 sensor (peripheral information acquisition unit)
5 Communication Unit 10 Server Device (External Device)
21 communication unit 22 control unit 23 input unit (acquisition unit)
40 Detector 41 I / F
S202 Request acceptance (peripheral information acquisition process, communication process)
S205 Move the vehicle (vehicle control process)

Claims

A vehicle control device for controlling automatic driving of the vehicle;
A peripheral information acquisition unit for acquiring peripheral information of the vehicle;
A communication unit that communicates with the terminal device outside the vehicle;
When the vehicle control device receives request information on the movement of the vehicle from the terminal device, the vehicle control device determines whether or not the vehicle can move based on the surrounding information, and if the movement of the vehicle is possible, the vehicle control device Vehicle control system characterized by performing movement control of vehicles.
The communication unit can communicate with an external device capable of determining whether the vehicle can move or not in a wider range than the surrounding information.
The vehicle control device causes the communication unit to transmit the surrounding information to the external device when the movement of the vehicle is not possible based on the surrounding information, and the response information from the external device received by the communication unit The vehicle control system according to claim 1, characterized in that movement control of the vehicle is performed based on.
The request information includes information on the purpose of movement of the vehicle,
The vehicle control system according to claim 1 or 2, wherein the vehicle control device determines whether or not the vehicle can move based on the surrounding information and the information related to the purpose.
The vehicle according to claim 3, wherein the information on the purpose of movement of the vehicle is either one of request information on change of the parking position of the vehicle and request information for temporarily moving the vehicle. Control system.
The vehicle control system according to claim 3, wherein the request information includes information on a movement desired position which is a desired position after movement of the vehicle.
The vehicle control system according to claim 5, wherein the request information includes at least one of a moving direction or a moving distance of the vehicle.
A vehicle control method implemented by a vehicle control system for controlling automatic driving of a vehicle, comprising:
A vehicle control process for controlling automatic driving of the vehicle;
A peripheral information acquisition step of acquiring peripheral information of the vehicle;
A communication step of communicating with the terminal device outside the vehicle;
When the vehicle control process receives request information on the movement of the vehicle from the terminal device, the vehicle control process determines whether or not the vehicle can move based on the surrounding information, and if the movement of the vehicle is possible, the vehicle control process A vehicle control method characterized by performing movement control of a vehicle.
A vehicle control program causing a computer to execute the vehicle control method according to claim 7.
A peripheral information acquisition unit that acquires peripheral information of the vehicle;
A communication unit that communicates with the terminal device outside the vehicle;
An output unit that outputs the surrounding information and information received from the terminal device to a vehicle control device that controls automatic driving of the vehicle;
A detection apparatus comprising:
A communication unit that communicates with the autonomous driving vehicle;
An acquisition unit for acquiring request information on movement of the autonomous driving vehicle;
A control unit for transmitting the request information from the communication unit to the autonomous driving vehicle;
A terminal device comprising:
The terminal device according to claim 10, wherein the request information includes any one of request information related to a change in a parking position of a vehicle and request information for temporarily moving the vehicle.
The terminal device according to claim 10, wherein the request information includes information on a desired movement position of the vehicle.
The terminal device according to claim 12, wherein the request information includes at least one of a moving direction or a moving distance of the vehicle.