WO2020261543A1 - Automated-driving dedicated road management device - Google Patents

Automated-driving dedicated road management device Download PDF

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Publication number
WO2020261543A1
WO2020261543A1 PCT/JP2019/025869 JP2019025869W WO2020261543A1 WO 2020261543 A1 WO2020261543 A1 WO 2020261543A1 JP 2019025869 W JP2019025869 W JP 2019025869W WO 2020261543 A1 WO2020261543 A1 WO 2020261543A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
road
driving
automatic driving
autonomous driving
Prior art date
Application number
PCT/JP2019/025869
Other languages
French (fr)
Japanese (ja)
Inventor
隆幸 穴本
和之 海口
孝史 伊藤
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2019/025869 priority Critical patent/WO2020261543A1/en
Priority to PCT/JP2020/024965 priority patent/WO2020262520A1/en
Priority to JP2021527722A priority patent/JP7269342B2/en
Publication of WO2020261543A1 publication Critical patent/WO2020261543A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • the present invention relates to a road management device dedicated to autonomous driving.
  • a road dedicated to autonomous driving (hereinafter referred to as a dedicated road) is constructed, and a vehicle dedicated to autonomous driving (hereinafter referred to as a dedicated vehicle) having an automatic driving function is operated on the dedicated road.
  • a general vehicle that can be manually driven (hereinafter referred to as a general vehicle) travels by manual driving.
  • a vehicle operation method and a vehicle operation system for a dedicated road have been proposed so that a general vehicle can enter the dedicated road (for example, Patent Document 1).
  • Patent Document 1 aims to improve convenience and increase the amount of transportation by managing the entry of a plurality of types of general vehicles into a dedicated road on which dedicated vehicles such as buses and trucks are operated on a regular basis.
  • the scale of equipment on dedicated roads, where dedicated vehicles such as buses and trucks are operated on time and a plurality of types of general vehicles enter is very large.
  • An object of the present invention is to allow a vehicle to enter a dedicated road formed so as to have at least a part of a double track, which can suppress the equipment scale of the dedicated road, improve convenience and increase the transportation amount, from a general road. It is to provide a dedicated road management device that manages things.
  • the present inventors have examined the following regarding the control of vehicles entering the autonomous driving exclusive road from the general road. If the vehicle entering the autonomous driving road is a vehicle that has been confirmed to meet certain requirements, the vehicle is permitted to enter the autonomous driving road from the general road. On the other hand, if the vehicle entering the autonomous driving exclusive road is a vehicle that is not confirmed to meet certain requirements, the vehicle is prohibited from entering the autonomous driving exclusive road from the general road.
  • a certain requirement is, specifically, a vehicle for both automatic / manual driving that satisfies the following (i) to (iii).
  • the vehicle width is less than 7 feet.
  • the user manually drives the vehicle on a general road.
  • On a road dedicated to automatic driving manual driving by the user is prohibited, and automatic driving is performed based on the user's demand.
  • the road management device for autonomous driving of the present invention completed based on the above findings has the following configurations.
  • the road management device dedicated to autonomous driving When it is confirmed that the vehicle trying to enter the autonomous driving exclusive road is a vehicle for both automatic / manual driving satisfying the following (i) to (iii), the vehicle enters the autonomous driving exclusive road.
  • the autonomous driving road management device having the above configuration manages the entry of a vehicle from a general road into an autonomous driving road.
  • the autonomous driving exclusive road is a road on which only vehicles that are autonomously driven travel.
  • the self-driving road is formed so that at least a part of it is double-tracked.
  • the autonomous driving exclusive road management device having the above configuration is the vehicle. Allow entry into the autonomous driving road.
  • the vehicle entering the autonomous driving exclusive road from the general road is an automatic / manual driving combined vehicle satisfying (i) to (iii)
  • the vehicle goes to the autonomous driving exclusive road.
  • each of (i) to (iii) is as follows.
  • (I) is a vehicle having a vehicle width of less than 7 feet.
  • (Ii) is a vehicle manually driven by a user of the vehicle on a general road.
  • (Iii) is prohibited from manual driving by the user on the autonomous driving exclusive road, and is automatically driven based on the call by the user and / or the demand of the destination.
  • the vehicle satisfying (i) is a smaller vehicle than a bus, a truck, or the like.
  • the vehicle has a width of less than 7 feet.
  • the vehicles satisfying (ii) and (iii) are capable of both automatic driving and manual driving, and can be used for both general roads and automatic driving exclusive roads. Further, by satisfying (iii), the vehicle can travel in a region having only a small margin with respect to the vehicle width by precise position control by automatic driving. Therefore, two vehicles satisfying (i) and (iii) can travel side by side in the width of the road on which, for example, a bus and a truck travel. That is, the double track can be arranged in the area where the bus and the truck travel.
  • Vehicles satisfying (iii) are driven based on user calls and / or destination demands. Therefore, by satisfying (iii), the user can call the vehicle, so that the waiting time can be shortened. Further, by satisfying (iii), the user can go to the destination without getting off the vehicle on the way, and can have express delivery. For this reason, it is possible to prevent a vehicle that does not meet the user's demand from occupying the autonomous driving exclusive road, such as operation according to a timetable. Therefore, by driving only the vehicles satisfying (i) to (iii) on the autonomous driving exclusive road, the scale of equipment on the autonomous driving exclusive road can be suppressed. This is because the vehicle is small and the driving position can be precisely controlled by automatic driving, so that the road dedicated to automatic driving can be kept small.
  • the vehicle entering the autonomous driving exclusive road from the general road satisfies the requirements (i) to (iii). Therefore, the vehicle permitted to travel on the autonomous driving exclusive road is small and can travel on the general road, and can travel on the autonomous driving exclusive road on demand. As a result, the waiting time can be shortened, and a convenient vehicle having express delivery can be driven on the autonomous driving exclusive road, and the amount of the vehicle transported on the autonomous driving exclusive road can be increased.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • the vehicle ID of the vehicle determined to satisfy the above (i) to (iii) by the inspection at the time of shipment and at the time of inspection is registered.
  • the road management device dedicated to autonomous driving When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
  • the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road does not match the vehicle ID of the registered vehicle, the entry of the vehicle into the autonomous driving exclusive road is prohibited.
  • the vehicle is inspected to see if it satisfies (i) to (iii) by inspection at the time of shipment and at the time of inspection.
  • the vehicle ID of the vehicle determined to satisfy (i) to (iii) by the inspection at the time of shipment and at the time of inspection is registered in the road management device dedicated to autonomous driving.
  • the autonomous driving exclusive road management device confirms whether or not the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the registered vehicle ID, thereby (i) to (iii). It is possible to confirm whether or not the vehicle meets the requirements.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • the road management device dedicated to autonomous driving The vehicle ID of the vehicle determined to satisfy the following (iv) by inspection at the time of shipment and inspection is registered.
  • the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
  • the vehicle ID of the vehicle trying to enter the autonomous driving road does not match the registered vehicle ID, the vehicle is prohibited from entering the autonomous driving road.
  • the above (iv) is (Iv)
  • the accuracy of vehicle control by automatic driving satisfies the standard for driving on the automatic driving exclusive road.
  • the vehicle is inspected by inspection at the time of shipment and at the time of inspection to see if the accuracy of vehicle control by automatic driving meets the criteria for driving on the automatic driving exclusive road.
  • the vehicle ID of the vehicle that meets the criteria for traveling on the autonomous driving exclusive road by the preliminary inspection is recorded in the autonomous driving exclusive road management device.
  • the autonomous driving exclusive road management device confirms whether or not the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the registered vehicle ID.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • the self-driving exclusive road is provided with an automatic driving test zone at a connection portion with the general road.
  • the road management device dedicated to autonomous driving In the automatic driving test zone the vehicle permitted to enter the automatic driving exclusive road is automatically driven according to the test pattern, so that the accuracy of the control of the vehicle by the automatic driving according to the test pattern can be improved.
  • Perform an autonomous driving inspection to check whether or not it meets the criteria for driving on the autonomous driving exclusive road.
  • a vehicle whose control accuracy is determined to meet the criteria by the automatic driving inspection is driven on the automatic driving exclusive road.
  • Vehicles whose control accuracy is determined not to meet the criteria by the autonomous driving driving inspection are evacuated from the autonomous driving exclusive road.
  • the accuracy of control by autonomous driving may change due to the use of the vehicle after shipping and inspection.
  • the driving performance also differs depending on the user's driving.
  • the driving performance may vary depending on the load capacity of the vehicle and the number of passengers when entering the autonomous driving exclusive road.
  • the vehicle is inspected whether or not the accuracy of control by automatic driving meets the standard by automatically driving according to the test pattern in the automatic driving test zone provided on the road dedicated to automatic driving. To. According to this inspection, vehicles whose control accuracy does not meet the standards will be removed from the autonomous driving road.
  • the road management device dedicated to autonomous driving can adopt the following configuration. (5) A road management device dedicated to automatic driving according to any one of (1) to (4).
  • the road management device dedicated to autonomous driving While the vehicle is traveling on the general road, an automatic driving pre-inspection for determining whether or not automatic driving is possible on the automatic driving exclusive road is performed. When it is confirmed by the automatic driving pre-inspection that the vehicle trying to enter the automatic driving exclusive road is capable of the automatic driving driving driving, the vehicle is permitted to enter the automatic driving exclusive road. When the vehicle trying to enter the automatic driving exclusive road is confirmed by the automatic driving preliminary inspection that the automatic driving driving is not possible, the entry of the vehicle into the automatic driving exclusive road is prohibited.
  • the control accuracy of the vehicle by automatic control may change due to changes in the outer shape and the number of passengers.
  • the vehicle is inspected whether or not it is possible to drive autonomously while traveling on a general road, for example, by inspecting the outer shape and the number of passengers in appearance.
  • only vehicles having the ability to drive autonomously can enter the autonomous driving road, and other vehicles can be excluded. Therefore, the area where the vehicle travels on the autonomous driving road Can be narrowed according to the accuracy of vehicle control. Therefore, it is possible to further reduce the equipment scale of the exclusive road while improving the convenience and the amount of transportation.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • (6) A road management device dedicated to automatic driving according to any one of (1) to (5).
  • the self-driving exclusive road has an entry gate at a connection point with the general road.
  • the approach gate is opened.
  • the autonomous driving exclusive road has an entry gate at the connection point with the general road.
  • the approach gate opens the approach gate when the vehicle entering from the general road is a vehicle permitted to enter the autonomous driving road. Therefore, according to this configuration, it is possible to prevent erroneous entry into the road dedicated to autonomous driving.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • the general road has an authentication zone for determining whether the automatic driving road management device permits or prohibits the vehicle from entering the automatic driving road in front of the connection point with the automatic driving road.
  • the vehicle has an automatic driving start operation unit that consents to the start of automatic driving by the operation of a user riding the vehicle.
  • the self-driving dedicated road management device permits the vehicle to enter the self-driving road in the authentication zone, and when the user of the vehicle operates the self-driving start operation unit, the approaching Open the gate.
  • the autonomous driving exclusive road management device when the vehicle is permitted to enter the autonomous driving exclusive road and the automatic driving start operation unit is operated in the authentication zone of the general road by the vehicle user, the autonomous driving exclusive road management device is the entry gate. open.
  • the autonomous driving dedicated road management device can confirm the intention of the user of the vehicle traveling in the authentication zone of the general road whether or not to approve the autonomous driving.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • the vehicle includes an input unit for inputting a destination of the vehicle by the operation of a user riding the vehicle.
  • the self-driving road management device further opens the approach gate when the destination is input to the input unit by the user.
  • the autonomous driving road management device opens the approach gate. Therefore, the vehicle can travel on the route to the destination on the self-driving exclusive road.
  • the input of the destination by the user of the vehicle may be before arriving at the approach gate of the autonomous driving exclusive road, before the start of traveling to the destination, or after the start of traveling to the destination. It may be.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • (9) A road management device dedicated to automatic driving according to any one of (1) to (8).
  • the vehicle is manually driven on the general road and is automatically driven based on a call and / or destination demand by a user different from the user prohibited from manual driving on the autonomous driving exclusive road. ..
  • a vehicle for both manual and automatic driving can be used for the sharing service.
  • the vehicle of this configuration for the sharing service not only the person who owns the vehicle but also the user of the sharing service can automatically drive on demand not only on general roads but also on autonomous driving exclusive roads. Can be used. Therefore, the efficient use of the autonomous driving road becomes possible.
  • a sharing service for example, there are the following forms.
  • the vehicle is a vehicle of a sharing service having a total capacity of one or more, and one or a plurality of users of the sharing service and a number of users equal to or less than the capacity of the vehicle can be used on the autonomous driving road and /.
  • the departure point of the vehicle is the departure point of any user of one or more users of the sharing service.
  • the destination of the vehicle is the destination of either one or more users of the sharing service.
  • the traveling route of the vehicle from the departure point of the vehicle to the destination of the vehicle includes all the departure points and destinations of one or a plurality of users of the sharing service, and one of the sharing services. Or, it includes all the traveling routes from the starting point to the destination of each of the plurality of users.
  • the road management device dedicated to autonomous driving can adopt the following configuration. (10) A road management device dedicated to automatic driving according to any one of (1) to (8).
  • the vehicle is manually driven on the general road and is automatically driven and / or operated based on the demand of the same user as the user whose manual driving is prohibited on the automatic driving exclusive road.
  • the vehicle in principle, can be occupied as if it were privately owned.
  • privately owned vehicles for both manual and autonomous driving can be used for sharing services.
  • the vehicle of this configuration for the sharing service not only the person who owns the vehicle individually but also the user of the sharing service can use the vehicle on the autonomous driving exclusive road. Therefore, the efficient use of the autonomous driving road becomes possible.
  • a sharing service for example, there are the following forms.
  • the vehicle has a total capacity of two or more, and one or more users of the sharing service, the number of users other than the user of the vehicle, which is less than or equal to the capacity, can be used on the autonomous driving road and / or It has an approval button that approves transportation from the departure point to the destination on the general road, and when the approval button is pressed, one or more users of the sharing service are sent to the self-driving exclusive road and / or Carry from the departure point to the destination on the general road
  • the departure point of the vehicle is the departure point of the driver.
  • the destination of the vehicle is the destination of the driver.
  • the traveling route of the vehicle from the departure point of the vehicle to the destination of the vehicle includes all the departure points and destinations of one or a plurality of users of the sharing service, and one of the sharing services. Or, it includes all the traveling routes from the starting point to the destination of each of the plurality of users.
  • the road management device dedicated to autonomous driving can adopt the following configuration.
  • (11) A road management device dedicated to automatic driving according to any one of (1) to (10).
  • the automatic / manual driving combined vehicle has a capacity of 2 or less in the width direction and a total capacity of 10 or less.
  • a vehicle for both automatic and manual driving can be made small.
  • the vehicle for both automatic / manual driving can be driven in the lane in which one lane of the existing road is divided into two or more, and the equipment scale of the automatic driving exclusive road can be suppressed. Therefore, in this configuration, since the vehicle is small, the road dedicated to autonomous driving can be kept small.
  • the terminology used herein is for the purpose of defining only specific embodiments and has no intention of limiting the invention.
  • the term “and / or” includes any or all combinations of one or more related listed components.
  • the use of the terms “including, including,” “comprising,” or “having,” and variations thereof, is a feature, process, operation, described. It identifies the presence of elements, components and / or their equivalents, but can include one or more of steps, actions, elements, components, and / or groups thereof.
  • the terms “attached”, “connected”, “combined” and / or their equivalents are widely used, direct and indirect attachment, connection and Includes both bonds.
  • the vehicle is, for example, a four-wheeled vehicle, a saddle-mounted vehicle, or the like.
  • the vehicle is, for example, personal mobility with a width length of 7 feet (2.1336 meters) or less.
  • Personal mobility is, for example, a vehicle having a capacity of 2 people in each width direction and a total capacity of 10 people or less. The total capacity is the number of users who can get on the vehicle.
  • Examples of personal mobility include a straddle vehicle and a sit-in type vehicle.
  • Examples of personal mobility include vehicles that can be driven by an engine, vehicles that can be driven by an electric motor, and vehicles that can be driven by an engine and an electric motor.
  • Examples of personal mobility include scooter type, moped type, off-road type, and on-road type motorcycles.
  • Personal mobility may be a three-wheeled vehicle or a four-wheeled vehicle. In the case of a tricycle, personal mobility may include two front wheels and one rear wheel, or may include one front wheel and two rear wheels. Personal mobility is a vehicle that is self-driving. Personal mobility may be manually operable. The width direction is the direction in which the personal mobility intersects the traveling direction. The user is a person who uses the vehicle. Users include occupants of the vehicle and persons who are not in the vehicle but are calling the vehicle by entering a destination.
  • a vehicle with a capacity of 2 or less in the width direction is, for example, a four-wheeled vehicle with a total capacity of 2 or more.
  • a vehicle having a capacity of 2 or less in the width direction may be, for example, a four-wheeled vehicle having a total capacity of 5 people.
  • the vehicle having a capacity of two or less in the width direction may be, for example, a bus.
  • the automatic driving control device is installed in the vehicle.
  • the automatic driving control device may be provided at a position away from the vehicle.
  • the automatic driving control device may be, for example, a central control device that controls a plurality of small personal wheeled vehicles.
  • Vehicles that are automatically driven on autonomous driving roads include dedicated vehicles and vehicles for both automatic and manual driving.
  • the dedicated vehicle is an automatic driving dedicated vehicle that does not accept the driving operation of the occupants.
  • a vehicle for both automatic / manual driving is a vehicle that is manually driven by an occupant's driving operation on a general road.
  • Autonomous driving is driving in which no human operation intervenes in the running motion of the vehicle. Autonomous driving is carried out by an automatic driving system provided in the vehicle. Part of the autonomous driving may be performed by a control device located away from the vehicle. Such a control device may be included in the road management device dedicated to autonomous driving. Autonomous driving in a broad sense can be divided into five levels. The five levels of autonomous driving in a broad sense are shown below. Details of each level are defined, for example, by the National Highway Traffic Safety Administration (NHTSA). Level 1: Driving Assistance At level 1, the autonomous driving system performs one of the directional steering and acceleration / deceleration operations in a specific limited area. The occupant performs another of the directional steering and acceleration / deceleration operations in a specific limited area.
  • NHSA National Highway Traffic Safety Administration
  • Level 2 Partial Driving Automation At Level 2, the automated driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. At that time, the occupant constantly monitors the automatic driving system.
  • Level 3 Conditional Driving Automation At level 3, the automated driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. The occupant intervenes in the driving operation in an emergency or in a situation where the automatic driving system cannot perform automatic driving (a situation in which continuous automatic driving operation cannot be performed).
  • Level 4 Advanced Driving Automation At level 4, the automatic driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. The occupant does not intervene in the driving operation in the autonomous driving area.
  • Level 5 Fully driven automation At level 5, the automated driving system performs both directional steering and acceleration / deceleration operations in all areas. The occupant does not intervene in the driving operation.
  • automatic driving is driving without human operation, and refers to the above level 4.
  • the operation of the occupant pressing the emergency stop button for emergencies provided in the vehicle in an emergency shall be within the scope permitted even in automatic driving.
  • Manual driving is driving in which human operation intervenes in the running motion of the vehicle.
  • the manual driving may be an automatic driving on condition that a human operation intervenes.
  • the manual operation is an operation involving a human operation, and refers to the above-mentioned level 1 to 3 automatic operation and complete manual operation (level 0).
  • Autonomous driving roads are roads that only vehicles that are autonomously driven can pass. Vehicles that are autonomously driven can travel in multiple rows on the autonomous driving exclusive road. However, the vehicle to be automatically driven may travel in a single row on the road dedicated to automatic driving. Autonomous driving roads are not limited to areas stipulated by laws and regulations that only vehicles that are autonomously driven can pass. For example, even if the autonomous driving road is not defined as an autonomous driving area by law, it is actually used as an autonomous driving exclusive road by allowing only vehicles that are automatically driven to pass through. It may be the road you are driving.
  • the self-driving exclusive road may be formed so as to be a double track as a whole. In addition, the autonomous driving exclusive road may be formed so that a part thereof is a double track. Further, the road dedicated to autonomous driving may be further formed with a lane for traveling in addition to the above-mentioned double track. That is, the autonomous driving exclusive road may be formed so that vehicles travel in at least a part thereof while forming three or more rows.
  • a general road is an area that is not stipulated by laws and regulations as only vehicles that are automatically driven can pass through. Vehicles may travel on general roads by the above-mentioned level 1 to 3 automatic driving.
  • the entrance from the general road to the autonomous driving road is separated by an entrance gate.
  • the exit from the autonomous driving exclusive road to the general road may or may not be separated by the exit gate.
  • the running position data is, for example, data representing an absolute position on the earth.
  • the traveling position data may be, for example, data representing a relative position with respect to a specific position in the area dedicated to automatic driving.
  • the same user who manually drives a vehicle on a general road and is prohibited from manually driving on an autonomous driving exclusive road is, for example, a user who occupies the vehicle. That is, it is a user who owns the vehicle as an individual or the like.
  • the user who occupies the vehicle for example, manually drives the vehicle on a general road. If the vehicle enters the autonomous driving road, this user's manual driving is prohibited.
  • the vehicle is automatically driven based on this user's call and / or destination demand. After the vehicle arrives at the destination and the user disembarks, the vehicle is automatically driven again based on the same user's call and / or destination demand. After the user gets off the vehicle, the vehicle heads for the port (parking area) in the automatic driving road by automatic driving.
  • the vehicle waits at a port in the autonomous driving road until the same user is called, and when the user is called, the vehicle is automatically driven to the station where the user is waiting again.
  • a user different from a user who manually drives on a general road and is prohibited from manual driving on an autonomous driving exclusive road is, for example, one of a plurality of users who share a vehicle. That is, it is a user of the sharing service.
  • the sharing service after the vehicle arrives at the destination and the user gets off, the vehicle is automatically driven based on a call by a user different from the user who got off and / or the demand of the destination.
  • the vehicle is used by a plurality of users.
  • the vehicle may wait at a port in the autonomous driving road until the next user calls.
  • a sharing service is a service in which a specific individual or group shares a vehicle.
  • a particular individual or group is, for example, a member of a sharing service.
  • a sharing vehicle is a vehicle used for a sharing service.
  • the sharing vehicle is owned, for example, by an organization that operates a sharing service.
  • As the sharing vehicle a vehicle owned by an individual may be used.
  • the vehicle ID is identification information for identifying individual vehicles.
  • the vehicle ID is represented as identification data.
  • the vehicle ID is, for example, information shown on a license plate.
  • the vehicle ID may be, for example, a chassis number or identification information uniquely assigned by the management device.
  • a vehicle it is possible for a vehicle to enter from a general road into a dedicated road formed so that at least a part thereof is double-tracked, which can suppress the facility scale of the dedicated road, improve convenience and increase the transportation amount. It is possible to provide a dedicated road management device to manage.
  • FIG. 1A is a diagram showing a case where the automatic driving road management device of FIG.
  • FIG. 1B is a diagram showing a case where the automatic driving road management device of FIG. 1 does not allow the vehicle to enter the automatic driving road.
  • FIG. 1A is a diagram showing a case where the automatic driving road management device of FIG. 1 permits a vehicle to travel on an automatic driving road.
  • FIG. 1B is a diagram showing a case where the automatic driving road management device of FIG. 1 does not allow the vehicle to travel on the automatic driving road. It is a figure explaining the 1st Example of 1 Embodiment of FIG. It is a figure explaining the 2nd Example of 1 Embodiment of FIG. A small personal wheeled vehicle, which is an example of the vehicle shown in FIG.
  • a small personal wheeled vehicle according to another form of the vehicle of FIG. 2 is shown.
  • Specific examples of the operating devices of FIGS. 11 and 12 are shown.
  • Specific examples of the operating devices of FIGS. 11 and 12 are shown.
  • FIG. 1 is a diagram illustrating an outline of a transportation system 1 including an automatic driving dedicated road management device according to an embodiment of the present invention.
  • FIG. 1A shows the configuration of the transportation system 1.
  • the traffic system 1 of FIG. 1 includes an automatic driving dedicated road management device 10, a vehicle 20, an automatic driving dedicated road 30, and a general road 40.
  • the autonomous driving exclusive road management device 10 manages the vehicle 20 to enter the autonomous driving exclusive road 30 from the general road 40.
  • the vehicle 20 has a manual driving function and an automatic driving function.
  • the vehicle 20 can switch between a manual driving driving mode in which the vehicle travels by the manual driving function and an automatic driving driving mode in which the vehicle 20 travels by the automatic driving function.
  • the vehicle 20 is, for example, a motorcycle, a tricycle, or a motorcycle.
  • the road management device 10 dedicated to autonomous driving and the vehicle 20 communicate with each other.
  • the automatic driving exclusive road 30 is a road on which the vehicle 20 travels by automatic driving.
  • the self-driving exclusive road 30 is a road on which the vehicle 20 is prohibited from traveling by manual driving. Vehicles that do not have an automatic driving function cannot travel on the automatic driving road 30.
  • the self-driving exclusive road 30 is formed so that at least a part thereof is double-tracked.
  • the general road 40 is a road on which the vehicle 20 is manually driven. On the general road 40, the vehicle 20 may travel by automatic driving.
  • the general road 40 may be a road in which vehicles traveling by automatic driving and vehicles traveling by manual driving coexist. However, the general road 40 is not a road where manual driving is prohibited.
  • the vehicle width W of the vehicle 20 capable of traveling on the autonomous driving road 30 is set to 7 feet (2.1336 meters) or less.
  • the vehicle width is set to 7 feet or less because the standard value is half the width of the existing road.
  • an existing road for example, a general road in the United States is referred to.
  • the width of a typical road in the United States is 12 feet. If you add the shoulder width (2 feet) to the road width of 12 feet on a US road and use half the value as the reference value, the reference value is 7 feet.
  • the width of the vehicle 20 that can run in two rows is allowed up to 7 feet, relative to the width of a typical road. Since the position of the vehicle 20 is controlled with high accuracy by automatic driving, the deviation in the width direction is small.
  • the autonomous driving exclusive road management device 10 When it is confirmed that the vehicle 20 trying to enter the autonomous driving exclusive road 30 is an automatic / manual driving combined vehicle satisfying the following (i) to (iii), the autonomous driving exclusive road management device 10 is the vehicle 20. Allows entry to the autonomous driving road 30.
  • the automatic driving exclusive road management device 10 when it is not confirmed that the vehicle 20 trying to enter the automatic driving exclusive road 30 is an automatic / manual driving combined vehicle satisfying the following (i) to (iii). Prohibits the vehicle 20 from entering the autonomous driving road 30.
  • FIG. 1 (b) shows a case where it is confirmed that the vehicle satisfies the following (i) to (iii)
  • FIG. 1 (c) shows the following (i) to (ii).
  • the road management device 10 dedicated to automatic driving confirms whether or not the vehicle 20 is a vehicle for both automatic / manual driving that satisfies (i) to (iii).
  • (i) to (iii) are defined as follows.
  • the road management device 10 dedicated to automatic driving can control the allocation of vehicles 20 traveling on the road dedicated to automatic driving 30.
  • the autonomous driving road management device 10 controls and controls the vehicle 20 traveling on the autonomous driving road 30.
  • the autonomous driving road management device 10 is input by destination data input by a user riding in the vehicle 20 or by a user who wishes to use the vehicle 20 at a station provided on the autonomous driving road 30.
  • Vehicle allocation control of the vehicle 20 is performed based on the called call and / or destination data.
  • the autonomous driving exclusive road management device 10 is based on the input call and / or destination data so that the utilization efficiency of the vehicle 20 on the autonomous driving exclusive road 30 is maximized for each of the destinations and the destinations.
  • Send information on the driving route is provided by a user riding in the vehicle 20 or by a user who wishes to use the vehicle 20 at a station provided on the autonomous driving road 30.
  • Vehicle allocation control of the vehicle 20 is performed based on the called call and / or destination data.
  • the autonomous driving exclusive road management device 10 is based on the
  • FIG. 2 is a diagram showing the configuration of the vehicle 20 of the transportation system 1 of FIG.
  • the vehicle 20 in FIG. 2 is a small personal wheeled vehicle.
  • the vehicle 20 has a capacity of 2 or less in the width direction and a total capacity of 10 or less.
  • the vehicle 20 has a vehicle width capable of traveling in one lane in two rows on existing roads (general roads and highways), for example. Since the width of the vehicle 20 is set to 7 feet or less, the capacity in the width direction can be limited to 2 people or less.
  • the vehicle 20 has an automatic driving control device 201.
  • the vehicle 20 travels by automatic driving on the automatic driving road 30.
  • the vehicle 20 On the autonomous driving road 30, it is assumed that autonomous driving will be performed at level 4. Therefore, the vehicle 20 has an automatic driving control device 201 capable of supporting at least level 4 automatic driving.
  • the vehicle 20 travels on the general road 40 by manual driving.
  • the vehicle 20 can also travel on the general road 40 by automatic driving.
  • the automatic driving on the general road 40 is the automatic driving according to the level 1 to 3.
  • the automatic driving control device 201 of the vehicle 20 can switch between automatic driving according to level 4 and automatic driving according to levels 1 to 3.
  • the vehicle 20 has an automatic driving start button 216 for starting automatic driving.
  • Automatic operation start button This is an example of the automatic operation start operation unit.
  • the automatic driving start button 216 is operated by the user of the vehicle 20 when receiving a signal from the automatic driving dedicated road management device 10 to the effect that the entry to the automatic driving dedicated road 30 is permitted. As a result, the automatic operation of the vehicle 20 starts.
  • the vehicle 20 that has started automatic driving enters the automatic driving exclusive road 30.
  • the vehicle 20 is automatically controlled by the automatic driving control device 201 and travels on the automatic driving exclusive road 30.
  • the vehicle 20 is configured to have a destination input unit 217 capable of inputting a destination when the driving vehicle and the passenger automatically drive.
  • the vehicle 20 may be configured so that the user can input information such as a desired arrival time at the destination and an automatic driving schedule, as well as destination data for automatic driving.
  • the automatic operation control device 201 is composed of a computer.
  • the automatic operation control device 201 includes a processor, a storage device, and a data input / output device (not shown).
  • the automatic driving control device 201 also includes a communication device that performs wireless communication. By executing the program stored in the storage device by the processor, the functions of each part of the automatic operation control device 201 are realized.
  • the hardware of the automatic operation control device 201 is not limited to this, and may be configured by, for example, a combination of electronic circuits specialized in the functions of each part.
  • the vehicle 20 includes a power train control unit 206, a steering control unit 207, and a brake control unit 208.
  • the power train control unit 206, the steering control unit 207, and the brake control unit 208 are communicably connected to the automatic driving control device 201.
  • the power train control unit 206 controls the traveling speed of the vehicle 20 according to the control signal from the automatic driving control device 201. Specifically, the power train control unit 206 controls the traveling speed by adjusting the throttle valve of the vehicle 20, the fuel injection device, and in some cases, the electric motor and the transmission.
  • the steering control unit 207 controls the traveling direction of the vehicle 20 according to a control signal from the automatic driving control device 201. Specifically, the steering actuator of the vehicle 20 is adjusted to control the traveling direction.
  • the brake control unit 208 decelerates the traveling speed of the vehicle 20 according to the control signal from the automatic driving control device 201. Specifically, the brake actuator of the vehicle 20 is adjusted to decelerate the vehicle 20.
  • the vehicle 20 of FIG. 2 has both a manual driving function for performing manual driving on a general road 40 and an automatic driving function for performing automatic driving on an automatic driving dedicated road at the time of shipment and inspection of the vehicle. It is inspected whether it has a function.
  • the vehicle ID of the vehicle 20 is recorded in the automatic driving dedicated road management device 10 of FIG. Further, it is recorded as vehicle information that the vehicle 20 also has a manual driving function and an automatic driving function.
  • the vehicle 20 in FIG. 2 is also inspected at the time of shipment and inspection of the vehicle to see if the automatic driving function for performing automatic driving on the automatic driving exclusive road 30 has a predetermined standard.
  • the vehicle 20 has a predetermined level of automatic driving function, it is recorded as automatic driving performance information in the automatic driving dedicated road management device 10. Further, it is recorded as vehicle information that the vehicle 20 also has a predetermined level of automatic driving function.
  • the automatic driving performance of the vehicle 20 is determined, for example, by the grade of the automatic driving control device 201 (particularly the software grade), the performance of communication equipment and sensors, the state and outer shape of actuators and traveling devices, the allowable number of passengers, and the like.
  • the vehicle ID and other information are input to, for example, a computer (not shown) provided at the vehicle shipping location and inspection location.
  • vehicle ID data and other information data are transmitted to the autonomous driving exclusive road management device 10.
  • vehicle ID and other information input to a computer (not shown) provided at the shipping place and the inspection place of the vehicle may be recorded by the autonomous driving dedicated road management device 10 through an external recording medium.
  • the vehicle 20 has an automatic driving function
  • the grade of the automatic driving control device 201 that manages the automatic driving function, the communication device and the sensor, and the outer shape of the actuator and the traveling device are different, the performance of the automatic driving function may differ in each vehicle.
  • the outer shape of the vehicle 20 is different, the aerodynamic characteristics during traveling may change, and the performance of the automatic driving function may differ.
  • the performance of the automatic driving function may differ depending on the number of passengers. Therefore, a vehicle that does not have a predetermined standard of automatic driving performance is prevented from entering the automatic driving exclusive road 30.
  • FIG. 3 is a diagram illustrating an example of an automatic driving control system for the vehicle 20 of the traffic system 1 of FIG.
  • the automatic driving control system 2 of FIG. 3 one vehicle 20 automatically drives on an automatic driving exclusive road while performing inter-vehicle communication with a plurality of vehicles.
  • Vehicles 20 perform vehicle-to-vehicle communication with at least a group of vehicles around the vehicle traveling on the autonomous driving road 30.
  • FIG. 3 for simplification, only the vehicle 20 and the vehicle 21 which is one of the plurality of vehicles are shown.
  • the vehicle 21 has the same configuration as the vehicle 20 of FIGS. 2 and 3.
  • the vehicle 20 also performs vehicle-to-vehicle communication with vehicles other than the vehicle 25 traveling on the autonomous driving exclusive road 30.
  • the vehicle 20 in FIG. 3 is provided with an automatic driving control device 201.
  • the automatic driving control device 201 includes a traveling position data calculation unit 202, a traveling position data transmitting unit 203, a traveling position data acquisition unit 204, and a traveling control unit 205.
  • the vehicle 21 is provided with an automatic driving control device 211.
  • the automatic driving control device 211 includes a traveling position data calculation unit 212, a traveling position data transmitting unit 213, a traveling position data acquisition unit 214, and a traveling control unit 215.
  • the function of the automatic driving control device 211 of the vehicle 21 is the same as the function of the automatic driving control device 201 of the vehicle 20.
  • the vehicle-to-vehicle communication between the vehicle 20 and the vehicle 21 is performed by receiving the traveling position data from the traveling position data transmitting unit 203 of the vehicle 20 by the traveling position data acquisition unit 214 of the vehicle 21. Further, vehicle-to-vehicle communication between the vehicle 20 and the vehicle 21 is performed by receiving the traveling position data from the traveling position data transmitting unit 213 of the vehicle 21 by the traveling position data acquisition unit 204 of the vehicle 20.
  • the traveling position data calculation unit 202 calculates the traveling position data of the vehicle 20.
  • the traveling position data is, for example, data representing an absolute position on the earth. Further, for example, data representing a relative position of the autonomous driving exclusive road 30 with respect to a specific position may be used.
  • the traveling position data includes, for example, data such as which position of the automatic driving exclusive road 30 the vehicle 20 is currently traveling.
  • the traveling position data calculation unit 202 calculates the traveling position data by referring to the MPU (high-precision map) or the like based on the traveling position acquired by the GPS receiver, for example. Further, the traveling position data calculation unit 202 calculates the relative position of surrounding vehicles, the inter-vehicle distance, and the like by using a small stereo camera, a surround eye camera, a millimeter wave radar, and the like.
  • the traveling position data transmitting unit 203 transmits the calculated current traveling position data on the autonomous driving exclusive road 30, the relative position of surrounding vehicles, the inter-vehicle distance, and the like to the traveling position data acquisition unit 204 of the vehicle 21.
  • the traveling position data transmitting unit 203 transfers the calculated current traveling position data in the autonomous driving exclusive area, the relative positions of surrounding vehicles, the inter-vehicle distance, and the like to a plurality of vehicles other than the vehicle 21 traveling on the autonomous driving exclusive road 30.
  • the traveling position data transmission unit 203 also transmits the current traveling position data to the road management device 10 dedicated to automatic driving.
  • the autonomous driving road management device 10 holds data representing the positions of vehicles 20 and 21 traveling on the autonomous driving road 30.
  • the traveling position data acquisition unit 204 acquires the current traveling position data of the vehicle 20 on the automatic driving exclusive road 30, the relative position of surrounding vehicles, the inter-vehicle distance, etc., calculated by the traveling position data calculation unit 202. Further, the traveling position data acquisition unit 204 acquires the current traveling position data on the automatic driving exclusive road 30 of the vehicle 21 from the traveling position data transmitting unit 213 of the vehicle 21. Further, the traveling position data acquisition unit 204 acquires the current traveling position data of each vehicle on the automatic driving exclusive road 30 from a plurality of vehicles other than the vehicle 21 traveling on the automatic driving exclusive road 30.
  • the traveling position data acquisition unit 204 may further acquire data on the current traveling speed of each vehicle from a plurality of vehicles including the vehicle 21 traveling on the automatic driving exclusive road 30. Further, the traveling position data acquisition unit 204 may further acquire data on the destination of each vehicle from a plurality of vehicles including the vehicle 21 traveling on the automatic driving exclusive road 30.
  • the travel control unit 205 controls a plurality of vehicles including the vehicles 20 and 21 to travel at a specified speed in one or a plurality of rows on the automatic driving exclusive road 30. Specifically, the travel control unit 205 travels in a designated lane at a specified speed among a plurality of lanes of the automatic driving exclusive road 30 based on the current travel position data of a plurality of vehicles including the vehicles 20 and 21. To control.
  • FIG. 4 is a diagram illustrating another example of the automatic driving control system of the vehicle 20 of the traffic system 1 of FIG.
  • the automatic driving control system 3 of FIG. 4 is different from the automatic driving control system 2 of FIGS. 2 and 3 in that the automatic driving control device 201 is not provided in the vehicle 20.
  • a plurality of vehicles including the vehicle 20 automatically drive on the automatic driving exclusive road 30 while communicating with the automatic driving control device 201.
  • FIG. 4 only vehicles 20, 22 and 23 are shown for simplification.
  • the vehicles 22 and 23 have the same configuration as the vehicle 20 of FIGS. 2 and 3.
  • the automatic driving control device 201 also communicates with vehicles other than the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30.
  • the automatic driving control device 201 automatically controls at least one of a plurality of vehicles 20, 22 and 23 to drive on the automatic driving exclusive road 30.
  • one automatic driving control device 201 may automatically control all the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30.
  • the automatic driving control device 201 may share all the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30 for automatic driving control.
  • the automatic driving exclusive road 30 may be divided into a plurality of sections, and each of the plurality of automatic driving control devices 201 may share the automatic driving control of the vehicles 20, 22 and 23 for each section.
  • the automatic driving control device 201 is provided at a position away from the vehicles 20, 22 and 23 that control the traveling.
  • the automatic driving control device 201 may be provided on, for example, the automatic driving dedicated road 30.
  • the plurality of automatic operation control devices 201 may be set to communicate with each other.
  • the automatic driving control devices 201 may share the traveling position data of the vehicles acquired from the vehicles 20, 22 and 23 with each other by communicating with each other.
  • the automatic driving control device 201 may also have a function of controlling the running of another vehicle that is automatically driven.
  • the automatic driving control device 201 includes a traveling position data acquisition unit 204 and a traveling control unit 205.
  • the traveling position data acquisition unit 204 acquires the current traveling position data on the autonomous driving exclusive road 30 from the plurality of vehicles 20, 22 and 23 traveling on the autonomous driving exclusive road 30. Further, the traveling position data acquisition unit 204 may further acquire the current traveling speed data of the vehicles 20, 22 and 23 from the plurality of vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30. Further, the traveling position data acquisition unit 204 further acquires destination data of at least the vehicles to be controlled (for example, vehicles 20, 22 and 23) from the vehicles 20, 22 and 23 traveling on the autonomous driving exclusive road 30. You may.
  • the traveling position data acquisition unit 204 may acquire information such as a desired arrival time at the destination and an automatic driving schedule, as well as destination data of the vehicles 20, 22 and 23.
  • the travel control unit 205 controls the travel of the vehicles 20, 22 and 23 based on the travel position data of the vehicles 20, 22 and 23 acquired by the travel position data acquisition unit 204.
  • FIG. 5 is a diagram showing the configurations of the automatic driving exclusive road management device 10, the automatic driving exclusive road 30, and the general road 40 of the transportation system 1 of FIG.
  • the road management device 10 dedicated to autonomous driving includes a vehicle authentication unit 11, a vehicle inspection unit 12, an entry permission unit 13, a travel inspection unit 14, and a travel permission unit 15.
  • the vehicle authentication unit 11 communicates with the vehicle 20 and collates the vehicle ID of the vehicle 20 with the registered vehicle ID.
  • the vehicle inspection unit 12 analyzes the information of the vehicle 20 acquired from the camera 42 such as a 3D camera provided on the general road 40, and compares it with the automatic driving performance information of the vehicle 20.
  • the approach permission unit 13 transmits an entry permission signal to the vehicle 20 to the autonomous driving road 30 and transmits the vehicle 20 to the vehicle 20. Receive the intention to start automatic operation from the user of.
  • the driving inspection unit 14 conducts an automatic driving test on the vehicle 20 in the automatic driving test zone 32 of the automatic driving exclusive road 30, and inspects whether the vehicle 20 is capable of automatic driving at a predetermined level. To do. More specifically, the autonomous driving road management device 10 automatically drives the vehicle 20 permitted to enter the autonomous driving road 30 in the automatic driving test zone according to the test pattern.
  • the traveling inspection unit 14 determines whether or not the vehicle 20 has traveled according to the test pattern based on the traveling information from the vehicle 20 and the output data of the sensor or the camera arranged in the automatic traveling test zone 32.
  • the test pattern consists of, for example, a specific amount of acceleration, left / right rotation, deceleration, stop, or a combination thereof.
  • the test pattern changes each time the vehicle 20 passes through the automatic driving test zone 32. Thereby, for example, it is possible to suppress passing the test by manual running.
  • the travel permission unit 15 determines whether or not to permit the vehicle 20 to travel on the automatic driving road 30 based on the information from the travel inspection unit 14.
  • the automatic driving road 30 of FIG. 5 includes an entry gate 31, an automatic driving test zone 32, and an exit gate 33.
  • the approach gate 31 is provided at a connection point between the autonomous driving exclusive road 30 and the general road 40.
  • the approach gate 31 is opened when the entry permission unit 13 of the automatic driving road management device 10 permits the vehicle 20 to enter the automatic driving road 30.
  • the automatic driving test zone 32 is provided at the entrance of the automatic driving road 30, that is, immediately after the entrance gate 31.
  • the automatic driving test zone 32 is an area where an automatic driving test is performed by the driving inspection unit 14 of the road management device 10 dedicated to automatic driving.
  • the exit gate 33 is provided immediately after the automatic driving test zone 32 of the automatic driving exclusive road 30.
  • the exit gate 33 is opened when the travel permission unit 15 of the automatic driving road management device 10 does not permit the vehicle 20 to travel on the automatic driving road 30.
  • a vehicle that is not permitted to travel can return to the general road 40 without blocking the course of the following vehicle. Therefore, the approach to the autonomous driving exclusive road 30 becomes smooth.
  • the general road 40 in FIG. 5 includes an authentication zone 41 and a camera 42.
  • the certification zone 41 is provided in front of the connection point between the autonomous driving exclusive road 30 and the general road 40.
  • the vehicle certification unit 11 of the road management device 10 dedicated to autonomous driving communicates with the vehicle 20.
  • the camera 42 is provided in the authentication zone 41 of the general road 40.
  • the camera 42 is, for example, a 3D camera.
  • the camera 42 photographs the vehicle 20 traveling on the general road 40.
  • the camera 42 sends an image of the vehicle 20 to the vehicle inspection unit 12 of the road management device 10 dedicated to autonomous driving.
  • FIG. 6 is a flowchart illustrating a vehicle authentication method when the vehicle 20 enters the autonomous driving exclusive road 30 from the general road 40.
  • step S102 the vehicle authentication unit 11 of the autonomous driving dedicated road management device 10 communicates with the vehicle 20 traveling in the authentication zone 41 of the general road 40, and acquires the vehicle ID of the vehicle 20.
  • step S103 the vehicle authentication unit 11 of the road management device 10 dedicated to autonomous driving collates the acquired vehicle ID of the vehicle 20 with the registered vehicle ID. If the acquired vehicle ID of the vehicle 20 and the registered vehicle ID match in step S103, the flow proceeds to step S104. If the vehicle ID of the vehicle 20 acquired in step S103 and the registered vehicle ID do not match, the flow ends (step S114).
  • step S104 the vehicle inspection unit 12 of the road management device 10 dedicated to automatic driving performs an automatic driving pre-inspection. Specifically, the vehicle inspection unit 12 causes a camera 42 installed on the general road 40 to take a picture of the vehicle 20 and acquires image information of the vehicle 20.
  • step S105 the vehicle inspection unit 12 of the road management device 10 dedicated to automatic driving determines from the acquired image information of the vehicle 20 whether the vehicle 20 has a predetermined level of automatic driving performance. For example, the outer shape of the vehicle 20 is determined from the acquired image, and it is determined whether or not there is any change from the outer shape of the vehicle in the registered automatic driving performance information.
  • the vehicle inspection unit 12 determines from the acquired image and the number of people riding in the vehicle 20, and determines whether or not it is within the allowable number of passengers in the registered automatic driving performance information. This is because the aerodynamic characteristics of the vehicle 20 during traveling may change due to the change in the outer shape of the registered vehicle, and the automatic driving performance of the vehicle 20 may change. Further, if the registered allowable number of passengers is exceeded, the vehicle weight of the vehicle 20 may change, and the automatic driving performance of the vehicle 20 may change.
  • Vehicle 20 may differ from the automatic driving performance information at the time of shipment and inspection.
  • the vehicle inspection unit 12 can relatively easily inspect whether the vehicle 20 has a predetermined level of automatic driving performance.
  • the vehicle inspection unit 12 of the automatic driving road management device 10 inspects the automatic driving performance before entering the automatic driving road 30. As a result, if the vehicle 20 meets the predetermined level of automatic driving performance at the time of shipment and inspection but does not meet the conditions at the time of entering the automatic driving road 30, the entry to the automatic driving road 30 is prohibited. can do.
  • step S105 determines that the vehicle 20 has a predetermined level of automatic driving performance
  • the flow proceeds to step S106.
  • step S105 when the vehicle inspection unit 12 determines that the vehicle 20 does not have a predetermined level of automatic driving performance, the flow ends (step S114).
  • step S106 the entry permission unit 13 of the automatic driving road management device 10 transmits a signal for giving the vehicle 20 access permission to the automatic driving road 30.
  • the vehicle 20 receives a signal from the automatic driving exclusive road management device 10 to give permission to enter the automatic driving exclusive road 30, the user of the vehicle 20 presses the automatic driving start button 216 and also operates the input unit 218. And enter the destination. If the user of the vehicle 20 does not want to enter the automatic driving road 30, he / she does not press the automatic driving start button. When the user of the vehicle 20 presses the automatic driving start button, the vehicle 20 enters the automatic driving mode.
  • the road management device 10 dedicated to automatic driving shifts the vehicle 20 to the automatic driving mode. As a result, the user of the vehicle 20 ends the driving operation of the vehicle 20.
  • step S107 the entry permission unit 13 of the road management device 10 dedicated to automatic driving determines whether or not the vehicle 20 has received a signal indicating that the automatic driving start button has been pressed and information indicating that the destination has been input. judge.
  • step S107 when the entry permission unit 13 of the road management device 10 dedicated to automatic driving receives a signal from the vehicle 20 that the automatic driving start button has been pressed and information that the destination has been input, the flow is stepped. Proceed to S108.
  • step S108 the entry permission unit 13 of the autonomous driving road management device 10 opens the entrance gate of the autonomous driving road 30. The vehicle 20 enters the automatic driving exclusive road 30 by automatic driving.
  • FIG. 7A shows a case where the autonomous driving exclusive road management device 10 permits the vehicle 20 to enter the autonomous driving exclusive road 30 (steps S107Yes and S108 in FIG. 6).
  • FIG. 7B shows a case where the autonomous driving exclusive road management device 10 does not allow the vehicle 20 to enter the autonomous driving exclusive road 30 (step S107 No. of FIG. 6).
  • the driving inspection unit 14 of the automatic driving road management device 10 performs an automatic driving inspection of the vehicle 20.
  • the driving inspection unit 14 gives the vehicle 20 a simple operation instruction based on the test pattern in the automatic driving test zone 32 of the automatic driving exclusive road 30.
  • the traveling inspection unit 14 of the road management device 10 dedicated to automatic driving acquires the operation information of the vehicle 20 as a result of the operation instruction from the vehicle 20.
  • the operation instruction based on the test pattern given to the vehicle 20 consists of, for example, a specific amount of acceleration, left / right rotation, deceleration, stop, or a combination thereof.
  • the operation information of the vehicle 20 is, for example, positioning information such as GPS of the vehicle 20, current position information of the vehicle 20 by road-to-vehicle communication, and the like.
  • step S111 the traveling inspection unit 14 of the road management device 10 dedicated to automatic driving determines whether or not the acquired operation information of the vehicle 20 conforms to the operation instruction given to the vehicle 20.
  • the traveling performance at the time of shipment and the automatic driving performance after use change.
  • the difference between the automatic driving performance at the time of shipment and the automatic driving performance after use differs depending on the user.
  • the traveling performance may fluctuate depending on the load capacity of the vehicle 20 and the number of passengers.
  • the vehicle 20 is inspected as to whether or not it is possible to automatically drive at a predetermined level by inspecting the automatic driving by the traveling inspection unit 14 in the automatic driving test zone 32 of the automatic driving exclusive road 30. To. Thereby, it is possible to inspect whether the automatic driving performance of the vehicle 20 entering the automatic driving exclusive road 30 satisfies the level of automatic driving performance required in the automatic driving exclusive road 30. Therefore, in this inspection, only vehicles having a certain level of automatic driving control performance can be allowed to enter the automatic driving road 30, and other vehicles can be excluded.
  • step S111 If the traveling inspection unit 14 determines in step S111 that the acquired operation information of the vehicle 20 conforms to the operation instruction given to the vehicle 20, the flow proceeds to step S112. In step S112, the travel permission unit 15 of the autonomous driving exclusive road management device 10 closes the exit gate of the autonomous driving exclusive road 30. The vehicle 20 travels on the automatic driving road 30 as it is by automatic driving. After that, the flow ends (step S114).
  • step S113 the travel permission unit 15 of the autonomous driving exclusive road management device 10 opens the exit gate of the autonomous driving exclusive road 30. The vehicle 20 exits from the autonomous driving road 30. At that time, the vehicle 20 returns to the manual operation mode again. After that, the flow ends (step S114).
  • FIG. 8A shows a case where the autonomous driving exclusive road management device 10 permits the vehicle 20 to travel on the autonomous driving exclusive road 30 (steps S111Yes and S112 in FIG. 6).
  • FIG. 8B shows a case where the automatic driving road management device 10 does not allow the vehicle 20 to travel on the automatic driving road 30 (steps S111No and S113 in FIG. 6).
  • FIG. 9 is a diagram illustrating a first embodiment of an embodiment of the present invention.
  • FIG. 9 schematically shows a transportation system 6 which is an example when the transportation system 1 of FIG. 1 which is an embodiment of the present invention is applied to the transportation of a certain country.
  • the transportation system 5 of FIG. 9 has a first starting point 51, a second starting point 52, a first destination 53, and a second destination 54. Further, the transportation system 5 of FIG. 9 has an automatic driving exclusive road 55, a general road 56, and a general road 57. Autonomous driving roads 55 are laid at the first starting point 51 and the first destination 53. Therefore, the first starting point 51 and the first destination 53 are connected by the automatic driving exclusive road 55. On the other hand, the automatic driving exclusive road 55 is not laid at the second starting point 52 and the second destination 54. A general road 56 is laid at the second departure point 52, and a general road 57 is laid at the second destination 54. The autonomous driving road 55 and the general road 56 are connected by a connection point 58 which is a branch point. Further, the autonomous driving exclusive road 55 and the general road 57 are connected by a connection point 59.
  • the vehicle 501 in FIG. 9 is a vehicle having the same configuration as the vehicle 20 in FIG.
  • the vehicle 501 travels on the automatic driving exclusive road 55 by automatic driving and heads for the first destination 53.
  • the vehicle 501 travels on the automatic driving exclusive road 55 to the connection point 59 by automatic driving, and from the connection point 59 to the general. Enter the road 57.
  • the user 511 of the vehicle 501 travels on the general road 57 by manual driving and heads for the second destination 54.
  • the vehicle 502 travels on the general road 56 to the connection point 58.
  • the user 512 travels by manual driving.
  • the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied.
  • the vehicle 502 travels on the automatic driving exclusive road 55 to the first destination 53 by automatic driving.
  • the vehicle 502 travels on the general road 56 to the connection point 58.
  • the user 512 travels by manual driving.
  • the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied.
  • the vehicle 502 travels on the automatic driving exclusive road 55 to the connection point 59 by automatic driving, and enters the general road 57 from the connection point 59.
  • the user 512 of the vehicle 502 travels on the general road 57 by manual driving and heads for the second destination 54.
  • FIG. 10 is a diagram illustrating a second embodiment of an embodiment of the present invention.
  • FIG. 10 schematically shows a transportation system 6 which is another example when the transportation system 1 of FIG. 1 which is an embodiment of the present invention is applied to the transportation of a certain country.
  • the transportation system 6 of FIG. 10 is an example of applying the transportation system 1 of FIG. 1 to a vehicle sharing service.
  • the transportation system 6 of FIG. 10 will be described.
  • the transportation system 6 of FIG. 10 has stations 651 to 654, a departure point 62, and a destination 64. Further, the transportation system 6 of FIG. 10 has an automatic driving exclusive road 65, a general road 66, and a general road 67. Stations 651 to 654 are provided on the autonomous driving road 65. The station is a place that can be a starting point and a destination on the autonomous driving road 65. The autonomous driving road 65 and the general road 66 are connected by a connection point 68. Further, the autonomous driving exclusive road 65 and the general road 67 are connected by a connection point 69. Further, the vehicles 601 to 604 are vehicles having the same configuration as the vehicle 20 of FIG. Of these, vehicles 601 to 603 are vehicles for sharing services (hereinafter, sharing vehicles 601 to 603). Further, the vehicle 603 is a privately owned vehicle (hereinafter, sharing vehicles 601 to 603). Further, the vehicle 603 is a privately owned vehicle (hereinafter, sharing vehicles 601 to 603). Further, the vehicle 603 is a
  • Vehicles 601-603 include one or more users of the sharing service, the number of users less than or equal to the capacity of the vehicle, from the departure point to the destination on the autonomous driving exclusive road 65, the general road 66 and / or the general road 67.
  • the departure point of the sharing vehicles 601 to 603 is the departure point of one of the sharing services or one of the plurality of users
  • the destination of the sharing vehicles 601 to 603 is one of the sharing services. Alternatively, it is the destination of any of a plurality of users.
  • the traveling route of the vehicle from the departure point of the sharing vehicles 601 to 603 to the destination of the sharing vehicles 601 to 603 includes all the departure points and destinations of one or more users of the sharing service.
  • the travel route of the vehicle from the departure point of the sharing vehicles 601 to 603 to the destination of the sharing vehicles 601 to 603 is the travel route from the departure point to the destination of each of one or more users of the sharing service. Including all.
  • Example 1 User 611 goes from station 651 to station 653. The user 611 inputs the destination (station 653) at the station 651 and calls the vehicle. By calling the user 611, the sharing vehicle 601 arrives at the station 651 by automatic driving. That is, the vehicle 601 is automatically driven based on the call by the user 611 and / or the demand of the destination. The user 611 gets on the sharing vehicle 601 from the station 651 and travels to the station 653 on the automatic driving exclusive road 65 by automatic driving. When the sharing vehicle 601 arrives at station 653, user 611 gets off at station 653. The sharing vehicle 601 is boarded by another user 612 at the station 653.
  • the vehicle 601 is automatically driven based on a call by a user 612 different from the user 611 whose manual driving is prohibited on the automatic driving road 65 and / or a demand of the destination. In the absence of additional users, vehicle 601 heads for another station or heads to the garage.
  • Example 2 User 611 heads for destination 64 from station 651.
  • the user 611 inputs the destination 64 at the station 651 and calls the vehicle.
  • the sharing vehicle 601 arrives at the station 651 by automatic driving.
  • the user 611 gets on the sharing vehicle 601 from the station 651 and travels on the automatic driving exclusive road 65 by automatic driving to the connection point 69.
  • the sharing vehicle 601 enters the general road 67 from the connection point 69.
  • the user 611 travels on the general road 67 by manual driving and heads for the destination 64.
  • Example 3 User 613 heads from departure point 62 to station 653. If there is a vehicle port for the sharing vehicle at the departure point 62, or if an unused sharing vehicle is parked, then at the departure point 62, the user 613 gets on the sharing vehicle (602).
  • the sharing vehicle 602 travels on the general road 66 to the connection point 69. On the general road 66, the user 613 travels by manual driving.
  • the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied.
  • the sharing vehicle 602 travels to the station 653 on the automatic driving exclusive road 65 by automatic driving.
  • the sharing vehicle 602 arrives at station 653, user 613 disembarks at station 653.
  • Example 4 User 613 heads from the departure point 62 to the destination 64. If there is a vehicle port for the sharing vehicle at the departure point 62, or if an unused sharing vehicle is parked, the user 613 will board the sharing vehicle (602) at the departure point 62.
  • the sharing vehicle 602 travels on the general road 66 to the connection point 68. On the general road 66, the user 613 travels by manual driving.
  • the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied.
  • the sharing vehicle 602 travels on the automatic driving exclusive road 65 to the connection point 69 by automatic driving, and enters the general road 67 from the connection point 69.
  • the user 613 manually drives the sharing vehicle 602, travels on the general road 67, and heads for the destination 64.
  • a plurality of users can ride on one sharing vehicle.
  • the condition for a plurality of users (for example, user 614 and user 615) to board one sharing vehicle is a case where the following requirements (vi) to (vii) are satisfied.
  • (Vi) A part of the travel route from the departure point to the destination of the user 614 and the travel route from the departure point to the destination of the user 615 overlap.
  • the departure point of the user 615 is the travel route of the user 614, or the departure point of the user 614 is the travel route of the user 615.
  • the destination of the user 615 is the travel route of the user 614, or the destination of the user 614 is the travel route of the user 615.
  • Example 5 User 614 goes from station 651 to station 653, and user 615 goes from station 652 to station 654.
  • the user 614 inputs the destination (station 653) at the station 651 and calls the vehicle.
  • the sharing vehicle 603 arrives at the station 651 by automatic driving.
  • the user 611 gets on the sharing vehicle 601 from the station 651 and travels to the station 653 on the automatic driving exclusive road 65 by automatic driving.
  • the user 615 inputs the destination (station 654) at the station 652 and calls the vehicle.
  • the sharing vehicle 603 arrives at the station 652 by automatic driving.
  • User 614 is already on board the sharing vehicle 603.
  • the user 615 gets on the sharing vehicle 603 from the station 652 and travels on the automatic driving exclusive road 65 by automatic driving.
  • the sharing vehicle 503 disembarks the user 614 at the station 653 and then automatically drives towards the station 654.
  • user 615 gets off at station 654.
  • sharing vehicles for example, sharing vehicles 601 to 603
  • privately owned vehicles for example, personal vehicles 604
  • the personal vehicle 604 manually drives the vehicle 604 on the general road 66. Manual driving is prohibited on the automatic driving road 65.
  • the personal vehicle 604 is automatically driven based on a call and / or destination demand by the same user 616 as the user 616 whose manual driving is prohibited.
  • the personal vehicle 604 is provided with a sharing approval button.
  • the sharing approval button is an example of the sharing approval operation unit.
  • the sharing approval button approves the use by a user (for example, 617) different from the user 616 who manually drives the vehicle 604.
  • the sharing approval button is used for traffic on the autonomous driving exclusive road 65 and the general roads 66 and 67. It is a button that approves the user of the sharing service of the system 6 to ride.
  • the vehicle having the sharing approval button is a vehicle having a total capacity of two or more people.
  • the personal vehicle 604 carries the user of the sharing service of the transportation system 6 on the autonomous driving exclusive road 65 and the general roads 66 and 67.
  • the number of people carried by the vehicle is less than or equal to the number of people other than the driver.
  • the personal vehicle 604 is used as the sharing vehicle.
  • the user (owner 616) who is the owner of the personal vehicle 604 carries the user of the sharing service between the departure place and the destination.
  • the travel route of the personal vehicle 604 from the departure point of the personal vehicle 604 to the destination of the personal vehicle 604 includes the departure point and the destination of the user 617, and the travel from the departure point of the user 617 to the destination. When including the route.
  • the departure point of the personal vehicle 604 is the departure point of the user (owner 616), and the destination of the personal vehicle 604 is the destination of the user (owner 616).
  • the travel route of the personal vehicle 604 from the departure point of the personal vehicle 604 to the destination includes all the departure points and destinations of the plurality of users, and each of the plurality of users. Includes all travel routes from the starting point to the destination. Further, the personal vehicle 604 may travel to the destination of the owner 616, and after the owner 616 gets off, may travel based on the demand of another user 617.
  • FIGS. 11 to 14 an example of a vehicle that is automatically controlled to travel is shown with reference to FIGS. 11 to 14.
  • the vehicle may be created based on a standard having the following configuration.
  • doors There is a demand for reasonable transportation that can be used as TO doors, can be used for personal purposes such as securing a personal space, can eliminate traffic congestion, and is reasonably priced.
  • the small personal wheeled vehicle includes a drive mechanism that generates a driving force of the vehicle, a traveling direction changing mechanism for changing the traveling direction, and a braking mechanism that generates a braking force of the vehicle.
  • the small personal wheeled vehicle is equipped with a control device that controls a drive mechanism, a traveling direction changing mechanism, and a braking mechanism.
  • the small personal wheeled vehicle has an operating device that is electrically connected to the control unit. The control device controls the driving force, the traveling direction, and the braking force of the small personal wheeled vehicle based on the electric signal input from the operating device.
  • the control device includes a vehicle control device that controls the driving force, the direction of travel, and the braking force of the small personal wheeled vehicle.
  • the vehicle control device is electrically connected to a drive mechanism, a traveling direction changing mechanism, and a braking mechanism.
  • the control device includes an automatic driving control device for automatically driving a small personal wheeled vehicle.
  • the autonomous driving control device is electrically connected to the vehicle control device.
  • the small personal wheeled vehicle has various sensors necessary for the automatic driving of the vehicle.
  • the various sensors are electrically connected to the control device. Some of the various sensors are electrically connected to the automatic driving control device. Some of the various sensors are electrically connected to the vehicle control device.
  • the various sensors are electrically connected to the automatic driving control device and the vehicle control device.
  • the automatic driving control device and the vehicle control device may be configured as two parts having independent housings.
  • the automatic driving control device and the vehicle control device may be configured as one component housed in one housing.
  • the cabin may be configured to have an automatic driving control device.
  • the cabin may be configured to have a vehicle control device.
  • the chassis may be configured to have a vehicle control device.
  • the chassis may be configured to have an automatic driving control device.
  • the small personal wheeled vehicle is, for example, a vehicle smaller than a bus.
  • a small personal wheeled vehicle is, for example, a vehicle having a passenger capacity of less than 10.
  • a vehicle (wheeled vehicle) has a capacity of two or less in the left-right direction and a total capacity of four or less.
  • the small personal wheeled vehicle has, for example, a vehicle having a size of 2000 mm or less in the left-right direction.
  • the small personal wheeled vehicle is, for example, a vehicle having a size of 1500 mm or less in the left-right direction and a footprint of 4.4 m2 or less.
  • a small personal wheeled vehicle is, for example, a vehicle having a sit-in type seat.
  • the small personal wheeled vehicle is, for example, a vehicle that can be driven by an engine, a vehicle that can be driven by an electric motor, and a vehicle that can be driven by an engine and an electric motor.
  • the power source of the small personal wheeled vehicle is not particularly limited.
  • the small personal wheeled vehicle is, for example, an off-road type or an on-road type vehicle.
  • the small personal wheeled vehicle is, for example, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle.
  • the control device is configured so that a plurality of types of operating devices having different input operations can be electrically connected to at least one instruction of generating a driving force, changing a traveling direction, and generating a braking force. This allows the driver to choose the operating device and be more personalized.
  • the control device is electrically connected to one of a plurality of types of operating devices having different input operations, and is driven by a small personal wheeled vehicle based on an electric signal input from the operating device. Control the direction and braking force.
  • the control device is electrically connected to a plurality of types of operating devices having different input operations in a prioritized state, and an electric signal input from the operating device based on the priority.
  • Multiple types of operating devices with different input operations used a steering handle that can rotate 360 degrees or more, a steering handle that rotates within a range of less than 180 degrees (bar, gun grip type), and switches such as those used in game consoles.
  • touch-type input devices such as controllers, smartphones, tablets, and mouse pads, and non-contact input devices that recognize and input joystick controllers or driver gestures.
  • the control device may change the running specifications or performance of the small personal wheeled vehicle according to a plurality of types of operating devices having different input operations. For example, if the operating device is a joystick controller, the controller can also set the maximum speed lower than normal.
  • the operating device may be mounted on a small personal wheeled vehicle.
  • the operating device may be configured to be removable and attachable to a small personal wheeled vehicle.
  • the small personal wheeled vehicle is configured to be operable on multiple operating devices with different input behavior.
  • the small personal wheeled vehicle may be configured to be operable with an operating device outside the vehicle that is not inside the vehicle.
  • the control device is configured to be electrically connectable to operating devices outside the vehicle that are not inside the vehicle.
  • the control device transmits data on the vehicle condition and the surrounding condition of the vehicle acquired by a plurality of sensors to the operating device.
  • the driver outside the vehicle operates the operating device based on the conditions of the vehicle and the surroundings of the vehicle. This allows the driver to steer the small personal wheeled vehicle, for example, while at home or in the office, to move the small personal wheeled vehicle to the destination. Therefore, it is possible to reduce the time consumption of the driver, for example, the waiting time between the pick-up and drop-off of the family. Further, for example, a remote control agency service can be provided at a reasonable price.
  • the control device is configured so that a centralized control device that centrally controls multiple small personal wheeled vehicles traveling on a dedicated road for small personal wheeled vehicles that meet a predetermined standard can be electrically connected. Wheel.
  • the control device controls the driving force, the traveling direction, and the braking force of the small personal wheeled vehicle based on the electric signal input from the control device.
  • the control device is based on an electrical signal input from an operating device operated by a driver inside the vehicle, or to an electrical signal input from an operating device operated by a driver outside the vehicle.
  • the driving force, traveling direction and braking force of the small personal wheeled vehicle are controlled.
  • a small personal wheeled vehicle that meets a predetermined standard travels on a dedicated road for traveling and is centrally controlled, so that the control device can be simplified.
  • the driver inside the vehicle or the driver outside the vehicle drives the vehicle, which makes the control device for automatic driving mounted on the small personal wheeled vehicle simpler.
  • a small personal wheeled vehicle that meets the specified standards is a small personal wheeled vehicle that is limited to a certain range of vehicle specifications such as vehicle size and drive source output so that centralized control can be performed easily. ..
  • the small personal wheeled vehicle according to the present disclosure does not have to be a vehicle of the same manufacturer.
  • the small personal wheeled vehicle according to the present disclosure may satisfy a predetermined standard even if it is a vehicle of a different manufacturer.
  • the specifications (performance) of the small personal wheeled vehicle according to the present disclosure include, for example, a maximum speed of 45 to 60 km / h, an acceleration of 0 to 50 km / h within 10 seconds, and 50 when controlled by centralized control.
  • the deceleration from to 0 km / h satisfies within 5 seconds.
  • the specifications (size) of the small personal wheeled vehicle according to the present disclosure for example, it is conceivable that the size of the vehicle in the left-right direction is 1500 mm or less and the footprint is 4.4 m2 or less.
  • Dedicated roads for small personal wheeled vehicles that meet the specified standards are prohibited from running on general vehicles, manually driven vehicles, human-powered bicycles, etc. other than the small personal wheeled vehicles that meet the specified standards mentioned above. It is a road that has been used.
  • the centralized control device is provided with a mechanism to certify that the small personal wheeled vehicle that meets the specified standards is a small personal wheeled vehicle that is permitted to drive when traveling on a dedicated road for traveling. Is also good.
  • an authentication module in which an authentication digital key is stored may be mounted on a small personal wheeled vehicle.
  • the authentication module is electrically connected to the communication unit of the control device and can communicate with the centralized control device. This communication allows small personal wheeled vehicles to enter the private road.
  • a device for measuring the size of a vehicle may be provided on a dedicated road for a small personal wheeled vehicle that meets a predetermined standard to travel.
  • the ADAS of the small personal wheeled vehicle, the presence / absence of the sensor and the actuator required for automatic operation, and the operating status may be checked, and if a predetermined check item is satisfied, the permission may be given.
  • the centralized control device may acquire maintenance information and vehicle inspection information of the small personal wheeled vehicle, and based on the information, permit the small personal wheeled vehicle to enter the dedicated road.
  • the centralized control device acquires maintenance information and / or vehicle inspection information for small personal wheeled vehicles, and based on that information, proposes information that encourages appropriate maintenance and information on services to vehicle owners and drivers. You may.
  • the centralized control device may be configured to be able to communicate with the diagnostic device mounted on the small personal wheeled vehicle.
  • Each vehicle may self-diagnose with a diagnostic device while traveling, and the centralized control device may control each vehicle according to the degree of failure.
  • the status of the dedicated road or other small personal wheeled vehicle for the small personal wheeled vehicle that meets the specified standards to run can be monitored. You may. For example, it is possible to monitor the road surface condition and find obstacles on the road.
  • the unevenness of the road surface can be monitored by an imaging device such as a camera. It can also be monitored by the condition of the wheels.
  • the device for monitoring may be provided on a dedicated road for a small personal wheeled vehicle that meets a predetermined standard to travel. The information acquired in this way can be used for centralized control of vehicles. This enables more efficient vehicle control.
  • the small personal wheeled vehicle may be mechanically connected to other small personal wheeled vehicles while driving. After the connection, the leading small personal wheeled vehicle may be controlled to pull the other small personal wheeled vehicles that follow.
  • a plurality of small personal wheeled vehicles may be platooned by electrical connection instead of mechanical connection. The small personal wheeled vehicle can adjust the amount of energy it carries while driving.
  • the amount of energy can be adjusted between the connected vehicles.
  • the energy of the small personal wheeled vehicle is located between the energy supply device installed on the dedicated road for the small personal wheeled vehicle that meets the specified standards and the energy replenishment device mounted on the small personal wheeled vehicle. Can be replenished.
  • a form such as non-contact power supply or contact power supply can be adopted.
  • the dedicated road for the small personal wheeled vehicle that meets the predetermined standard can be elevated.
  • each element such as piers, road surfaces, and fences, the scale of dedicated roads can be easily changed according to changes in the city. In addition, maintenance can be easily performed.
  • each module by configuring each module with metal or resin instead of concrete, the scale of the dedicated road can be changed more easily. Maintenance can also be performed more easily.
  • the dedicated road for the small personal wheeled vehicle that meets the predetermined standard can be formed in a loop shape. As a result, centralized control can be performed more easily.
  • a dedicated road for a small personal wheeled vehicle that meets a predetermined standard may be connected to a non-dedicated road.
  • the centralized control device described above has a function of controlling the operation of the small personal wheeled vehicle and a function of centrally managing and controlling information about the small personal wheeled vehicle or its driver. However, the centralized control system need not have the function of controlling the operation of the small personal wheeled vehicle.
  • the centralized control system need not have the ability to centrally manage and control information about the small personal wheeled vehicle or its driver.
  • the centralized control system does not have to exist. Equivalent functions may be distributed in each small personal wheeled vehicle. Examples of the small personal wheeled vehicle according to the embodiment of the present disclosure include the following vehicles.
  • a driver who can automatically drive a dedicated road for a small personal wheeled vehicle that meets the specified standards can drive a driver who is on a general-purpose road inside the vehicle, and is outside the vehicle.
  • Small personal wheeled vehicle that can be driven or [Small personal wheeled vehicle that can automatically drive a dedicated road for a small personal wheeled vehicle that meets the specified standards, and can be driven by a driver who is on a general-purpose road inside the vehicle] or [Small personal wheeled vehicle that can automatically drive on a dedicated road for a small personal wheeled vehicle that meets the specified standards, and can be driven by a driver outside the vehicle].
  • small personal wheeled vehicles that meet the prescribed standards run on dedicated roads for driving, so they are necessary for autonomous driving compared to vehicles that can automatically drive general-purpose roads that are mixed traffic.
  • the control device can be simplified.
  • on general-purpose roads other than private roads the driver who is on the inside of the vehicle or the driver who is outside the vehicle drives, so it is smaller than a vehicle that can automatically drive a general-purpose road that is mixed traffic.
  • the control device for autonomous driving mounted on the personal wheeled vehicle can be further simplified.
  • the small personal wheeled vehicle is also configured to be able to automatically drive on general-purpose roads, and on general-purpose roads, the driver who is on the inside of the vehicle or outside the vehicle drives or automatically drives. May be configured to be selectable.
  • a small personal wheeled vehicle and a small personal wheeled vehicle control device that can be used as a door to a door, can be used personally such as securing a personal space, can eliminate traffic congestion, and are reasonably priced. It is possible to reduce the time spent by the driver for driving and to provide a reasonable small personal wheeled vehicle and a small personal wheeled vehicle control device.
  • a vehicle control device that controls the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
  • a part of the sensors required for automatic driving and an automatic driving control device for controlling automatic driving are provided in the cabin.
  • the vehicle control device is provided on the chassis.
  • the cabin is configured to be replaceable with respect to the chassis.
  • the cabin is configured to be mechanically connectable and disconnected from the chassis.
  • FIG. 11 shows a small personal wheeled vehicle, an operating device outside the vehicle that does not exist inside the vehicle, a dedicated road for the small personal wheeled vehicle that meets a predetermined standard, and a general-purpose road other than the dedicated road. Represents.
  • the small personal wheeled vehicle X1 has a chassis X2 and a cabin X3.
  • the chassis X2 includes a control device X4, a drive mechanism X5, a traveling direction changing mechanism X6, a braking mechanism X7, a front right wheel X9FRi, a front left wheel X9FL, a rear right wheel X9ReRi and a rear left wheel X9ReL.
  • the control device X4 includes a vehicle control device X4A and an automatic driving control device X4B.
  • the vehicle control device X4A is electrically connected to the automatic driving control device X4B.
  • a part X13 of various sensors is electrically connected to the control device X4.
  • a part X13 of various sensors is electrically connected to the vehicle control device X4A.
  • a part X13 of various sensors is electrically connected to the automatic operation control device X4B.
  • sensors other than some of the various sensors X13 may be provided in the small personal wheeled vehicle X1.
  • the control device X4 is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
  • the vehicle control device X4A is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
  • the automatic operation control device X4B is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
  • the cabin X3 has an internal operating device X8IN, a front right seat XFRi, a front left seat XFL, a rear right seat XReRi and a rear left seat ReL provided inside the vehicle.
  • the cabin X3 has a part X13 of various sensors.
  • the cabin X3 has an automatic driving control device X4B.
  • the internal operating device X8IN is electrically connected to the control device X4.
  • the internal operating device X8IN has a steering handle X8INA that can rotate 360 degrees or more.
  • the external operating device X8OUT has an antenna X8OUT1 and a steering handle X8OUTA that can rotate 360 degrees or more.
  • the external operating device X8OUT is wirelessly electrically connected to the control device X4 of the small personal wheeled vehicle X1.
  • the small personal wheeled vehicle X1 is electrically connected to the centralized control device X11 and is centrally controlled by the centralized control device X11.
  • the centralized control device X11 has an antenna X111.
  • the centralized control device X11 is electrically connected to the control device X4 of the small personal wheeled vehicle X1 by radio.
  • the small personal wheeled vehicle X1 travels on a dedicated road X12E for the small personal wheeled vehicle to travel, a dedicated road boarding / alighting station X12S provided on the dedicated road X12E, and a general-purpose road X12G other than the dedicated road X12E.
  • the dedicated road X12E for the small personal wheeled vehicle to travel and the dedicated road boarding / alighting station X12S provided on the dedicated road X12E are shown by thick lines.
  • General-purpose roads X12G other than the dedicated road X12E are indicated by thin lines.
  • the form of the electrical connection may be either a wired connection type or a wireless connection type. It is not limited to a specific format as long as the electrical connection is satisfied.
  • the wireless format may be any format that allows electrical connection.
  • the format of the radio is not limited to any particular format.
  • FIG. 12 shows a small personal wheeled vehicle according to another embodiment of the present disclosure.
  • the cabin X3 is configured to be mechanically connectable / non-connectable to the chassis X2.
  • the cabin X3 has a part X13 of various sensors.
  • the cabin X3 has an automatic driving control device X4B.
  • the cabin X3 has an internal operating device X8IN.
  • the chassis X2 includes a vehicle control device X4A, a drive mechanism X5, a traveling direction changing mechanism X6, and a braking mechanism X7.
  • the cabin X3 is configured to be mechanically connectable / non-connectable to the chassis X2.
  • the cabin X3 is configured to be replaceable with respect to the chassis X2.
  • the automatic operation control device X4B is configured to be electrically connectable / non-connectable to the control device X4.
  • the automatic operation control device X4B is configured to be replaceable with respect to the control device X4.
  • the automatic driving control device X4B is configured to be electrically connectable / non-connectable to the vehicle control device X4A.
  • the automatic driving control device X4B is configured to be replaceable with respect to the vehicle control device X4A.
  • the automatic operation control device X4B is configured to be electrically connectable / non-connectable to the control device X4.
  • the automatic operation control device X4B is configured to be replaceable with respect to the control device X4.
  • a part X13 of various sensors is configured to be electrically connectable / non-connectable to the control device X4.
  • a part X13 of various sensors is configured to be replaceable with respect to the control device X4.
  • the vehicle control device and the chassis X2 that control the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
  • FIG. 13 shows a specific example of an operating device.
  • the automatic operation control device X4B is configured to be replaceable with respect to the cabin X3.
  • a part X13 of various sensors is configured to be replaceable with respect to the cabin X3.
  • the removable operating device X8INOUT is configured to be replaceable with respect to cabin X3.
  • the vehicle control device and the chassis X2 that control the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
  • FIG. 14 shows a specific example of an operating device.
  • the removable operating device X8INOUT has an antenna X8INOUT1 (see FIG. 11).
  • the removable operating device X8INOUT can be electrically connected to the control device X4 of the small personal wheeled vehicle X1 (see FIG. 11).
  • Detachable operating devices X8INOUTA include, for example, a steering handle X8INOUTA that can rotate 360 degrees or more, a steering handlebar X8INOUTB that rotates in a range of less than 180 degrees, a controller X8INOUTC that uses a switch as used in game consoles, and a smartphone / tablet.
  • -It can be configured to have a contact type input device X8INOUTD for touching and inputting like a mouse pad, a joystick controller X8INOUTE, or a non-contact type input device X8INOUTF for recognizing and inputting a driver's gesture.
  • Autonomous driving control system 10 Autonomous driving road management device 20-23, 501, 502, 601-604 Vehicles 30, 55, 65 Autonomous driving road 40, 56, 57, 66, 67 General roads 201, 211 Automatic driving control device

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Abstract

The objective of the present invention is to provide a dedicated road management device for managing the entry of vehicles from an ordinary road onto a dedicated road of which at least a portion is formed as a dual-track road, with which the scale of equipment on the dedicated road can be limited, and with which convenience can be improved and transportation volume can be increased. An automated driving dedicated road management device according to the present invention manages entry of vehicles from an ordinary road onto an automated-driving dedicated road of which at least a portion is formed as a dual-track road. The automated-driving dedicated road management device permits the vehicle to enter the automated-driving dedicated road if it is confirmed that the vehicle attempting to enter the automated-driving dedicated road is a vehicle for both automated and manual driving which (i) has a vehicle width of less than 7 feet, (ii) on ordinary roads, is driven manually by a user, and (iii) on automated-driving dedicated roads, is prohibited from being driven manually by the user and is driven automatically on the basis of a summons and/or a destination demand by the user, and the automated-driving dedicated road management device prohibits the vehicle from entering the automated-driving dedicated road if it is not confirmed that the vehicle attempting to enter the automated-driving dedicated is a vehicle for both automated and manual driving road satisfying (i) to (iii) above.

Description

自動運転専用道路管理装置Road management device for autonomous driving
　本発明は、自動運転専用道路管理装置に関する。 The present invention relates to a road management device dedicated to autonomous driving.
　現在、自動車の様々な自動運転の方法が提案されている。例えば、自動運転専用道路（以下、専用道路とする）を建設し、専用道路で自動運転機能を有する自動運転専用車両（以下、専用車両とする）を運行させる。また、一般道路では、手動運転可能な一般車両（以下、一般車両とする）が手動運転により走行する。ここで、一般車両が、専用道路に進入することができるようにする、専用道路の車両運行方法及び車両運行システムが提案されている（例えば特許文献１）。 Currently, various automatic driving methods for automobiles have been proposed. For example, a road dedicated to autonomous driving (hereinafter referred to as a dedicated road) is constructed, and a vehicle dedicated to autonomous driving (hereinafter referred to as a dedicated vehicle) having an automatic driving function is operated on the dedicated road. Further, on a general road, a general vehicle that can be manually driven (hereinafter referred to as a general vehicle) travels by manual driving. Here, a vehicle operation method and a vehicle operation system for a dedicated road have been proposed so that a general vehicle can enter the dedicated road (for example, Patent Document 1).
　特許文献１に記載の専用道路では、専用道シャトルバス及び専用道トラック等の専用車両が、定時運行により走行している。ここで、専用道路は、少なくとも一部が複線になるように形成されている。また、特許文献１において、一般道路には、市中バス、デマンドバス、タクシー、ハイヤー及び乗用車等の複数種類の車両が手動運転により走行している。このような場合、一般道路を手動運転により走行する一般車両が自動運転専用道路に進入することで、自動運転専用道路上には、自動運転専用車両と一般車両が混在することになる。特許文献１においては、バス及びトラック等である専用車両の定時運行を妨げないように、複数種類の一般車両の専用道路への進入が管理される。 On the dedicated road described in Patent Document 1, dedicated vehicles such as a dedicated road shuttle bus and a dedicated road truck are running on time. Here, the private road is formed so that at least a part of it is double-tracked. Further, in Patent Document 1, a plurality of types of vehicles such as a city bus, a demand bus, a taxi, a hire, and a passenger car are manually driven on a general road. In such a case, a general vehicle traveling on a general road by manual driving enters the automatic driving exclusive road, so that the automatic driving exclusive vehicle and the general vehicle coexist on the automatic driving exclusive road. In Patent Document 1, the entry of a plurality of types of general vehicles into a dedicated road is controlled so as not to interfere with the scheduled operation of dedicated vehicles such as buses and trucks.
特開２００３－０３０７８２号公報Japanese Unexamined Patent Publication No. 2003-030782
　特許文献１においては、バス及びトラック等である専用車両が定時運行される専用道路への複数種類の一般車両の進入を管理することで、利便性の向上と搬送量の増大を図っている。しかしながら、バス及びトラック等である専用車両が定時運行され、かつ、複数種類の一般車両が進入する専用道路の設備規模は非常に大きい。本発明の目的は、専用道路の設備規模を抑制でき、利便性の向上と搬送量の増大をできる、少なくとも一部が複線となるように形成された専用道路に、車両が一般道路から進入することを管理する、専用道路管理装置を提供することである。 Patent Document 1 aims to improve convenience and increase the amount of transportation by managing the entry of a plurality of types of general vehicles into a dedicated road on which dedicated vehicles such as buses and trucks are operated on a regular basis. However, the scale of equipment on dedicated roads, where dedicated vehicles such as buses and trucks are operated on time and a plurality of types of general vehicles enter, is very large. An object of the present invention is to allow a vehicle to enter a dedicated road formed so as to have at least a part of a double track, which can suppress the equipment scale of the dedicated road, improve convenience and increase the transportation amount, from a general road. It is to provide a dedicated road management device that manages things.
　ここで本発明者らは、自動運転専用道路に、車両が一般道路から進入することを管理することについて以下を検討した。自動運転専用道路に進入する車両が、一定の要件を満たすと確認された車両である場合には、当該車両が一般道路から自動運転専用道路に進入することを許可する。これに対し、自動運転専用道路に進入する車両が、ある一定の要件を満たすと確認されない車両である場合には、当該車両が一般道路から自動運転専用道路に進入することを禁止する。 Here, the present inventors have examined the following regarding the control of vehicles entering the autonomous driving exclusive road from the general road. If the vehicle entering the autonomous driving road is a vehicle that has been confirmed to meet certain requirements, the vehicle is permitted to enter the autonomous driving road from the general road. On the other hand, if the vehicle entering the autonomous driving exclusive road is a vehicle that is not confirmed to meet certain requirements, the vehicle is prohibited from entering the autonomous driving exclusive road from the general road.
　ここで、一定の要件とは、具体的には、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両である。（ｉ）車幅が７フィート未満である。（ｉｉ）一般道路において、ユーザにより手動運転で運転される。（ｉｉｉ）自動運転専用道路において、ユーザによる手動運転が禁止され、ユーザのデマンドに基づいて自動運転される。自動運転専用道路に進入することを許可される車両が、上記要件（ｉ）～（ｉｉｉ）を満たすようにすることにより、専用道路の設備規模を抑制できる。また、上記要件（ｉ）～（ｉｉｉ）を満たす車両は、利便性が良く、自動運転専用道路において搬送量を増大できるようになる。 Here, a certain requirement is, specifically, a vehicle for both automatic / manual driving that satisfies the following (i) to (iii). (I) The vehicle width is less than 7 feet. (Ii) The user manually drives the vehicle on a general road. (Iii) On a road dedicated to automatic driving, manual driving by the user is prohibited, and automatic driving is performed based on the user's demand. By ensuring that vehicles permitted to enter the autonomous driving exclusive road satisfy the above requirements (i) to (iii), the equipment scale of the exclusive road can be suppressed. Further, the vehicles satisfying the above requirements (i) to (iii) are convenient, and the amount of transportation can be increased on the autonomous driving exclusive road.
　以上の知見に基づいて完成した本発明の自動運転専用道路管理装置は、次の構成を備える。
　（１）少なくとも一部が複線となるように形成され自動運転される車両のみが走行する自動運転専用道路に、前記自動運転専用道路とは異なる一般道路から車両が進入することを管理する、自動運転専用道路管理装置であって、
　前記自動運転専用道路管理装置は、
　前記自動運転専用道路に進入しようとする前記車両が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認された場合、前記車両の自動運転専用道路への進入を許可し、
　前記自動運転専用道路に進入しようとする前記車両が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認されない場合は、前記車両の前記自動運転専用道路への進入を禁止し、
　前記（ｉ）～（ｉｉｉ）は、
　（ｉ）７フィート未満の車幅を有し、
　（ｉｉ）前記一般道路において、前記車両のユーザにより手動運転で運転され、
　（ｉｉｉ）前記自動運転専用道路において、前記ユーザによる手動運転が禁止され、ユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。 The road management device for autonomous driving of the present invention completed based on the above findings has the following configurations.
(1) Autonomous driving that manages the entry of vehicles from a general road different from the above-mentioned autonomous driving exclusive road into an automatic driving exclusive road in which at least a part of the vehicle is formed to be a double line and only vehicles that are automatically driven travel. It is a driving-only road management device
The road management device dedicated to autonomous driving
When it is confirmed that the vehicle trying to enter the autonomous driving exclusive road is a vehicle for both automatic / manual driving satisfying the following (i) to (iii), the vehicle enters the autonomous driving exclusive road. Allow and
If it is not confirmed that the vehicle trying to enter the autonomous driving exclusive road is an automatic / manual driving combined vehicle satisfying the following (i) to (iii), the vehicle enters the autonomous driving exclusive road. Ban,
The above (i) to (iii) are
(I) With a vehicle width of less than 7 feet
(Ii) On the general road, the user of the vehicle manually drives the vehicle.
(Iii) On the automatic driving exclusive road, manual driving by the user is prohibited, and automatic driving is performed based on a call by the user and / or the demand of the destination.
　上記構成の自動運転専用道路管理装置は、一般道路から自動運転専用道路に車両が進入することを管理する。上記構成において、自動運転専用道路は、自動運転される車両のみが走行する道路である。自動運転専用道路は、少なくとも一部が複線となるように形成されている。上記構成の自動運転専用道路管理装置は、一般道路から自動運転専用道路に進入する車両が、（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認された場合、当該車両の自動運転専用道路への進入を許可する。これに対し、一般道路から自動運転専用道路に進入する車両が、（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認されない場合は、当該車両の前記自動運転専用道路への進入を禁止する。
　ここで、（ｉ）～（ｉｉｉ）のそれぞれは、以下のとおりである。
　（ｉ）は、７フィート未満の車幅を有する車両である。
　（ｉｉ）は、一般道路において、車両のユーザにより手動運転で運転される車両である。
　（ｉｉｉ）は、自動運転専用道路において、ユーザによる手動運転が禁止され、ユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。 The autonomous driving road management device having the above configuration manages the entry of a vehicle from a general road into an autonomous driving road. In the above configuration, the autonomous driving exclusive road is a road on which only vehicles that are autonomously driven travel. The self-driving road is formed so that at least a part of it is double-tracked. When it is confirmed that the vehicle entering the autonomous driving exclusive road from the general road is an automatic / manual driving combined vehicle satisfying (i) to (iii), the autonomous driving exclusive road management device having the above configuration is the vehicle. Allow entry into the autonomous driving road. On the other hand, if it is not confirmed that the vehicle entering the autonomous driving exclusive road from the general road is an automatic / manual driving combined vehicle satisfying (i) to (iii), the vehicle goes to the autonomous driving exclusive road. Prohibit the entry of.
Here, each of (i) to (iii) is as follows.
(I) is a vehicle having a vehicle width of less than 7 feet.
(Ii) is a vehicle manually driven by a user of the vehicle on a general road.
(Iii) is prohibited from manual driving by the user on the autonomous driving exclusive road, and is automatically driven based on the call by the user and / or the demand of the destination.
　上記構成において、（ｉ）を満たす車両は、バス及びトラック等に比べて、小型の車両である。車両は７フィート未満の車幅を有する。（ｉｉ）及び（ｉｉｉ）を満たす車両は、自動運転及び手動運転双方が可能であり、一般道路及び自動運転専用道路において兼用することができる車両である。また、車両は（ｉｉｉ）を満たすことにより、自動運転による精密な位置制御で車幅に対し小さな余裕のみを有する領域を走行することができる。このため、（ｉ）及び（ｉｉｉ）を満たす車両は、例えば、バス及びトラックが走行するような道路の幅に２台並んで走行することが可能である。つまり、バス及びトラックが走行するような領域に複線を配置することができる。（ｉｉｉ）を満たす車両は、ユーザによる呼出し及び／又は目的地のデマンドに基づいて運転される。従って、（ｉｉｉ）を満たすことにより、車両をユーザが呼び出すことが可能であるため、待ち時間を短縮することができる。また、（ｉｉｉ）を満たすことにより、ユーザが途中下車することなく目的地に向かうことができ、速達性を有することができる。このため、例えば、時刻表に従う運行のような、ユーザのデマンドに対応しない車両が自動運転専用道路を占有する事態が抑えられる。従って、（ｉ）～（ｉｉｉ）を満たす車両のみを自動運転専用道路に走行させることにより、自動運転専用道路への設備規模を抑えることができる。車両が小型であり、また、自動運転による精密な走行位置制御ができるため、自動運転専用道路を小規模にとどめておくことができるからである。 In the above configuration, the vehicle satisfying (i) is a smaller vehicle than a bus, a truck, or the like. The vehicle has a width of less than 7 feet. The vehicles satisfying (ii) and (iii) are capable of both automatic driving and manual driving, and can be used for both general roads and automatic driving exclusive roads. Further, by satisfying (iii), the vehicle can travel in a region having only a small margin with respect to the vehicle width by precise position control by automatic driving. Therefore, two vehicles satisfying (i) and (iii) can travel side by side in the width of the road on which, for example, a bus and a truck travel. That is, the double track can be arranged in the area where the bus and the truck travel. Vehicles satisfying (iii) are driven based on user calls and / or destination demands. Therefore, by satisfying (iii), the user can call the vehicle, so that the waiting time can be shortened. Further, by satisfying (iii), the user can go to the destination without getting off the vehicle on the way, and can have express delivery. For this reason, it is possible to prevent a vehicle that does not meet the user's demand from occupying the autonomous driving exclusive road, such as operation according to a timetable. Therefore, by driving only the vehicles satisfying (i) to (iii) on the autonomous driving exclusive road, the scale of equipment on the autonomous driving exclusive road can be suppressed. This is because the vehicle is small and the driving position can be precisely controlled by automatic driving, so that the road dedicated to automatic driving can be kept small.
　また、上記構成において、一般道路から自動運転専用道路に進入する車両が、（ｉ）～（ｉｉｉ）の要件を満たしている。従って、自動運転専用道路において走行を許可される車両は、小型で、一般道路を走行することができ、且つオンデマンドで自動運転専用道路を走行することができる。これにより、待ち時間を短縮でき速達性を有する利便性が良い車両を自動運転専用道路において走行させることができ、自動運転専用道路における車両の搬送量を増大することができる。 Further, in the above configuration, the vehicle entering the autonomous driving exclusive road from the general road satisfies the requirements (i) to (iii). Therefore, the vehicle permitted to travel on the autonomous driving exclusive road is small and can travel on the general road, and can travel on the autonomous driving exclusive road on demand. As a result, the waiting time can be shortened, and a convenient vehicle having express delivery can be driven on the autonomous driving exclusive road, and the amount of the vehicle transported on the autonomous driving exclusive road can be increased.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（２）　（１）の自動運転専用道路管理装置であって、
　前記自動運転専用道路管理装置は、出荷時及び検査時の検査により前記（ｉ）～（ｉｉｉ）を満たすと判定された車両の車両ＩＤが登録され、
　前記自動運転専用道路管理装置は、
前記自動運転専用道路に進入しようとする前記車両の車両ＩＤが、登録された車両の車両ＩＤと一致した場合に、前記車両の自動運転専用道路への進入を許可し、
前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両の車両ＩＤと一致しない場合に、前記車両の前記自動運転専用道路への進入を禁止する。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(2) The road management device dedicated to autonomous driving in (1).
In the road management device dedicated to autonomous driving, the vehicle ID of the vehicle determined to satisfy the above (i) to (iii) by the inspection at the time of shipment and at the time of inspection is registered.
The road management device dedicated to autonomous driving
When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road does not match the vehicle ID of the registered vehicle, the entry of the vehicle into the autonomous driving exclusive road is prohibited.
　本構成によれば、車両は、出荷時及び検査時の検査により（ｉ）～（ｉｉｉ）を満たすか否か検査される。出荷時及び検査時の検査により（ｉ）～（ｉｉｉ）を満たすと判定された車両の車両ＩＤは、自動運転専用道路管理装置に登録される。これにより、自動運転専用道路管理装置は、自動運転専用道路に進入しようとする車両の車両ＩＤが登録されてある車両ＩＤと一致するか否かを確認することで、（ｉ）～（ｉｉｉ）を満たす車両か否かを確認することができる。従って、簡単且つ確実な方法により自動運転専用道路に走行させることができる車両を判定できるため、自動運転専用道路の設備規模を抑えることができる。また、（ｉ）～（ｉｉｉ）の要件を満たしている車両に自動運転専用道路において走行を許可するため、利便性が良い車両を自動運転専用道路において走行させることができ、自動運転専用道路における車両の搬送量を増大することができる。 According to this configuration, the vehicle is inspected to see if it satisfies (i) to (iii) by inspection at the time of shipment and at the time of inspection. The vehicle ID of the vehicle determined to satisfy (i) to (iii) by the inspection at the time of shipment and at the time of inspection is registered in the road management device dedicated to autonomous driving. As a result, the autonomous driving exclusive road management device confirms whether or not the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the registered vehicle ID, thereby (i) to (iii). It is possible to confirm whether or not the vehicle meets the requirements. Therefore, since it is possible to determine a vehicle that can be driven on the autonomous driving exclusive road by a simple and reliable method, it is possible to suppress the equipment scale of the autonomous driving exclusive road. Further, since the vehicles satisfying the requirements (i) to (iii) are allowed to travel on the autonomous driving exclusive road, a convenient vehicle can be allowed to travel on the autonomous driving exclusive road, and the autonomous driving exclusive road can be used. The amount of transportation of the vehicle can be increased.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（３）　（２）の自動運転専用道路管理装置であって、
　前記自動運転専用道路管理装置は、
出荷時及び検査時の検査により下記（ｉｖ）を満たすと判定された車両の車両ＩＤが登録され、
前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両の車両ＩＤと一致した場合に、前記車両の自動運転専用道路への進入を許可し、
前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両ＩＤと一致しない場合に、前記車両の前記自動運転専用道路への進入を禁止し、
　前記（ｉｖ）は、
　（ｉｖ）自動運転による車両の制御の精度が前記自動運転専用道路を走行可能な基準を満たす。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(3) The road management device dedicated to autonomous driving in (2).
The road management device dedicated to autonomous driving
The vehicle ID of the vehicle determined to satisfy the following (iv) by inspection at the time of shipment and inspection is registered.
When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
When the vehicle ID of the vehicle trying to enter the autonomous driving road does not match the registered vehicle ID, the vehicle is prohibited from entering the autonomous driving road.
The above (iv) is
(Iv) The accuracy of vehicle control by automatic driving satisfies the standard for driving on the automatic driving exclusive road.
　本構成によれば、車両は、出荷時及び検査時の検査により、自動運転による車両の制御の精度が前記自動運転専用道路を走行可能な基準を満たすか否かを検査される。事前検査により前記自動運転専用道路を走行可能な基準を満たす車両の車両ＩＤは、自動運転専用道路管理装置に記録される。自動運転専用道路管理装置は、自動運転専用道路に進入しようとする車両の車両ＩＤが、登録されている車両ＩＤと一致するか否かを確認する。これにより、自動運転専用道路に、走行可能な基準を満たす車両のみを進入させ、それ以外の車両を排除することができる。このため、自動運転専用道路で車両が走行する領域を車両の制御の精度に合わせて狭めることができる。従って、利便性の向上と搬送量の増大を図りつつ、専用道路の設備規模をさらに抑制できる。 According to this configuration, the vehicle is inspected by inspection at the time of shipment and at the time of inspection to see if the accuracy of vehicle control by automatic driving meets the criteria for driving on the automatic driving exclusive road. The vehicle ID of the vehicle that meets the criteria for traveling on the autonomous driving exclusive road by the preliminary inspection is recorded in the autonomous driving exclusive road management device. The autonomous driving exclusive road management device confirms whether or not the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the registered vehicle ID. As a result, it is possible to allow only vehicles that meet the driving criteria to enter the autonomous driving exclusive road and exclude other vehicles. Therefore, the area in which the vehicle travels on the road dedicated to autonomous driving can be narrowed according to the accuracy of vehicle control. Therefore, it is possible to further reduce the equipment scale of the exclusive road while improving the convenience and the amount of transportation.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（４）　（１）～（３）の何れか１つの自動運転専用道路管理装置であって、
　前記自動運転専用道路は、前記一般道路との接続部分に自動走行試験ゾーンが設けられ、
　前記自動運転専用道路管理装置は、
　前記自動走行試験ゾーンにおいて、前記自動運転専用道路への進入を許可された前記車両を試験パターンに沿って自動運転走行させることにより、前記試験パターンに沿った自動運転による前記車両の制御の精度が前記自動運転専用道路を走行可能な基準を満たすか否かを検査する自動運転走行検査を行い、
前記自動運転走行検査により制御の精度が前記基準を満たすと判定された車両を、前記自動運転専用道路において走行させ、
前記自動運転走行検査により制御の精度が前記基準を満たさないと判定された車両を、前記自動運転専用道路から退出させる。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(4) A road management device dedicated to automatic driving according to any one of (1) to (3).
The self-driving exclusive road is provided with an automatic driving test zone at a connection portion with the general road.
The road management device dedicated to autonomous driving
In the automatic driving test zone, the vehicle permitted to enter the automatic driving exclusive road is automatically driven according to the test pattern, so that the accuracy of the control of the vehicle by the automatic driving according to the test pattern can be improved. Perform an autonomous driving inspection to check whether or not it meets the criteria for driving on the autonomous driving exclusive road.
A vehicle whose control accuracy is determined to meet the criteria by the automatic driving inspection is driven on the automatic driving exclusive road.
Vehicles whose control accuracy is determined not to meet the criteria by the autonomous driving driving inspection are evacuated from the autonomous driving exclusive road.
　車両が、出荷の後及び検査の後に使用されることにより、自動運転による制御の精度が変化する場合がある。例えば、車両がユーザの手動運転により運転される場合、走行性能はユーザの運転によっても異なる。また、自動運転専用道路への進入時の車両の積載量及び搭乗者数によって、走行性能が変動する場合もある。本構成によれば、車両は、自動運転専用道路に設けられた自動走行試験ゾーンにおいて、試験パターンに沿って自動運転走行させることにより、自動運転による制御の精度が基準を満たすか否か検査される。本検査により、制御の精度が基準を満たさない車両は、自動運転専用道路から退出させる。従って、本構成によれば、自動運転専用道路に、一定水準の自動運転制御性能を持った車両のみを進入させ、それ以外の車両を排除することができるため、自動運転専用道路で車両が走行する領域を車両の制御の精度に合わせて狭めることができる。従って、利便性の向上と搬送量の増大を図りつつ、専用道路の設備規模をさらに抑制できる。 The accuracy of control by autonomous driving may change due to the use of the vehicle after shipping and inspection. For example, when the vehicle is driven by the user's manual driving, the driving performance also differs depending on the user's driving. In addition, the driving performance may vary depending on the load capacity of the vehicle and the number of passengers when entering the autonomous driving exclusive road. According to this configuration, the vehicle is inspected whether or not the accuracy of control by automatic driving meets the standard by automatically driving according to the test pattern in the automatic driving test zone provided on the road dedicated to automatic driving. To. According to this inspection, vehicles whose control accuracy does not meet the standards will be removed from the autonomous driving road. Therefore, according to this configuration, it is possible to allow only vehicles having a certain level of automatic driving control performance to enter the automatic driving exclusive road and exclude other vehicles, so that the vehicle travels on the automatic driving exclusive road. The area to be driven can be narrowed according to the accuracy of vehicle control. Therefore, it is possible to further reduce the equipment scale of the exclusive road while improving the convenience and the amount of transportation.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（５）　（１）～（４）の何れか１つの自動運転専用道路管理装置であって、
　前記自動運転専用道路管理装置は、
前記車両が前記一般道路を走行中に、前記自動運転専用道路における自動運転走行が可能か否かを判定する自動運転事前検査を行い、
前記自動運転専用道路に進入しようとする前記車両が、前記自動運転事前検査により前記自動運転走行が可能であると確認された場合、前記車両の自動運転専用道路への進入を許可し、
前記自動運転専用道路に進入しようとする前記車両が、前記自動運転事前検査により前記自動運転走行が可能でないと確認された場合、前記車両の前記自動運転専用道路への進入を禁止する。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(5) A road management device dedicated to automatic driving according to any one of (1) to (4).
The road management device dedicated to autonomous driving
While the vehicle is traveling on the general road, an automatic driving pre-inspection for determining whether or not automatic driving is possible on the automatic driving exclusive road is performed.
When it is confirmed by the automatic driving pre-inspection that the vehicle trying to enter the automatic driving exclusive road is capable of the automatic driving driving, the vehicle is permitted to enter the automatic driving exclusive road.
When the vehicle trying to enter the automatic driving exclusive road is confirmed by the automatic driving preliminary inspection that the automatic driving driving is not possible, the entry of the vehicle into the automatic driving exclusive road is prohibited.
　自動制御による車両の制御精度は、外形の変更及び搭乗者数によって変化する場合もある。本構成によれば、車両は、一般道路を走行中に、例えば外形及び搭乗者数について外観の検査により、自動運転走行が可能か否か検査される。本構成によれば、自動運転専用道路に、自動運転走行が可能な性能を持った車両のみを進入させ、それ以外の車両を排除することができるため、自動運転専用道路で車両が走行する領域を車両の制御の精度に合わせて狭めることができる。従って、利便性の向上と搬送量の増大を図りつつ、専用道路の設備規模をさらに抑制できる。 The control accuracy of the vehicle by automatic control may change due to changes in the outer shape and the number of passengers. According to this configuration, the vehicle is inspected whether or not it is possible to drive autonomously while traveling on a general road, for example, by inspecting the outer shape and the number of passengers in appearance. According to this configuration, only vehicles having the ability to drive autonomously can enter the autonomous driving road, and other vehicles can be excluded. Therefore, the area where the vehicle travels on the autonomous driving road Can be narrowed according to the accuracy of vehicle control. Therefore, it is possible to further reduce the equipment scale of the exclusive road while improving the convenience and the amount of transportation.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（６）　（１）～（５）の何れか１つの自動運転専用道路管理装置であって、
　前記自動運転専用道路は、前記一般道路との接続箇所に進入用ゲートを有し、
　前記一般道路から前記自動運転専用道路に進入する前記車両が、前記自動運転専用道路への進入を許可された車両である場合、前記進入用ゲートを開く。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(6) A road management device dedicated to automatic driving according to any one of (1) to (5).
The self-driving exclusive road has an entry gate at a connection point with the general road.
When the vehicle entering the autonomous driving exclusive road from the general road is a vehicle permitted to enter the autonomous driving exclusive road, the approach gate is opened.
　本構成によれば、自動運転専用道路は、一般道路との接続箇所に進入用ゲートを有する。進入用ゲートは、一般道路から進入する車両が、自動運転道路への進入を許可された車両である場合、進入用ゲートを開く。従って、本構成によれば、自動運転専用道路への誤進入を防ぐことができる。 According to this configuration, the autonomous driving exclusive road has an entry gate at the connection point with the general road. The approach gate opens the approach gate when the vehicle entering from the general road is a vehicle permitted to enter the autonomous driving road. Therefore, according to this configuration, it is possible to prevent erroneous entry into the road dedicated to autonomous driving.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（７）　（６）の自動運転専用道路管理装置であって、
　前記一般道路は、前記自動運転専用道路との接続箇所の手前において、前記自動運転専用道路管理装置が前記車両の自動運転専用道路への進入を許可するか禁止するかを判定する認証ゾーンを有し、
　前記車両は、前記車両に乗ったユーザの操作によって自動運転の開始を承諾する自動運転開始操作部を有し、
　前記自動運転専用道路管理装置は、前記認証ゾーンにおいて、前記車両の前記自動運転専用道路への進入を許可し、前記車両のユーザにより前記自動運転開始操作部が操作された場合に、前記進入用ゲートを開く。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(7) The road management device for automatic driving according to (6).
The general road has an authentication zone for determining whether the automatic driving road management device permits or prohibits the vehicle from entering the automatic driving road in front of the connection point with the automatic driving road. And
The vehicle has an automatic driving start operation unit that consents to the start of automatic driving by the operation of a user riding the vehicle.
The self-driving dedicated road management device permits the vehicle to enter the self-driving road in the authentication zone, and when the user of the vehicle operates the self-driving start operation unit, the approaching Open the gate.
　本構成によれば、車両が自動運転専用道路に進入を許可され、車両のユーザにより一般道路の認証ゾーンにおいて自動運転開始操作部が操作された場合に、自動運転専用道路管理装置が進入用ゲートを開く。これにより、自動運転専用道路管理装置は、一般道路の認証ゾーンを走行する車両のユーザが、自動運転を承認するか否かの意思を確認することができる。 According to this configuration, when the vehicle is permitted to enter the autonomous driving exclusive road and the automatic driving start operation unit is operated in the authentication zone of the general road by the vehicle user, the autonomous driving exclusive road management device is the entry gate. open. As a result, the autonomous driving dedicated road management device can confirm the intention of the user of the vehicle traveling in the authentication zone of the general road whether or not to approve the autonomous driving.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（８）　（７）の自動運転専用道路管理装置であって、
　前記車両は、前記車両に乗ったユーザの操作によって前記車両の目的地を入力する入力部を備え、
　前記自動運転専用道路管理装置は、更に、前記ユーザにより前記入力部に前記目的地が入力されている場合に、前記進入用ゲートを開く。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(8) The road management device for automatic driving according to (7).
The vehicle includes an input unit for inputting a destination of the vehicle by the operation of a user riding the vehicle.
The self-driving road management device further opens the approach gate when the destination is input to the input unit by the user.
　本構成によれば、車両の運転車が目的地を入力した場合に、自動運転専用道路管理装置は進入用ゲートを開く。従って、車両は、自動運転専用道路において、目的地に向かうためのルートを走行することができる。なお、車両のユーザによる目的地の入力は、自動運転専用道路の進入用ゲートに到着する前であればよく、目的地への走行開始前であってもよいし、目的地への走行開始後であってもよい。 According to this configuration, when the driving vehicle inputs the destination, the autonomous driving road management device opens the approach gate. Therefore, the vehicle can travel on the route to the destination on the self-driving exclusive road. It should be noted that the input of the destination by the user of the vehicle may be before arriving at the approach gate of the autonomous driving exclusive road, before the start of traveling to the destination, or after the start of traveling to the destination. It may be.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（９）　（１）～（８）の何れか１つの自動運転専用道路管理装置であって、
　前記車両は、前記一般道路において前記車両を手動運転で運転し、前記自動運転専用道路において手動運転が禁止されたユーザとは異なるユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(9) A road management device dedicated to automatic driving according to any one of (1) to (8).
The vehicle is manually driven on the general road and is automatically driven based on a call and / or destination demand by a user different from the user prohibited from manual driving on the autonomous driving exclusive road. ..
　本構成によれば、手動／自動運転兼用車両を、シェアリングサービスに使用することができる。本構成の車両をシェアリングサービスに使用することにより、車両を個人で所有している者だけでなく、シェアリングサービスのユーザも、一般道路だけでなく、自動運転専用道路においてオンデマンドによる自動運転を使用することができる。従って、自動運転専用道路の効率的な利用が可能になる。
　このようなシェアリングサービスとして、例えば次のような形態がある。
　前記車両は、総定員が１人以上のシェアリングサービスの車両であり、シェアリングサービスの１又は複数のユーザであって前記車両の定員数以下の人数のユーザを、前記自動運転専用道路及び／又は前記一般道路において出発地から目的地まで運び、
　前記車両の前記出発地は、前記シェアリングサービスの１又は複数のユーザの何れかのユーザの出発地であり、
　前記車両の前記目的地は、前記シェアリングサービスの１又は複数のユーザの何れかのユーザの目的地であり、
　前記車両の前記出発地から前記車両の前記目的地までの前記車両の走行ルートは、前記シェアリングサービスの１又は複数のユーザのそれぞれの出発地及び目的地をすべて含み、前記シェアリングサービスの１又は複数のユーザのそれぞれの出発地から目的地までの走行ルートをすべて含む。 According to this configuration, a vehicle for both manual and automatic driving can be used for the sharing service. By using the vehicle of this configuration for the sharing service, not only the person who owns the vehicle but also the user of the sharing service can automatically drive on demand not only on general roads but also on autonomous driving exclusive roads. Can be used. Therefore, the efficient use of the autonomous driving road becomes possible.
As such a sharing service, for example, there are the following forms.
The vehicle is a vehicle of a sharing service having a total capacity of one or more, and one or a plurality of users of the sharing service and a number of users equal to or less than the capacity of the vehicle can be used on the autonomous driving road and /. Or carry it from the departure point to the destination on the general road
The departure point of the vehicle is the departure point of any user of one or more users of the sharing service.
The destination of the vehicle is the destination of either one or more users of the sharing service.
The traveling route of the vehicle from the departure point of the vehicle to the destination of the vehicle includes all the departure points and destinations of one or a plurality of users of the sharing service, and one of the sharing services. Or, it includes all the traveling routes from the starting point to the destination of each of the plurality of users.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（１０）　（１）～（８）の何れか１つの自動運転専用道路管理装置であって、
　前記車両は、前記一般道路において手動運転で運転され、前記自動運転専用道路において手動運転が禁止されたユーザと同一のユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転され、更に、操作によって、前記ユーザとは異なるユーザによる利用を承認するシェア承認操作部を有する。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(10) A road management device dedicated to automatic driving according to any one of (1) to (8).
The vehicle is manually driven on the general road and is automatically driven and / or operated based on the demand of the same user as the user whose manual driving is prohibited on the automatic driving exclusive road. Has a share approval operation unit that approves the use by a user different from the user.
　本構成によれば、原則として車両を個人所有のように占有することができる。さらに、個人所有の手動／自動運転兼用車両を、シェアリングサービスに使用することができる。本構成の車両をシェアリングサービスに使用することにより、車両を個人で所有している者だけでなく、シェアリングサービスのユーザも、自動運転専用道路において車両を使用することができる。従って、自動運転専用道路の効率的な利用が可能になる。
　このようなシェアリングサービスとして、例えば次のような形態がある。
　前記車両は、総定員が２人以上の車両であり、シェアリングサービスの１又は複数のユーザであって前記車両のユーザ以外の定員数以下の人数のユーザを、前記自動運転専用道路及び／又は前記一般道路において出発地から目的地まで運ぶことを承認する承認ボタンを有し、前記承認ボタンを押した場合に、前記シェアリングサービスの１又は複数のユーザを、前記自動運転専用道路及び／又は前記一般道路において出発地から目的地まで運び、
　前記車両の前記出発地は、前記運転者の出発地であり、
　前記車両の前記目的地は、前記運転者の目的地であり、
　前記車両の前記出発地から前記車両の前記目的地までの前記車両の走行ルートは、前記シェアリングサービスの１又は複数のユーザのそれぞれの出発地及び目的地をすべて含み、前記シェアリングサービスの１又は複数のユーザのそれぞれの出発地から目的地までの走行ルートをすべて含む。 According to this configuration, in principle, the vehicle can be occupied as if it were privately owned. In addition, privately owned vehicles for both manual and autonomous driving can be used for sharing services. By using the vehicle of this configuration for the sharing service, not only the person who owns the vehicle individually but also the user of the sharing service can use the vehicle on the autonomous driving exclusive road. Therefore, the efficient use of the autonomous driving road becomes possible.
As such a sharing service, for example, there are the following forms.
The vehicle has a total capacity of two or more, and one or more users of the sharing service, the number of users other than the user of the vehicle, which is less than or equal to the capacity, can be used on the autonomous driving road and / or It has an approval button that approves transportation from the departure point to the destination on the general road, and when the approval button is pressed, one or more users of the sharing service are sent to the self-driving exclusive road and / or Carry from the departure point to the destination on the general road
The departure point of the vehicle is the departure point of the driver.
The destination of the vehicle is the destination of the driver.
The traveling route of the vehicle from the departure point of the vehicle to the destination of the vehicle includes all the departure points and destinations of one or a plurality of users of the sharing service, and one of the sharing services. Or, it includes all the traveling routes from the starting point to the destination of each of the plurality of users.
　本発明の一つの観点によれば、自動運転専用道路管理装置は、以下の構成を採用できる。
　（１１）　（１）～（１０）の何れか１つの自動運転専用道路管理装置であって、
前記自動／手動運転兼用車両は、幅方向の定員が２人以下であり且つ総定員が１０人以下である。 According to one aspect of the present invention, the road management device dedicated to autonomous driving can adopt the following configuration.
(11) A road management device dedicated to automatic driving according to any one of (1) to (10).
The automatic / manual driving combined vehicle has a capacity of 2 or less in the width direction and a total capacity of 10 or less.
　本構成によれば、自動／手動運転兼用車両を小さく作成することができる。これにより、自動／手動運転兼用車両を、既存の道路の１つの車線を２つ以上に分割した車線において走行させることができ、自動運転専用道路の設備規模を抑えることができる。従って、本構成は、車両が小型のため、自動運転専用道路を小規模にとどめておくことができる。 According to this configuration, a vehicle for both automatic and manual driving can be made small. As a result, the vehicle for both automatic / manual driving can be driven in the lane in which one lane of the existing road is divided into two or more, and the equipment scale of the automatic driving exclusive road can be suppressed. Therefore, in this configuration, since the vehicle is small, the road dedicated to autonomous driving can be kept small.
　本明細書にて使用される専門用語は特定の実施例のみを定義する目的であって発明を制限する意図を有しない。本明細書にて使用される用語「及び／又は」はひとつの、または複数の関連した列挙された構成物のあらゆるまたはすべての組み合わせを含む。本明細書中で使用される場合、用語「含む、備える（including）」「含む、備える（comprising）」または「有する（having）」及びその変形の使用は、記載された特徴、工程、操作、要素、成分及び／又はそれらの等価物の存在を特定するが、ステップ、動作、要素、コンポーネント、及び／又はそれらのグループのうちの1つまたは複数を含むことができる。本明細書中で使用される場合、用語「取り付けられた」、「接続された」、「結合された」及び／又はそれらの等価物は広く使用され、直接的及び間接的な取り付け、接続及び結合の両方を包含する。さらに、「接続された」及び「結合された」は、物理的または機械的な接続または結合に限定されず、直接的または間接的な電気的接続または結合を含むことができる。他に定義されない限り、本明細書で使用される全ての用語（技術用語及び科学用語を含む）は、本発明が属する当業者によって一般的に理解されるのと同じ意味を有する。一般的に使用される辞書に定義された用語のような用語は、関連する技術及び本開示の文脈における意味と一致する意味を有すると解釈されるべきであり、本明細書で明示的に定義されていない限り、理想的または過度に形式的な意味で解釈されることはない。本発明の説明においては、多数の技術及び工程が開示されていると理解される。これらの各々は個別の利益を有し、それぞれは、他の開示された技術の１つ以上、または、場合によっては全てと共に使用することもできる。したがって、明確にするために、この説明は、不要に個々のステップの可能な組み合わせをすべて繰り返すことを控える。それにもかかわらず、明細書及び特許請求の範囲は、そのような組み合わせがすべて本発明及び請求項の範囲内にあることを理解して読まれるべきである。 The terminology used herein is for the purpose of defining only specific embodiments and has no intention of limiting the invention. As used herein, the term "and / or" includes any or all combinations of one or more related listed components. As used herein, the use of the terms "including, including," "comprising," or "having," and variations thereof, is a feature, process, operation, described. It identifies the presence of elements, components and / or their equivalents, but can include one or more of steps, actions, elements, components, and / or groups thereof. As used herein, the terms "attached", "connected", "combined" and / or their equivalents are widely used, direct and indirect attachment, connection and Includes both bonds. Further, "connected" and "coupled" are not limited to physical or mechanical connections or connections, but can include direct or indirect electrical connections or connections. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be construed to have meaning consistent with the relevant technology and in the context of the present disclosure and are expressly defined herein. Unless it is, it will not be interpreted in an ideal or overly formal sense. It is understood that a number of techniques and processes are disclosed in the description of the present invention. Each of these has its own interests, and each may be used in conjunction with one or more of the other disclosed techniques, or in some cases all. Therefore, for clarity, this description refrains from unnecessarily repeating all possible combinations of individual steps. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of the present invention and claims.
　本明細書では、新しい自動運転専用道路管理装置について説明する。以下の説明では、説明の目的で、本発明の完全な理解を提供するために多数の具体的な詳細を述べる。しかしながら、当業者には、これらの特定の詳細なしに本発明を実施できることが明らかである。本開示は、本発明の例示として考慮されるべきであり、本発明を以下の図面または説明によって示される特定の実施形態に限定することを意図するものではない。 In this specification, a new road management device for autonomous driving will be described. In the following description, for purposes of illustration, a number of specific details are given to provide a complete understanding of the invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without these particular details. The present disclosure should be considered as an example of the invention and is not intended to limit the invention to the particular embodiments set forth in the drawings or description below.
　車両は、例えば、四輪自動車、鞍乗型車両等の自動車である。車両は、例えば、幅方向の長さが７フィート（２・１３３６メートル）以下のパーソナルモビリティである。パーソナルモビリティは、例えば、各々の幅方向の定員が２人であり且つ総定員が１０人以下である車両である。総定員は、車両に乗車可能なユーザの数である。パーソナルモビリティは、例えば、鞍乗型車両（ｓｔｒａｄｄｌｅ　ｖｅｈｉｃｌｅ）、シットインタイプの車両が挙げられる。パーソナルモビリティは、例えば、エンジンにより走行可能な車両、電動機により走行可能な車両、エンジン及び電動機により走行可能な車両が挙げられる。パーソナルモビリティは、例えば、スクータ型、モペット型、オフロード型、オンロード型の自動二輪車が挙げられる。パーソナルモビリティは、３輪車又は４輪車であってもよい。自動三輪車である場合、パーソナルモビリティは、２つの前輪と１つの後輪とを備えていてもよく、１つの前輪と２つの後輪とを備えていてもよい。パーソナルモビリティは、自動運転される車両である。パーソナルモビリティは、手動運転可能であってよい。幅方向は、パーソナルモビリティが走行する方向と交わる方向である。
　ユーザは、車両を利用する人である。ユーザは、車両の乗員、及び、車両に乗車していないが目的地を入力することによって車両を呼び出している人を含む。 The vehicle is, for example, a four-wheeled vehicle, a saddle-mounted vehicle, or the like. The vehicle is, for example, personal mobility with a width length of 7 feet (2.1336 meters) or less. Personal mobility is, for example, a vehicle having a capacity of 2 people in each width direction and a total capacity of 10 people or less. The total capacity is the number of users who can get on the vehicle. Examples of personal mobility include a straddle vehicle and a sit-in type vehicle. Examples of personal mobility include vehicles that can be driven by an engine, vehicles that can be driven by an electric motor, and vehicles that can be driven by an engine and an electric motor. Examples of personal mobility include scooter type, moped type, off-road type, and on-road type motorcycles. Personal mobility may be a three-wheeled vehicle or a four-wheeled vehicle. In the case of a tricycle, personal mobility may include two front wheels and one rear wheel, or may include one front wheel and two rear wheels. Personal mobility is a vehicle that is self-driving. Personal mobility may be manually operable. The width direction is the direction in which the personal mobility intersects the traveling direction.
The user is a person who uses the vehicle. Users include occupants of the vehicle and persons who are not in the vehicle but are calling the vehicle by entering a destination.
　幅方向の定員が２人以下の車両は、例えば総定員が２人以上の四輪車である。幅方向の定員が２人以下の車両は、例えば、総定員が５人の四輪車であってもよい。幅方向の定員が２人以下の車両は、例えば、バスであってもよい。 A vehicle with a capacity of 2 or less in the width direction is, for example, a four-wheeled vehicle with a total capacity of 2 or more. A vehicle having a capacity of 2 or less in the width direction may be, for example, a four-wheeled vehicle having a total capacity of 5 people. The vehicle having a capacity of two or less in the width direction may be, for example, a bus.
　自動運転制御装置は、車両に搭載されている。自動運転制御装置は、車両から離れた位置に設けられていてもよい。自動運転制御装置は、例えば、複数の小型パーソナルホイールドヴィークルを制御する中央管制装置であってもよい。自動運転専用道路で自動運転される車両には、専用車両と、自動／手動運転兼用車両が含まれる。専用車両は、乗員の運転操作を受け付けない自動運転専用車両である。自動／手動運転兼用車両は、一般道路で、乗員の運転操作により手動運転で運転される車両である。 The automatic driving control device is installed in the vehicle. The automatic driving control device may be provided at a position away from the vehicle. The automatic driving control device may be, for example, a central control device that controls a plurality of small personal wheeled vehicles. Vehicles that are automatically driven on autonomous driving roads include dedicated vehicles and vehicles for both automatic and manual driving. The dedicated vehicle is an automatic driving dedicated vehicle that does not accept the driving operation of the occupants. A vehicle for both automatic / manual driving is a vehicle that is manually driven by an occupant's driving operation on a general road.
　自動運転とは、車両の走行動作に人間の操作が介在しない運転である。自動運転は、車両に設けられた自動運転システムによって行われる。自動運転の一部は車両から離れた位置に配置される管制装置によって行われてもよい。このような管制装置は、自動運転専用道路管理装置に含まれてもよい。広義の自動運転は、５つのレベルに分けられる。以下に、広義の自動運転の５つのレベルを示す。各レベルの詳細は、例えば、米国運輸省道路交通安全局(NHTSA)によって定義されている。
レベル１：運転支援
レベル１において、自動運転システムは、方向操舵及び加減速操作のうちの１つを特定の限定領域において実行する。乗員は、方向操舵及び加減速操作のうちのもう１つを特定の限定領域において実行する。
レベル２：部分運転自動化
レベル２において、自動運転システムは、方向操舵及び加減速操作の双方を特定の限定領域において実行する。その際、乗員は常時自動運転システムを監視する。
レベル３：条件付き運転自動化
レベル３において、自動運転システムは、方向操舵及び加減速操作の双方を特定の限定領域において実行する。乗員は、緊急時及び自動運転システムが自動運転を行えない状況（継続的な自動運転操作が行えない状況）下において、運転操作に介入する。
レベル４：高度運転自動化
レベル４において、自動運転システムは、方向操舵及び加減速操作の双方を特定の限定領域において実行する。乗員は、自動運転領域において運転操作に介入しない。
レベル５：完全運転自動化
レベル５において、自動運転システムは、方向操舵及び加減速操作の双方を全ての領域において実行する。乗員は、運転操作に介入しない。
　本明細書において、自動運転は、人間の操作が介在しない運転であり、上記レベル４を指す。但し、乗員が車両に設けられた非常時用の緊急停止ボタンを非常時に押す動作については、自動運転でも許容される範疇であるものとする。 Autonomous driving is driving in which no human operation intervenes in the running motion of the vehicle. Autonomous driving is carried out by an automatic driving system provided in the vehicle. Part of the autonomous driving may be performed by a control device located away from the vehicle. Such a control device may be included in the road management device dedicated to autonomous driving. Autonomous driving in a broad sense can be divided into five levels. The five levels of autonomous driving in a broad sense are shown below. Details of each level are defined, for example, by the National Highway Traffic Safety Administration (NHTSA).
Level 1: Driving Assistance At level 1, the autonomous driving system performs one of the directional steering and acceleration / deceleration operations in a specific limited area. The occupant performs another of the directional steering and acceleration / deceleration operations in a specific limited area.
Level 2: Partial Driving Automation At Level 2, the automated driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. At that time, the occupant constantly monitors the automatic driving system.
Level 3: Conditional Driving Automation At level 3, the automated driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. The occupant intervenes in the driving operation in an emergency or in a situation where the automatic driving system cannot perform automatic driving (a situation in which continuous automatic driving operation cannot be performed).
Level 4: Advanced Driving Automation At level 4, the automatic driving system performs both directional steering and acceleration / deceleration operations in a specific limited area. The occupant does not intervene in the driving operation in the autonomous driving area.
Level 5: Fully driven automation At level 5, the automated driving system performs both directional steering and acceleration / deceleration operations in all areas. The occupant does not intervene in the driving operation.
In the present specification, automatic driving is driving without human operation, and refers to the above level 4. However, the operation of the occupant pressing the emergency stop button for emergencies provided in the vehicle in an emergency shall be within the scope permitted even in automatic driving.
　手動運転とは、車両の走行動作に人間の操作が介在する運転である。手動運転は、人間の操作が介入することを条件とした自動運転であってもよい。本明細書において、手動運転は、人間の操作が介在する運転であり、上記レベル１～３の自動運転及び完全な手動運転（レベル０）を指す。 Manual driving is driving in which human operation intervenes in the running motion of the vehicle. The manual driving may be an automatic driving on condition that a human operation intervenes. In the present specification, the manual operation is an operation involving a human operation, and refers to the above-mentioned level 1 to 3 automatic operation and complete manual operation (level 0).
　自動運転専用道路は、自動運転される車両のみが通行できる道路である。自動運転される車両は、自動運転専用道路を複数列を成しながら走行することができる。但し、自動運転される車両は、自動運転専用道路を１列で走行してもよい。自動運転専用道路は、自動運転される車両のみが通行可能であるとして法令等により定められた領域に限定されない。自動運転専用道路は、例えば、法令等により自動運転専用域であると定められていなくても、実際には自動運転される車両のみが通行することにより実質的に自動運転専用道路として利用されている道路であってもよい。
　自動運転専用道路は、その全体が複線となるように形成されていてもよい。また、自動運転専用道路は、その一部が複線となるように形成されていてもよい。また、自動運転専用道路は、上記複線に加え更に走行用の車線が形成されていてもよい。即ち、自動運転専用道路は、少なくともその一部を車両が３列以上を成しながら走行するよう形成されていてもよい。 Autonomous driving roads are roads that only vehicles that are autonomously driven can pass. Vehicles that are autonomously driven can travel in multiple rows on the autonomous driving exclusive road. However, the vehicle to be automatically driven may travel in a single row on the road dedicated to automatic driving. Autonomous driving roads are not limited to areas stipulated by laws and regulations that only vehicles that are autonomously driven can pass. For example, even if the autonomous driving road is not defined as an autonomous driving area by law, it is actually used as an autonomous driving exclusive road by allowing only vehicles that are automatically driven to pass through. It may be the road you are driving.
The self-driving exclusive road may be formed so as to be a double track as a whole. In addition, the autonomous driving exclusive road may be formed so that a part thereof is a double track. Further, the road dedicated to autonomous driving may be further formed with a lane for traveling in addition to the above-mentioned double track. That is, the autonomous driving exclusive road may be formed so that vehicles travel in at least a part thereof while forming three or more rows.
　一般道路とは、自動運転される車両のみが通行可能であるとして法令等により定められていない領域をいう。一般道路は、上記レベル１～３の自動運転により車両が走行してもよい。一般道路から自動運転専用道路への入口は、進入用ゲートにより区切られている。これに対し、自動運転専用道路から一般道路への出口は、退出用ゲートにより区切られていてもよいし、ゲートにより区切られていなくともよい。 A general road is an area that is not stipulated by laws and regulations as only vehicles that are automatically driven can pass through. Vehicles may travel on general roads by the above-mentioned level 1 to 3 automatic driving. The entrance from the general road to the autonomous driving road is separated by an entrance gate. On the other hand, the exit from the autonomous driving exclusive road to the general road may or may not be separated by the exit gate.
　走行位置データは、例えば、地球上の絶対的な位置を表すデータである。但し、走行位置データは、例えば、自動運転専用域の特定の位置に対する相対位置を表すデータでもよい。 The running position data is, for example, data representing an absolute position on the earth. However, the traveling position data may be, for example, data representing a relative position with respect to a specific position in the area dedicated to automatic driving.
　「一般道路で車両を手動運転し、自動運転専用道路で手動運転が禁止されたユーザと同一のユーザ」とは、例えば車両を占有しているユーザである。即ち、個人等で車両を所有しているユーザである。車両を占有しているユーザは、例えば、一般道路で車両を手動運転で運転する。車両が自動運転専用道路に進入した場合、このユーザの手動運転が禁止される。車両は、このユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。車両が目的地に到着しユーザが降車した後、同一のユーザによる呼出し及び／又は目的地のデマンドに基づいて再び自動運転される。なお、車両は、ユーザが降車した後、自動運転により、自動運転専用道路内のポート（駐機場）に向かう。車両は、同一のユーザの呼び出しがあるまで、自動運転専用道路内のポートにおいて待機され、当該ユーザの呼び出しがあると、再び当該ユーザが待つステーションに自動運転により向かう。
　「一般道路で手動運転し自動運転専用道路で手動運転が禁止されたユーザと異なるユーザ」とは、例えば、車両をシェアしている複数のユーザのうちの一人である。即ち、シェアリングサービスのユーザである。シェアリングサービスにおいては、車両が目的地に到着しユーザが降車した後、降車したユーザとは異なるユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。車両は、複数のユーザによって利用される。なお、車両は、次に利用するユーザの呼び出しがあるまで、自動運転専用道路内のポートにおいて待機してもよい。この場合、ユーザの呼び出しがあると、呼出したユーザが待つステーションに自動運転により向かう。
　シェアリングサービスとは、特定の個人または団体が、車両を共同使用するサービスである。特定の個人または団体とは、例えばシェアリングサービスの会員である。シェアリング車両とは、シェアリングサービスに使用される車両である。シェアリング車両は、例えば、シェアリングサービスを運営する団体が所有している。シェアリング車両は、個人が有する車両を使用してもよい。
　車両ＩＤは、個々の車両を識別するための識別情報である。車両ＩＤは、識別データとして表される。車両ＩＤは、例えば、ナンバープレートに示される情報である。車両ＩＤは、例えば、車台番号でもよく、また、管理装置が独自に付与する識別情報でもよい。 "The same user who manually drives a vehicle on a general road and is prohibited from manually driving on an autonomous driving exclusive road" is, for example, a user who occupies the vehicle. That is, it is a user who owns the vehicle as an individual or the like. The user who occupies the vehicle, for example, manually drives the vehicle on a general road. If the vehicle enters the autonomous driving road, this user's manual driving is prohibited. The vehicle is automatically driven based on this user's call and / or destination demand. After the vehicle arrives at the destination and the user disembarks, the vehicle is automatically driven again based on the same user's call and / or destination demand. After the user gets off the vehicle, the vehicle heads for the port (parking area) in the automatic driving road by automatic driving. The vehicle waits at a port in the autonomous driving road until the same user is called, and when the user is called, the vehicle is automatically driven to the station where the user is waiting again.
"A user different from a user who manually drives on a general road and is prohibited from manual driving on an autonomous driving exclusive road" is, for example, one of a plurality of users who share a vehicle. That is, it is a user of the sharing service. In the sharing service, after the vehicle arrives at the destination and the user gets off, the vehicle is automatically driven based on a call by a user different from the user who got off and / or the demand of the destination. The vehicle is used by a plurality of users. The vehicle may wait at a port in the autonomous driving road until the next user calls. In this case, when there is a call from the user, the caller automatically drives to the station where the calling user waits.
A sharing service is a service in which a specific individual or group shares a vehicle. A particular individual or group is, for example, a member of a sharing service. A sharing vehicle is a vehicle used for a sharing service. The sharing vehicle is owned, for example, by an organization that operates a sharing service. As the sharing vehicle, a vehicle owned by an individual may be used.
The vehicle ID is identification information for identifying individual vehicles. The vehicle ID is represented as identification data. The vehicle ID is, for example, information shown on a license plate. The vehicle ID may be, for example, a chassis number or identification information uniquely assigned by the management device.
　本発明によれば、専用道路の設備規模を抑制でき、利便性の向上と搬送量の増大をできる少なくとも一部が複線となるように形成された専用道路に車両が一般道路から進入することを管理する、専用道路管理装置を提供できる。 According to the present invention, it is possible for a vehicle to enter from a general road into a dedicated road formed so that at least a part thereof is double-tracked, which can suppress the facility scale of the dedicated road, improve convenience and increase the transportation amount. It is possible to provide a dedicated road management device to manage.
本発明の一実施形態にかかる自動運転専用道路管理装置を含む交通システムの概要を説明する図である。It is a figure explaining the outline of the traffic system including the road management device for automatic driving which concerns on one Embodiment of this invention. 図１の交通システムの車両の構成を示す図である。It is a figure which shows the structure of the vehicle of the traffic system of FIG. 図１の交通システムの車両の自動運転制御システムの一例を説明する図である。It is a figure explaining an example of the automatic driving control system of the vehicle of the traffic system of FIG. 図１の交通システムの車両の自動運転制御システムの他の一例を説明する図である。It is a figure explaining another example of the automatic driving control system of the vehicle of the traffic system of FIG. 図１の交通システムの自動運転専用道路管理装置、自動運転専用道路及び一般道路の構成を示す図である。It is a figure which shows the structure of the road management device for automatic driving, the road for automatic driving, and the general road of the traffic system of FIG. 図１の車両が、一般道路から自動運転専用道路に進入する場合の、車両認証方法を説明するフローチャートである。It is a flowchart explaining the vehicle authentication method when the vehicle of FIG. 1 enters the automatic driving exclusive road from a general road. （ａ）は、図１の自動運転専用道路管理装置が、車両に対して自動運転専用道路への進入を許可する場合を示す図である。（ｂ）は、図１の自動運転専用道路管理装置が、車両に対して自動運転専用道路への進入を許可しない場合を示す図である。FIG. 1A is a diagram showing a case where the automatic driving road management device of FIG. 1 permits a vehicle to enter the automatic driving road. FIG. 1B is a diagram showing a case where the automatic driving road management device of FIG. 1 does not allow the vehicle to enter the automatic driving road. （ａ）は、図１の自動運転専用道路管理装置が、車両に対して自動運転専用道路での走行を許可する場合を示す図である。（ｂ）は、図１の自動運転専用道路管理装置が、車両に対して自動運転専用道路での走行を許可しない場合を示す図である。FIG. 1A is a diagram showing a case where the automatic driving road management device of FIG. 1 permits a vehicle to travel on an automatic driving road. FIG. 1B is a diagram showing a case where the automatic driving road management device of FIG. 1 does not allow the vehicle to travel on the automatic driving road. 図１の一実施形態の第１の実施例について説明する図である。It is a figure explaining the 1st Example of 1 Embodiment of FIG. 図１の一実施形態の第２の実施例について説明する図である。It is a figure explaining the 2nd Example of 1 Embodiment of FIG. 図２の車両の例となる、小型パーソナルホイールドヴィークル、車両の内部に存在しない車両の外部にあるオペレーティングデバイス、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路及び専用道路以外の汎用道路を表している。A small personal wheeled vehicle, which is an example of the vehicle shown in FIG. 2, an operating device outside the vehicle that does not exist inside the vehicle, and a dedicated road and a dedicated road for a small personal wheeled vehicle that meets a predetermined standard to run. Represents a general-purpose road other than. 図２の車両の他の形態に係る小型パーソナルホイールドヴィークルを示している。A small personal wheeled vehicle according to another form of the vehicle of FIG. 2 is shown. 図１１及び図１２のオペレーティングデバイスの具体例を示している。Specific examples of the operating devices of FIGS. 11 and 12 are shown. 図１１及び図１２のオペレーティングデバイスの具体例を示している。Specific examples of the operating devices of FIGS. 11 and 12 are shown.
　以下、本発明を、図面を参照しつつ説明する。先ず、図１を参照して、本発明の１実施形態に係る自動運転専用道路管理装置の概要について説明する。図１は、本発明の一実施形態にかかる自動運転専用道路管理装置を含む交通システム１の概要を説明する図である。ここで、図１（ａ）は、交通システム１の構成を示す。 Hereinafter, the present invention will be described with reference to the drawings. First, with reference to FIG. 1, the outline of the road management device for automatic driving according to one embodiment of the present invention will be described. FIG. 1 is a diagram illustrating an outline of a transportation system 1 including an automatic driving dedicated road management device according to an embodiment of the present invention. Here, FIG. 1A shows the configuration of the transportation system 1.
　図１の交通システム１は、自動運転専用道路管理装置１０と、車両２０と、自動運転専用道路３０と、一般道路４０とを含む。自動運転専用道路管理装置１０は、車両２０が、一般道路４０から自動運転専用道路３０に進入することを管理する。車両２０は、手動運転機能と自動運転機能とを有する。車両２０は、手動運転機能により走行する手動運転走行モードと、自動運転機能により走行する自動運転走行モードとを切り替えることができる。車両２０は、例えば自動二輪車、自動三輪車または自動四輪車である。自動運転専用道路管理装置１０と、車両２０とは、互いに通信を行う。 The traffic system 1 of FIG. 1 includes an automatic driving dedicated road management device 10, a vehicle 20, an automatic driving dedicated road 30, and a general road 40. The autonomous driving exclusive road management device 10 manages the vehicle 20 to enter the autonomous driving exclusive road 30 from the general road 40. The vehicle 20 has a manual driving function and an automatic driving function. The vehicle 20 can switch between a manual driving driving mode in which the vehicle travels by the manual driving function and an automatic driving driving mode in which the vehicle 20 travels by the automatic driving function. The vehicle 20 is, for example, a motorcycle, a tricycle, or a motorcycle. The road management device 10 dedicated to autonomous driving and the vehicle 20 communicate with each other.
　自動運転専用道路３０は、車両２０が自動運転により走行する道路である。自動運転専用道路３０は、車両２０が手動運転により走行することを禁止されている道路である。自動運転専用道路３０は、自動運転機能を有さない車両が走行することはできない。自動運転専用道路３０は、少なくとも一部が複線となるように形成されている。一般道路４０は、車両２０が手動運転により走行する道路である。一般道路４０は、車両２０が、自動運転により走行してもよい。一般道路４０は、自動運転により走行する車両と、手動運転により走行する車両とが混在する道路であってもよい。但し、一般道路４０は、手動運転が禁止されている道路ではない。
　自動運転専用道路３０を走行可能な車両２０の車幅Ｗは、７フィート（２．１３３６メートル）以下に設定されている。車幅を７フィート以下とするのは、既存の道路の道路幅の半分の値を基準値としているためである。既存の道路の例として、例えば米国の一般的な道路が参照される。米国の一般的な道路の幅は、１２フィートである。米国の道路の道路幅１２フィートに路肩の幅（２フィート）を加え、半分の値を基準値とすると、基準値は７フィートである。一般的な道路の幅に対し、２列に並んで走行可能な車両２０の車両幅は、最大７フィートまで許容される。車両２０は、自動運転により高い精度で位置制御されるので、幅方向のぶれが小さい。 The automatic driving exclusive road 30 is a road on which the vehicle 20 travels by automatic driving. The self-driving exclusive road 30 is a road on which the vehicle 20 is prohibited from traveling by manual driving. Vehicles that do not have an automatic driving function cannot travel on the automatic driving road 30. The self-driving exclusive road 30 is formed so that at least a part thereof is double-tracked. The general road 40 is a road on which the vehicle 20 is manually driven. On the general road 40, the vehicle 20 may travel by automatic driving. The general road 40 may be a road in which vehicles traveling by automatic driving and vehicles traveling by manual driving coexist. However, the general road 40 is not a road where manual driving is prohibited.
The vehicle width W of the vehicle 20 capable of traveling on the autonomous driving road 30 is set to 7 feet (2.1336 meters) or less. The vehicle width is set to 7 feet or less because the standard value is half the width of the existing road. As an example of an existing road, for example, a general road in the United States is referred to. The width of a typical road in the United States is 12 feet. If you add the shoulder width (2 feet) to the road width of 12 feet on a US road and use half the value as the reference value, the reference value is 7 feet. The width of the vehicle 20 that can run in two rows is allowed up to 7 feet, relative to the width of a typical road. Since the position of the vehicle 20 is controlled with high accuracy by automatic driving, the deviation in the width direction is small.
　自動運転専用道路管理装置１０は、自動運転専用道路３０に進入しようとする車両２０が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認された場合、車両２０の自動運転専用道路３０への進入を許可する。これに対し、自動運転専用道路管理装置１０は、自動運転専用道路３０に進入しようとする車両２０が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認されない場合は、車両２０の自動運転専用道路３０への進入を禁止する。ここで、図１（ｂ）は、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認される場合を示し、図１（ｃ）は、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認されない場合を示す。自動運転専用道路管理装置１０は、車両２０と通信することにより、車両２０が（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であるか否かを確認する。ここで、（ｉ）～（ｉｉｉ）は、以下の通りに定められる。
（ｉ）７フィート未満の車幅を有する車両である。
（ｉｉ）一般道路４０において、車両２０のユーザにより手動運転で運転される車両である。
（ｉｉｉ）自動運転専用道路３０において、ユーザによる手動運転が禁止され、ユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。
　また、自動運転専用道路管理装置１０は、自動運転専用道路３０を走行する車両２０の配車制御を行うことができる。自動運転専用道路管理装置１０は、自動運転専用道路３０を走行する車両２０を管制制御する。例えば、自動運転専用道路管理装置１０は、車両２０に乗車しているユーザによって入力された目的地のデータ、又は自動運転専用道路３０に設けられたステーションで車両２０の利用を希望するユーザによって入力された呼出し及び／又は目的地のデータに基づき車両２０の配車制御を行う。例えば、自動運転専用道路管理装置１０は、入力された呼出し及び／又は目的地のデータに基づき、自動運転専用道路３０における車両２０の利用効率が最大となるよう、車両２０のそれぞれに目的地及び走行経路の情報を送信する。 When it is confirmed that the vehicle 20 trying to enter the autonomous driving exclusive road 30 is an automatic / manual driving combined vehicle satisfying the following (i) to (iii), the autonomous driving exclusive road management device 10 is the vehicle 20. Allows entry to the autonomous driving road 30. On the other hand, in the automatic driving exclusive road management device 10, when it is not confirmed that the vehicle 20 trying to enter the automatic driving exclusive road 30 is an automatic / manual driving combined vehicle satisfying the following (i) to (iii). Prohibits the vehicle 20 from entering the autonomous driving road 30. Here, FIG. 1 (b) shows a case where it is confirmed that the vehicle satisfies the following (i) to (iii), and FIG. 1 (c) shows the following (i) to (ii). The case where it is not confirmed that the vehicle is an automatic / manual driving combined vehicle satisfying iii) is shown. By communicating with the vehicle 20, the road management device 10 dedicated to automatic driving confirms whether or not the vehicle 20 is a vehicle for both automatic / manual driving that satisfies (i) to (iii). Here, (i) to (iii) are defined as follows.
(I) A vehicle having a vehicle width of less than 7 feet.
(Ii) A vehicle that is manually driven by a user of the vehicle 20 on a general road 40.
(Iii) On the automatic driving exclusive road 30, manual driving by the user is prohibited, and automatic driving is performed based on the call by the user and / or the demand of the destination.
In addition, the road management device 10 dedicated to automatic driving can control the allocation of vehicles 20 traveling on the road dedicated to automatic driving 30. The autonomous driving road management device 10 controls and controls the vehicle 20 traveling on the autonomous driving road 30. For example, the autonomous driving road management device 10 is input by destination data input by a user riding in the vehicle 20 or by a user who wishes to use the vehicle 20 at a station provided on the autonomous driving road 30. Vehicle allocation control of the vehicle 20 is performed based on the called call and / or destination data. For example, the autonomous driving exclusive road management device 10 is based on the input call and / or destination data so that the utilization efficiency of the vehicle 20 on the autonomous driving exclusive road 30 is maximized for each of the destinations and the destinations. Send information on the driving route.
　図２は、図１の交通システム１の車両２０の構成を示す図である。図２の車両２０は、小型パーソナルホイールドヴィークルである。車両２０は、幅方向の定員が２人以下であり且つ総定員が１０人以下である。車両２０は、例えば既存の道路（一般道路及び高速道路）において、１つの車線を２列で走行できる車幅を有している。車両２０は、車幅が７フィート以下に設定されているので、幅方向の定員が２人以下とすることが可能である。 FIG. 2 is a diagram showing the configuration of the vehicle 20 of the transportation system 1 of FIG. The vehicle 20 in FIG. 2 is a small personal wheeled vehicle. The vehicle 20 has a capacity of 2 or less in the width direction and a total capacity of 10 or less. The vehicle 20 has a vehicle width capable of traveling in one lane in two rows on existing roads (general roads and highways), for example. Since the width of the vehicle 20 is set to 7 feet or less, the capacity in the width direction can be limited to 2 people or less.
　車両２０は、自動運転制御装置２０１を有する。車両２０は、自動運転専用道路３０において、自動運転により走行する。自動運転専用道路３０では、レベル４による自動運転を行うことが想定されている。従って、車両２０は、少なくともレベル４の自動運転に対応できる自動運転制御装置２０１を有している。また、車両２０は、一般道路４０において、手動運転により走行する。但し、車両２０は、一般道路４０においても、自動運転により走行することもできる。一般道路４０における自動運転は、レベル１～３による自動運転である。この場合、車両２０の自動運転制御装置２０１は、レベル４による自動運転と、レベル１～３による自動運転とを切り替えることができる。 The vehicle 20 has an automatic driving control device 201. The vehicle 20 travels by automatic driving on the automatic driving road 30. On the autonomous driving road 30, it is assumed that autonomous driving will be performed at level 4. Therefore, the vehicle 20 has an automatic driving control device 201 capable of supporting at least level 4 automatic driving. Further, the vehicle 20 travels on the general road 40 by manual driving. However, the vehicle 20 can also travel on the general road 40 by automatic driving. The automatic driving on the general road 40 is the automatic driving according to the level 1 to 3. In this case, the automatic driving control device 201 of the vehicle 20 can switch between automatic driving according to level 4 and automatic driving according to levels 1 to 3.
　車両２０は、自動運転を開始する自動運転開始ボタン２１６を有する。自動運転開始ボタン自動運転開始操作部の例である。自動運転開始ボタン２１６は、自動運転専用道路管理装置１０から自動運転専用道路３０への進入を許可された旨の信号を受信した場合に、車両２０のユーザによって操作される。これにより、車両２０の自動運転が開始する。自動運転を開始した車両２０は、自動運転専用道路３０に進入する。車両２０は、自動運転制御装置２０１により自動運転制御されて、自動運転専用道路３０を走行する。車両２０は、運転車及び搭乗者が自動運転をする際の目的地を入力することができる目的地入力部２１７を有するように構成される。車両２０は、ユーザが自動運転する際の目的地データとともに、目的地への到着希望時刻、自動運転のスケジュール等の情報を入力することができるように構成されてもよい。自動運転制御装置２０１は、コンピュータで構成されている。自動運転制御装置２０１は、図示しないプロセッサ、記憶装置、及びデータ入出力装置を備えている。また、自動運転制御装置２０１は、無線通信を行う通信装置も備えている。記憶装置に記憶されたプログラムがプロセッサで実行されることによって、自動運転制御装置２０１の各部の機能が実現する。ただし、自動運転制御装置２０１のハードウェアはこれに限られず、例えば、各部の機能に特化した電子回路の組合せによって構成されてもよい。 The vehicle 20 has an automatic driving start button 216 for starting automatic driving. Automatic operation start button This is an example of the automatic operation start operation unit. The automatic driving start button 216 is operated by the user of the vehicle 20 when receiving a signal from the automatic driving dedicated road management device 10 to the effect that the entry to the automatic driving dedicated road 30 is permitted. As a result, the automatic operation of the vehicle 20 starts. The vehicle 20 that has started automatic driving enters the automatic driving exclusive road 30. The vehicle 20 is automatically controlled by the automatic driving control device 201 and travels on the automatic driving exclusive road 30. The vehicle 20 is configured to have a destination input unit 217 capable of inputting a destination when the driving vehicle and the passenger automatically drive. The vehicle 20 may be configured so that the user can input information such as a desired arrival time at the destination and an automatic driving schedule, as well as destination data for automatic driving. The automatic operation control device 201 is composed of a computer. The automatic operation control device 201 includes a processor, a storage device, and a data input / output device (not shown). The automatic driving control device 201 also includes a communication device that performs wireless communication. By executing the program stored in the storage device by the processor, the functions of each part of the automatic operation control device 201 are realized. However, the hardware of the automatic operation control device 201 is not limited to this, and may be configured by, for example, a combination of electronic circuits specialized in the functions of each part.
　また、車両２０は、パワートレイン制御部２０６と、ステアリング制御部２０７と、ブレーキ制御部２０８とを備える。パワートレイン制御部２０６と、ステアリング制御部２０７と、ブレーキ制御部２０８とは、自動運転制御装置２０１と通信可能に接続されている。パワートレイン制御部２０６は、自動運転制御装置２０１からの制御信号に従って、車両２０の走行速度を制御する。具体的には、パワートレイン制御部２０６は、車両２０のスロットル弁と、燃料噴射装置と、場合によっては電動機及び変速装置とを調整して、走行速度を制御する。ステアリング制御部２０７は、自動運転制御装置２０１からの制御信号に従って、車両２０の進行方向を制御する。具体的には、車両２０のステアリングアクチュエータを調整して、進行方向を制御する。ブレーキ制御部２０８は、自動運転制御装置２０１からの制御信号に従って、車両２０の走行速度を減速する。具体的には、車両２０のブレーキアクチュエータを調整して車両２０を減速させる。 Further, the vehicle 20 includes a power train control unit 206, a steering control unit 207, and a brake control unit 208. The power train control unit 206, the steering control unit 207, and the brake control unit 208 are communicably connected to the automatic driving control device 201. The power train control unit 206 controls the traveling speed of the vehicle 20 according to the control signal from the automatic driving control device 201. Specifically, the power train control unit 206 controls the traveling speed by adjusting the throttle valve of the vehicle 20, the fuel injection device, and in some cases, the electric motor and the transmission. The steering control unit 207 controls the traveling direction of the vehicle 20 according to a control signal from the automatic driving control device 201. Specifically, the steering actuator of the vehicle 20 is adjusted to control the traveling direction. The brake control unit 208 decelerates the traveling speed of the vehicle 20 according to the control signal from the automatic driving control device 201. Specifically, the brake actuator of the vehicle 20 is adjusted to decelerate the vehicle 20.
　図２の車両２０は、車両の出荷時及び検査時に、一般道路４０での手動運転を行うための手動運転機能と、自動運転専用道路での自動運転を行うための自動運転機能との双方の機能を有するか否か検査される。車両２０が、手動運転機能と自動運転機能を有する車両であると判定された場合、車両２０の車両ＩＤが図１の自動運転専用道路管理装置１０に記録される。また、車両２０にも手動運転機能と自動運転機能を有する車両であることが車両情報として記録される。 The vehicle 20 of FIG. 2 has both a manual driving function for performing manual driving on a general road 40 and an automatic driving function for performing automatic driving on an automatic driving dedicated road at the time of shipment and inspection of the vehicle. It is inspected whether it has a function. When it is determined that the vehicle 20 is a vehicle having a manual driving function and an automatic driving function, the vehicle ID of the vehicle 20 is recorded in the automatic driving dedicated road management device 10 of FIG. Further, it is recorded as vehicle information that the vehicle 20 also has a manual driving function and an automatic driving function.
　図２の車両２０は、また、車両の出荷時及び検査時に、自動運転専用道路３０での自動運転を行うための自動運転機能が、予め定められた基準を有するか否か検査される。車両２０が、予め定められた水準の自動運転機能を有する場合、自動運転専用道路管理装置１０に自動運転性能情報として記録される。また、車両２０にも予め定められた水準の自動運転機能を有することが車両情報として記録される。車両２０の自動運転性能は、例えば、自動運転制御装置２０１のグレード（特にソフトウェアのグレード）、通信機器及びセンサの性能、アクチュエータ及び走行装置の状態、外形、並びに許容乗車人数等により判断される。車両ＩＤ及びその他の情報は、例えば、車両の出荷場所及び検査場所に設けられた図示しないコンピュータに入力される。コンピュータと自動運転専用道路管理装置１０が通信することにより、車両ＩＤのデータ及びその他の情報のデータが自動運転専用道路管理装置１０に送信される。車両の出荷場所及び検査場所に設けられた図示しないコンピュータに入力された車両ＩＤ及びその他の情報は、外部記録媒体を通して自動運転専用道路管理装置１０記録されてもよい。 The vehicle 20 in FIG. 2 is also inspected at the time of shipment and inspection of the vehicle to see if the automatic driving function for performing automatic driving on the automatic driving exclusive road 30 has a predetermined standard. When the vehicle 20 has a predetermined level of automatic driving function, it is recorded as automatic driving performance information in the automatic driving dedicated road management device 10. Further, it is recorded as vehicle information that the vehicle 20 also has a predetermined level of automatic driving function. The automatic driving performance of the vehicle 20 is determined, for example, by the grade of the automatic driving control device 201 (particularly the software grade), the performance of communication equipment and sensors, the state and outer shape of actuators and traveling devices, the allowable number of passengers, and the like. The vehicle ID and other information are input to, for example, a computer (not shown) provided at the vehicle shipping location and inspection location. By communicating between the computer and the autonomous driving exclusive road management device 10, vehicle ID data and other information data are transmitted to the autonomous driving exclusive road management device 10. The vehicle ID and other information input to a computer (not shown) provided at the shipping place and the inspection place of the vehicle may be recorded by the autonomous driving dedicated road management device 10 through an external recording medium.
　車両２０が、自動運転機能を有する車両であっても、個々の車両において、自動運転機能の性能に差が出る場合がある。特に自動運転機能を管理する自動運転制御装置２０１のグレード、通信機器及びセンサ、並びにアクチュエータ及び走行装置外形等が異なると、個々の車両において、自動運転機能の性能に差が出る場合がある。また、車両２０の外形が異なると、走行中の空力特性が変化し、自動運転機能の性能に差が出る場合がある。更に、乗車人数によっても、自動運転機能の性能に差が出る場合がある。従って、予め定められた基準の自動運転性能を有さない車両は、自動運転専用道路３０に進入させないようにする。 Even if the vehicle 20 has an automatic driving function, there may be a difference in the performance of the automatic driving function in each vehicle. In particular, if the grade of the automatic driving control device 201 that manages the automatic driving function, the communication device and the sensor, and the outer shape of the actuator and the traveling device are different, the performance of the automatic driving function may differ in each vehicle. Further, if the outer shape of the vehicle 20 is different, the aerodynamic characteristics during traveling may change, and the performance of the automatic driving function may differ. Further, the performance of the automatic driving function may differ depending on the number of passengers. Therefore, a vehicle that does not have a predetermined standard of automatic driving performance is prevented from entering the automatic driving exclusive road 30.
　図３は、図１の交通システム１の車両２０の自動運転制御システムの一例を説明する図である。図３の自動運転制御システム２は、１台の車両２０が、複数の車両と車車間通信を行いながら自動運転専用道路において自動運転を行う。車両２０が車車間通信を行うのは、自動運転専用道路３０を走行する車両の少なくとも周囲の一群の車両である。ここで、図３においては、簡略化のため、車両２０と、複数の車両のうちの１台である車両２１のみを示す。車両２１は、図２及び図３の車両２０と同一の構成を有する。車両２０は、自動運転専用道路３０を走行する車両２５以外の車両とも車車間通信を行っている。 FIG. 3 is a diagram illustrating an example of an automatic driving control system for the vehicle 20 of the traffic system 1 of FIG. In the automatic driving control system 2 of FIG. 3, one vehicle 20 automatically drives on an automatic driving exclusive road while performing inter-vehicle communication with a plurality of vehicles. Vehicles 20 perform vehicle-to-vehicle communication with at least a group of vehicles around the vehicle traveling on the autonomous driving road 30. Here, in FIG. 3, for simplification, only the vehicle 20 and the vehicle 21 which is one of the plurality of vehicles are shown. The vehicle 21 has the same configuration as the vehicle 20 of FIGS. 2 and 3. The vehicle 20 also performs vehicle-to-vehicle communication with vehicles other than the vehicle 25 traveling on the autonomous driving exclusive road 30.
　図３の車両２０は、自動運転制御装置２０１を備えている。自動運転制御装置２０１は、走行位置データ算出部２０２と、走行位置データ送信部２０３と、走行位置データ取得部２０４と、走行制御部２０５とを備える。また、車両２１は、自動運転制御装置２１１を備えている。自動運転制御装置２１１は、走行位置データ算出部２１２と、走行位置データ送信部２１３と、走行位置データ取得部２１４と、走行制御部２１５とを備える。 The vehicle 20 in FIG. 3 is provided with an automatic driving control device 201. The automatic driving control device 201 includes a traveling position data calculation unit 202, a traveling position data transmitting unit 203, a traveling position data acquisition unit 204, and a traveling control unit 205. Further, the vehicle 21 is provided with an automatic driving control device 211. The automatic driving control device 211 includes a traveling position data calculation unit 212, a traveling position data transmitting unit 213, a traveling position data acquisition unit 214, and a traveling control unit 215.
　車両２１の自動運転制御装置２１１の機能は、車両２０の自動運転制御装置２０１の機能と同一である。車両２０と車両２１との車車間通信は、車両２０の走行位置データ送信部２０３からの走行位置データを車両２１の走行位置データ取得部２１４が受信することにより行う。また、車両２０と車両２１との車車間通信は、車両２１の走行位置データ送信部２１３からの走行位置データを車両２０の走行位置データ取得部２０４が受信することにより行う。 The function of the automatic driving control device 211 of the vehicle 21 is the same as the function of the automatic driving control device 201 of the vehicle 20. The vehicle-to-vehicle communication between the vehicle 20 and the vehicle 21 is performed by receiving the traveling position data from the traveling position data transmitting unit 203 of the vehicle 20 by the traveling position data acquisition unit 214 of the vehicle 21. Further, vehicle-to-vehicle communication between the vehicle 20 and the vehicle 21 is performed by receiving the traveling position data from the traveling position data transmitting unit 213 of the vehicle 21 by the traveling position data acquisition unit 204 of the vehicle 20.
　走行位置データ算出部２０２は、車両２０の走行位置データを算出する。走行位置データは、例えば、地球上の絶対的な位置を表すデータである。また、例えば、自動運転専用道路３０の特定の位置に対する相対位置を表すデータでもよい。具体的には、走行位置データは、例えば車両２０が、現在、自動運転専用道路３０のどの位置を走行中かといったデータを含む。走行位置データ算出部２０２は、例えば、ＧＰＳ受信機で取得した走行位置等により、ＭＰＵ（高精度地図）等を参照しながら、走行位置データを算出する。また、走行位置データ算出部２０２は、小型ステレオカメラ及びサラウンドアイカメラ、ミリ波レーダ等により周囲の車両の相対位置及び車間距離等を算出する。 The traveling position data calculation unit 202 calculates the traveling position data of the vehicle 20. The traveling position data is, for example, data representing an absolute position on the earth. Further, for example, data representing a relative position of the autonomous driving exclusive road 30 with respect to a specific position may be used. Specifically, the traveling position data includes, for example, data such as which position of the automatic driving exclusive road 30 the vehicle 20 is currently traveling. The traveling position data calculation unit 202 calculates the traveling position data by referring to the MPU (high-precision map) or the like based on the traveling position acquired by the GPS receiver, for example. Further, the traveling position data calculation unit 202 calculates the relative position of surrounding vehicles, the inter-vehicle distance, and the like by using a small stereo camera, a surround eye camera, a millimeter wave radar, and the like.
　走行位置データ送信部２０３は、算出した自動運転専用道路３０における現在の走行位置データ、周囲の車両の相対位置及び車間距離等を、車両２１の走行位置データ取得部２０４に送信する。走行位置データ送信部２０３は、算出した自動運転専用域における現在の走行位置データ、周囲の車両の相対位置及び車間距離等を、自動運転専用道路３０を走行する車両２１以外の複数の車両にも送信する。また、走行位置データ送信部２０３は、現在の走行位置データを自動運転専用道路管理装置１０にも送信する。自動運転専用道路管理装置１０は、自動運転専用道路３０を走行する車両２０、２１の位置を表すデータを保持する。 The traveling position data transmitting unit 203 transmits the calculated current traveling position data on the autonomous driving exclusive road 30, the relative position of surrounding vehicles, the inter-vehicle distance, and the like to the traveling position data acquisition unit 204 of the vehicle 21. The traveling position data transmitting unit 203 transfers the calculated current traveling position data in the autonomous driving exclusive area, the relative positions of surrounding vehicles, the inter-vehicle distance, and the like to a plurality of vehicles other than the vehicle 21 traveling on the autonomous driving exclusive road 30. Send. Further, the traveling position data transmission unit 203 also transmits the current traveling position data to the road management device 10 dedicated to automatic driving. The autonomous driving road management device 10 holds data representing the positions of vehicles 20 and 21 traveling on the autonomous driving road 30.
　走行位置データ取得部２０４は、走行位置データ算出部２０２により算出した、車両２０の自動運転専用道路３０における現在の走行位置データ、周囲の車両の相対位置及び車間距離等を取得する。また、走行位置データ取得部２０４は、車両２１の走行位置データ送信部２１３から、車両２１の自動運転専用道路３０における現在の走行位置データを取得する。さらに、走行位置データ取得部２０４は、自動運転専用道路３０を走行する車両２１以外の複数の車両から、それぞれの車両の自動運転専用道路３０における現在の走行位置データを取得する。 The traveling position data acquisition unit 204 acquires the current traveling position data of the vehicle 20 on the automatic driving exclusive road 30, the relative position of surrounding vehicles, the inter-vehicle distance, etc., calculated by the traveling position data calculation unit 202. Further, the traveling position data acquisition unit 204 acquires the current traveling position data on the automatic driving exclusive road 30 of the vehicle 21 from the traveling position data transmitting unit 213 of the vehicle 21. Further, the traveling position data acquisition unit 204 acquires the current traveling position data of each vehicle on the automatic driving exclusive road 30 from a plurality of vehicles other than the vehicle 21 traveling on the automatic driving exclusive road 30.
　また、走行位置データ取得部２０４は、自動運転専用道路３０を走行する車両２１を含む複数の車両から、それぞれの車両の現在の走行速度のデータを、さらに取得してもよい。さらに、走行位置データ取得部２０４は、自動運転専用道路３０を走行する車両２１を含む複数の車両から、それぞれの車両の目的地のデータをさらに取得してもよい。 Further, the traveling position data acquisition unit 204 may further acquire data on the current traveling speed of each vehicle from a plurality of vehicles including the vehicle 21 traveling on the automatic driving exclusive road 30. Further, the traveling position data acquisition unit 204 may further acquire data on the destination of each vehicle from a plurality of vehicles including the vehicle 21 traveling on the automatic driving exclusive road 30.
　走行制御部２０５は、自動運転専用道路３０において、車両２０及び２１を含む複数の車両を、１又は複数の列をなして指定した速度で走行するように制御する。具体的には、走行制御部２０５は、車両２０及び２１を含む複数の車両の現在の走行位置データに基づいて、自動運転専用道路３０の複数車線のうち、指定した車線を指定した速度で走るように制御する。 The travel control unit 205 controls a plurality of vehicles including the vehicles 20 and 21 to travel at a specified speed in one or a plurality of rows on the automatic driving exclusive road 30. Specifically, the travel control unit 205 travels in a designated lane at a specified speed among a plurality of lanes of the automatic driving exclusive road 30 based on the current travel position data of a plurality of vehicles including the vehicles 20 and 21. To control.
　図４は、図１の交通システム１の車両２０の自動運転制御システムの他の一例を説明する図である。図４の自動運転制御システム３は、自動運転制御装置２０１が車両２０内に設けられていない点において、図２及び図３の自動運転制御システム２と異なる。図４の自動運転制御システム３は、車両２０を含む複数の車両が、自動運転制御装置２０１と通信を行いながら自動運転専用道路３０において自動運転を行う。ここで、図４においては、簡略化のため、車両２０、２２及び２３のみを示す。車両２２及び２３は、図２及び図３の車両２０と同一の構成を有する。自動運転制御装置２０１は、自動運転専用道路３０を走行する車両２０、２２及び２３以外の車両とも通信を行っている。 FIG. 4 is a diagram illustrating another example of the automatic driving control system of the vehicle 20 of the traffic system 1 of FIG. The automatic driving control system 3 of FIG. 4 is different from the automatic driving control system 2 of FIGS. 2 and 3 in that the automatic driving control device 201 is not provided in the vehicle 20. In the automatic driving control system 3 of FIG. 4, a plurality of vehicles including the vehicle 20 automatically drive on the automatic driving exclusive road 30 while communicating with the automatic driving control device 201. Here, in FIG. 4, only vehicles 20, 22 and 23 are shown for simplification. The vehicles 22 and 23 have the same configuration as the vehicle 20 of FIGS. 2 and 3. The automatic driving control device 201 also communicates with vehicles other than the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30.
　自動運転制御装置２０１は、複数の車両２０、２２及び２３の少なくとも一台を自動運転制御して、自動運転専用道路３０を走行させる。ここで、本実施形態においては、１台の自動運転制御装置２０１が、自動運転専用道路３０を走行する全ての車両２０、２２及び２３を自動運転制御してもよい。また、自動運転制御装置２０１が、自動運転専用道路３０を走行する全ての車両２０、２２及び２３をそれぞれ分担して自動運転制御してもよい。また、自動運転専用道路３０を複数の区間に区切って、複数の自動運転制御装置２０１のそれぞれが分担して、区間ごとに車両２０、２２及び２３を自動運転制御してもよい。自動運転制御装置２０１は、走行を制御する車両２０、２２及び２３とは離れた位置に設けられている。たとえば、自動運転専用道路３０の中央管制室等に設けられる。自動運転制御装置２０１は、例えば自動運転専用道路３０に設けられてもよい。複数の自動運転制御装置２０１は、互いに通信を行うように設定されていてもよい。例えば、各自動運転制御装置２０１は、互いに通信を行うことにより、車両２０、２２及び２３から取得した車両の走行位置データを互いに共有してもよい。なお、自動運転制御装置２０１は、他の自動運転される車両の走行を制御する機能も有していてもよい。 The automatic driving control device 201 automatically controls at least one of a plurality of vehicles 20, 22 and 23 to drive on the automatic driving exclusive road 30. Here, in the present embodiment, one automatic driving control device 201 may automatically control all the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30. Further, the automatic driving control device 201 may share all the vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30 for automatic driving control. Further, the automatic driving exclusive road 30 may be divided into a plurality of sections, and each of the plurality of automatic driving control devices 201 may share the automatic driving control of the vehicles 20, 22 and 23 for each section. The automatic driving control device 201 is provided at a position away from the vehicles 20, 22 and 23 that control the traveling. For example, it is provided in the central control room of the autonomous driving road 30 or the like. The automatic driving control device 201 may be provided on, for example, the automatic driving dedicated road 30. The plurality of automatic operation control devices 201 may be set to communicate with each other. For example, the automatic driving control devices 201 may share the traveling position data of the vehicles acquired from the vehicles 20, 22 and 23 with each other by communicating with each other. The automatic driving control device 201 may also have a function of controlling the running of another vehicle that is automatically driven.
　自動運転制御装置２０１は、走行位置データ取得部２０４と、走行制御部２０５とを含む。走行位置データ取得部２０４は、自動運転専用道路３０を走行する複数の車両２０、２２及び２３から、自動運転専用道路３０における現在の走行位置データを取得する。また、走行位置データ取得部２０４は、自動運転専用道路３０を走行する複数の車両２０、２２及び２３から、車両２０、２２及び２３の現在の走行速度データを、さらに取得してもよい。さらに、走行位置データ取得部２０４は、自動運転専用道路３０を走行する車両２０、２２及び２３から、少なくとも制御対象となる車両（例えば車両２０、２２及び２３）の目的地データを、さらに取得してもよい。また、走行位置データ取得部２０４は、車両２０、２２及び２３の目的地データとともに、目的地への到着希望時刻、自動運転のスケジュール等の情報を取得してもよい。走行制御部２０５は、走行位置データ取得部２０４が取得したそれぞれの車両２０、２２及び２３の走行位置データに基づいて、車両２０、２２及び２３の走行を制御する。 The automatic driving control device 201 includes a traveling position data acquisition unit 204 and a traveling control unit 205. The traveling position data acquisition unit 204 acquires the current traveling position data on the autonomous driving exclusive road 30 from the plurality of vehicles 20, 22 and 23 traveling on the autonomous driving exclusive road 30. Further, the traveling position data acquisition unit 204 may further acquire the current traveling speed data of the vehicles 20, 22 and 23 from the plurality of vehicles 20, 22 and 23 traveling on the automatic driving exclusive road 30. Further, the traveling position data acquisition unit 204 further acquires destination data of at least the vehicles to be controlled (for example, vehicles 20, 22 and 23) from the vehicles 20, 22 and 23 traveling on the autonomous driving exclusive road 30. You may. In addition, the traveling position data acquisition unit 204 may acquire information such as a desired arrival time at the destination and an automatic driving schedule, as well as destination data of the vehicles 20, 22 and 23. The travel control unit 205 controls the travel of the vehicles 20, 22 and 23 based on the travel position data of the vehicles 20, 22 and 23 acquired by the travel position data acquisition unit 204.
　図５は、図１の交通システム１の自動運転専用道路管理装置１０、自動運転専用道路３０及び一般道路４０の構成を示す図である。自動運転専用道路管理装置１０は、車両認証部１１と、車両検査部１２と、進入許可部１３と、走行検査部１４と、走行許可部１５とを備える。車両認証部１１は、車両２０と通信して、車両２０の車両ＩＤと、登録された車両ＩＤとを照合する。車両検査部１２は、一般道路４０に設けられた３Ｄカメラ等のカメラ４２から取得した車両２０の情報を解析し、車両２０の自動運転性能情報と比較する。進入許可部１３は、車両認証部１１及び車両検査部１２が車両２０の自動運転専用道路への進入を許可した場合、車両２０に自動運転専用道路３０への進入許可信号を送信し、車両２０のユーザから自動運転開始の意思を受信する。走行検査部１４は、自動運転専用道路３０の自動走行試験ゾーン３２において、車両２０に対して自動運転走行試験を行い、車両２０が予め定められた水準の自動運転走行が可能か否かを検査する。より具体的には、自動運転専用道路管理装置１０は、自動走行試験ゾーンにおいて、自動運転専用道路３０への進入を許可された車両２０を試験パターンに沿って自動運転走行させる。走行検査部１４は、車両２０からの走行情報、及び自動走行試験ゾーン３２に配置されたセンサ又はカメラの出力データに基づいて車両２０が試験パターンに従い走行したか否かを判定する。試験パターンは、例えば、特定量の加速、左右への回転、減速、停止のいずれか、又はそれらの組み合わせから成る。試験パターンは、車両２０が自動走行試験ゾーン３２を通るたびに変化する。これにより、例えば、マニュアル走行によって試験を通過することを抑えることができる。走行許可部１５は、走行検査部１４からの情報をもとに車両２０の自動運転専用道路３０における走行を許可するか否か判定する。 FIG. 5 is a diagram showing the configurations of the automatic driving exclusive road management device 10, the automatic driving exclusive road 30, and the general road 40 of the transportation system 1 of FIG. The road management device 10 dedicated to autonomous driving includes a vehicle authentication unit 11, a vehicle inspection unit 12, an entry permission unit 13, a travel inspection unit 14, and a travel permission unit 15. The vehicle authentication unit 11 communicates with the vehicle 20 and collates the vehicle ID of the vehicle 20 with the registered vehicle ID. The vehicle inspection unit 12 analyzes the information of the vehicle 20 acquired from the camera 42 such as a 3D camera provided on the general road 40, and compares it with the automatic driving performance information of the vehicle 20. When the vehicle authentication unit 11 and the vehicle inspection unit 12 permit the vehicle 20 to enter the autonomous driving road, the approach permission unit 13 transmits an entry permission signal to the vehicle 20 to the autonomous driving road 30 and transmits the vehicle 20 to the vehicle 20. Receive the intention to start automatic operation from the user of. The driving inspection unit 14 conducts an automatic driving test on the vehicle 20 in the automatic driving test zone 32 of the automatic driving exclusive road 30, and inspects whether the vehicle 20 is capable of automatic driving at a predetermined level. To do. More specifically, the autonomous driving road management device 10 automatically drives the vehicle 20 permitted to enter the autonomous driving road 30 in the automatic driving test zone according to the test pattern. The traveling inspection unit 14 determines whether or not the vehicle 20 has traveled according to the test pattern based on the traveling information from the vehicle 20 and the output data of the sensor or the camera arranged in the automatic traveling test zone 32. The test pattern consists of, for example, a specific amount of acceleration, left / right rotation, deceleration, stop, or a combination thereof. The test pattern changes each time the vehicle 20 passes through the automatic driving test zone 32. Thereby, for example, it is possible to suppress passing the test by manual running. The travel permission unit 15 determines whether or not to permit the vehicle 20 to travel on the automatic driving road 30 based on the information from the travel inspection unit 14.
　図５の自動運転専用道路３０は、進入用ゲート３１と、自動走行試験ゾーン３２と、退出ゲート３３とを備える。進入用ゲート３１は、自動運転専用道路３０と一般道路４０との接続箇所に設けられる。進入用ゲート３１は、自動運転専用道路管理装置１０の進入許可部１３が車両２０の自動運転専用道路３０への進入を許可した場合に開放される。自動走行試験ゾーン３２は、自動運転専用道路３０の入口、即ち進入用ゲート３１直後に設けられる。自動走行試験ゾーン３２は、自動運転専用道路管理装置１０の走行検査部１４による自動運転走行試験が行われる領域である。退出ゲート３３は、自動運転専用道路３０の自動走行試験ゾーン３２直後に設けられる。退出ゲート３３は、自動運転専用道路管理装置１０の走行許可部１５が車両２０の自動運転専用道路３０における走行を許可しない場合に開放する。進入用ゲート３１と異なる退出ゲート３３が設けられることによって、走行を許可されない車両が、後続の車両の進路を塞ぐことなく一般道路４０に戻ることができる。従って、自動運転専用道路３０への進入が滑らかになる。 The automatic driving road 30 of FIG. 5 includes an entry gate 31, an automatic driving test zone 32, and an exit gate 33. The approach gate 31 is provided at a connection point between the autonomous driving exclusive road 30 and the general road 40. The approach gate 31 is opened when the entry permission unit 13 of the automatic driving road management device 10 permits the vehicle 20 to enter the automatic driving road 30. The automatic driving test zone 32 is provided at the entrance of the automatic driving road 30, that is, immediately after the entrance gate 31. The automatic driving test zone 32 is an area where an automatic driving test is performed by the driving inspection unit 14 of the road management device 10 dedicated to automatic driving. The exit gate 33 is provided immediately after the automatic driving test zone 32 of the automatic driving exclusive road 30. The exit gate 33 is opened when the travel permission unit 15 of the automatic driving road management device 10 does not permit the vehicle 20 to travel on the automatic driving road 30. By providing the exit gate 33 different from the entry gate 31, a vehicle that is not permitted to travel can return to the general road 40 without blocking the course of the following vehicle. Therefore, the approach to the autonomous driving exclusive road 30 becomes smooth.
　図５の一般道路４０は、認証ゾーン４１と、カメラ４２とを備える。認証ゾーン４１は、自動運転専用道路３０と一般道路４０との接続箇所の手前に設けられる。認証ゾーン４１において、自動運転専用道路管理装置１０の車両認証部１１が車両２０と通信を行う。カメラ４２は、一般道路４０の認証ゾーン４１に設けられる。カメラ４２は、例えば３Ｄカメラである。カメラ４２は、一般道路４０を走行する車両２０を撮影する。カメラ４２は、自動運転専用道路管理装置１０の車両検査部１２に、車両２０の画像を送る。 The general road 40 in FIG. 5 includes an authentication zone 41 and a camera 42. The certification zone 41 is provided in front of the connection point between the autonomous driving exclusive road 30 and the general road 40. In the certification zone 41, the vehicle certification unit 11 of the road management device 10 dedicated to autonomous driving communicates with the vehicle 20. The camera 42 is provided in the authentication zone 41 of the general road 40. The camera 42 is, for example, a 3D camera. The camera 42 photographs the vehicle 20 traveling on the general road 40. The camera 42 sends an image of the vehicle 20 to the vehicle inspection unit 12 of the road management device 10 dedicated to autonomous driving.
　車両２０が、一般道路４０から自動運転専用道路３０に進入する場合の、車両認証方法について説明する。図６は、車両２０が、一般道路４０から自動運転専用道路３０に進入する場合の、車両認証方法を説明するフローチャートである。 The vehicle authentication method when the vehicle 20 enters the autonomous driving exclusive road 30 from the general road 40 will be described. FIG. 6 is a flowchart illustrating a vehicle authentication method when the vehicle 20 enters the autonomous driving exclusive road 30 from the general road 40.
　フローはステップＳ１０１から開始する。ステップＳ１０２において、自動運転専用道路管理装置１０の車両認証部１１は、一般道路４０の認証ゾーン４１を走行する車両２０と通信を行い、車両２０の車両ＩＤを取得する。ステップＳ１０３において、自動運転専用道路管理装置１０の車両認証部１１は、取得した車両２０の車両ＩＤと、登録した車両ＩＤと照合する。ステップＳ１０３において、取得した車両２０の車両ＩＤと登録した車両ＩＤとが一致する場合、フローはステップＳ１０４に進む。ステップＳ１０３において取得した車両２０の車両ＩＤと登録した車両ＩＤとが一致しない場合、フローは終了する（ステップＳ１１４）。 The flow starts from step S101. In step S102, the vehicle authentication unit 11 of the autonomous driving dedicated road management device 10 communicates with the vehicle 20 traveling in the authentication zone 41 of the general road 40, and acquires the vehicle ID of the vehicle 20. In step S103, the vehicle authentication unit 11 of the road management device 10 dedicated to autonomous driving collates the acquired vehicle ID of the vehicle 20 with the registered vehicle ID. If the acquired vehicle ID of the vehicle 20 and the registered vehicle ID match in step S103, the flow proceeds to step S104. If the vehicle ID of the vehicle 20 acquired in step S103 and the registered vehicle ID do not match, the flow ends (step S114).
　ステップＳ１０４において、自動運転専用道路管理装置１０の車両検査部１２は、自動運転事前検査を行う。詳細には、車両検査部１２は、一般道路４０に設置されたカメラ４２に車両２０を撮影させ、車両２０の画像情報を取得する。ステップＳ１０５において、自動運転専用道路管理装置１０の車両検査部１２は、取得した車両２０の画像情報から、車両２０が予め定められた水準の自動運転性能を有するか判定する。例えば取得した画像から、車両２０の外形を判断し、登録した自動運転性能情報における車両の外形から変化がないか判定する。また、車両検査部１２は、取得した画像から及び車両２０に乗車している人の数を判断し、登録した自動運転性能情報の許容乗車人数内であるか否かを判定する。登録した車両の外形が変化することにより、車両２０の走行中の空力特性が変化し、車両２０の自動運転性能が変化する可能性があるからである。また、登録した許容乗車人数を超えてしまうと、車両２０の車重が変化し、車両２０の自動運転性能が変化する可能性があるからである。 In step S104, the vehicle inspection unit 12 of the road management device 10 dedicated to automatic driving performs an automatic driving pre-inspection. Specifically, the vehicle inspection unit 12 causes a camera 42 installed on the general road 40 to take a picture of the vehicle 20 and acquires image information of the vehicle 20. In step S105, the vehicle inspection unit 12 of the road management device 10 dedicated to automatic driving determines from the acquired image information of the vehicle 20 whether the vehicle 20 has a predetermined level of automatic driving performance. For example, the outer shape of the vehicle 20 is determined from the acquired image, and it is determined whether or not there is any change from the outer shape of the vehicle in the registered automatic driving performance information. In addition, the vehicle inspection unit 12 determines from the acquired image and the number of people riding in the vehicle 20, and determines whether or not it is within the allowable number of passengers in the registered automatic driving performance information. This is because the aerodynamic characteristics of the vehicle 20 during traveling may change due to the change in the outer shape of the registered vehicle, and the automatic driving performance of the vehicle 20 may change. Further, if the registered allowable number of passengers is exceeded, the vehicle weight of the vehicle 20 may change, and the automatic driving performance of the vehicle 20 may change.
　車両２０は、出荷及び検査時の自動運転性能情報と差が生じている場合がある。車両検査部１２は、画像検査を行うことにより、比較的簡単に車両２０が予め定められた水準の自動運転性能を有するかを検査することができる。自動運転専用道路管理装置１０の車両検査部１２は、自動運転専用道路３０に進入する前に自動運転性能を検査する。これにより、車両２０が、予め定められた水準の自動運転性能を出荷時及び検査時に満たしていても自動運転専用道路３０への進入時に満たしていない場合、自動運転専用道路３０への進入を禁止することができる。ステップＳ１０５において、車両検査部１２が予め定められた水準の自動運転性能を車両２０が有すると判定した場合、フローはステップＳ１０６に進む。ステップＳ１０５において、車両検査部１２が予め定められた水準の自動運転性能を車両２０が有しないと判定した場合、フローは終了する（ステップＳ１１４）。 Vehicle 20 may differ from the automatic driving performance information at the time of shipment and inspection. By performing an image inspection, the vehicle inspection unit 12 can relatively easily inspect whether the vehicle 20 has a predetermined level of automatic driving performance. The vehicle inspection unit 12 of the automatic driving road management device 10 inspects the automatic driving performance before entering the automatic driving road 30. As a result, if the vehicle 20 meets the predetermined level of automatic driving performance at the time of shipment and inspection but does not meet the conditions at the time of entering the automatic driving road 30, the entry to the automatic driving road 30 is prohibited. can do. If the vehicle inspection unit 12 determines in step S105 that the vehicle 20 has a predetermined level of automatic driving performance, the flow proceeds to step S106. In step S105, when the vehicle inspection unit 12 determines that the vehicle 20 does not have a predetermined level of automatic driving performance, the flow ends (step S114).
　ステップＳ１０６において、自動運転専用道路管理装置１０の進入許可部１３は、車両２０に自動運転専用道路３０への進入許可を与える信号を送信する。車両２０が、自動運転専用道路管理装置１０から自動運転専用道路３０への進入許可を与える信号を受信した場合、車両２０のユーザは、自動運転開始ボタン２１６を押し、また、入力部２１８を操作して目的地を入力する。なお、車両２０のユーザが自動運転専用道路３０への進入を希望しない場合は、自動運転開始ボタンを押さない。車両２０のユーザが自動運転開始ボタンを押すことにより、車両２０は自動運転モードに入る。自動運転専用道路管理装置１０が車両２０を自動運転モードに移行させる。これにより、車両２０のユーザは、車両２０の運転操作を終了する。 In step S106, the entry permission unit 13 of the automatic driving road management device 10 transmits a signal for giving the vehicle 20 access permission to the automatic driving road 30. When the vehicle 20 receives a signal from the automatic driving exclusive road management device 10 to give permission to enter the automatic driving exclusive road 30, the user of the vehicle 20 presses the automatic driving start button 216 and also operates the input unit 218. And enter the destination. If the user of the vehicle 20 does not want to enter the automatic driving road 30, he / she does not press the automatic driving start button. When the user of the vehicle 20 presses the automatic driving start button, the vehicle 20 enters the automatic driving mode. The road management device 10 dedicated to automatic driving shifts the vehicle 20 to the automatic driving mode. As a result, the user of the vehicle 20 ends the driving operation of the vehicle 20.
　ステップＳ１０７において、自動運転専用道路管理装置１０の進入許可部１３は、車両２０から自動運転開始ボタンが押された旨の信号、及び目的地が入力された旨の情報を受信したか否かを判定する。ステップＳ１０７において、自動運転専用道路管理装置１０の進入許可部１３が車両２０から自動運転開始ボタンが押された旨の信号、及び目的地が入力された旨の情報を受信した場合、フローはステップＳ１０８に進む。ステップＳ１０８において、自動運転専用道路管理装置１０の進入許可部１３は自動運転専用道路３０の進入用ゲートを開く。車両２０は、自動運転により、自動運転専用道路３０に進入する。ステップＳ１０７において、車両２０から自動運転開始ボタンが押された旨の信号、及び目的地が入力された旨の情報を受信しない場合、フローは終了する（ステップＳ１１４）。ここで、図７（ａ）は、自動運転専用道路管理装置１０が、車両２０に対して自動運転専用道路３０への進入を許可する場合を示す（図６のステップＳ１０７Ｙｅｓ及びステップＳ１０８）。また、図７（ｂ）は、自動運転専用道路管理装置１０が、車両２０に対して自動運転専用道路３０への進入を許可しない場合を示す（図６のステップＳ１０７Ｎｏ）。 In step S107, the entry permission unit 13 of the road management device 10 dedicated to automatic driving determines whether or not the vehicle 20 has received a signal indicating that the automatic driving start button has been pressed and information indicating that the destination has been input. judge. In step S107, when the entry permission unit 13 of the road management device 10 dedicated to automatic driving receives a signal from the vehicle 20 that the automatic driving start button has been pressed and information that the destination has been input, the flow is stepped. Proceed to S108. In step S108, the entry permission unit 13 of the autonomous driving road management device 10 opens the entrance gate of the autonomous driving road 30. The vehicle 20 enters the automatic driving exclusive road 30 by automatic driving. If the vehicle 20 does not receive the signal indicating that the automatic driving start button has been pressed and the information indicating that the destination has been input in step S107, the flow ends (step S114). Here, FIG. 7A shows a case where the autonomous driving exclusive road management device 10 permits the vehicle 20 to enter the autonomous driving exclusive road 30 (steps S107Yes and S108 in FIG. 6). Further, FIG. 7B shows a case where the autonomous driving exclusive road management device 10 does not allow the vehicle 20 to enter the autonomous driving exclusive road 30 (step S107 No. of FIG. 6).
　ステップＳ１０８において進入許可部１３が自動運転専用道路３０の進入用ゲートを開いた後、自動運転専用道路管理装置１０の走行検査部１４は、車両２０の自動運転走行検査を行う。自動運転走行検査は、ステップＳ１０９において、自動運転専用道路３０の自動走行試験ゾーン３２において、走行検査部１４が車両２０に試験パターンに基づく簡単な操作指示を与える。ステップＳ１１０において、自動運転専用道路管理装置１０の走行検査部１４は、車両２０から、操作指示の結果として車両２０の動作情報を取得する。車両２０に与える試験パターンに基づく操作指示は、例えば、特定量の加速、左右への回転、減速、停止のいずれか、又はそれらの組み合わせから成る。車両２０の動作情報は、例えば車両２０のＧＰＳ等の測位情報、路車間通信による車両２０の現在位置情報等である。 After the approach permission unit 13 opens the approach gate of the automatic driving road 30 in step S108, the driving inspection unit 14 of the automatic driving road management device 10 performs an automatic driving inspection of the vehicle 20. In the automatic driving inspection, in step S109, the driving inspection unit 14 gives the vehicle 20 a simple operation instruction based on the test pattern in the automatic driving test zone 32 of the automatic driving exclusive road 30. In step S110, the traveling inspection unit 14 of the road management device 10 dedicated to automatic driving acquires the operation information of the vehicle 20 as a result of the operation instruction from the vehicle 20. The operation instruction based on the test pattern given to the vehicle 20 consists of, for example, a specific amount of acceleration, left / right rotation, deceleration, stop, or a combination thereof. The operation information of the vehicle 20 is, for example, positioning information such as GPS of the vehicle 20, current position information of the vehicle 20 by road-to-vehicle communication, and the like.
　ステップＳ１１１において、自動運転専用道路管理装置１０の走行検査部１４は、取得した車両２０の動作情報が、車両２０に与えた操作指示に則しているか否か判定する。車両２０は、出荷後に使用されることにより、出荷時の走行性能と使用後の自動運転性能との変動が生じる。特に、車両２０が、手動運転により運転される場合、出荷時の自動運転性能と使用後の自動運転性能との差は使用者によってそれぞれ異なる。また、車両２０自体の自動運転性能が出荷時と大きな差はない場合であっても、車両２０の積載量及び搭乗者数によって、走行性能が変動する場合もある。従って、車両２０は、自動運転専用道路３０の自動走行試験ゾーン３２において、走行検査部１４により自動運転走行の検査が行われることにより、予め定められた水準での自動運転が可能かを検査される。これにより、自動運転専用道路３０に進入する車両２０の自動運転性能が、自動運転専用道路３０内において求められている水準の自動運転性能を満たしているかを検査することができる。従って、本検査は、自動運転専用道路３０に、一定水準の自動運転制御性能を持った車両のみを進入させ、それ以外の車両を排除することができる。 In step S111, the traveling inspection unit 14 of the road management device 10 dedicated to automatic driving determines whether or not the acquired operation information of the vehicle 20 conforms to the operation instruction given to the vehicle 20. When the vehicle 20 is used after shipment, the traveling performance at the time of shipment and the automatic driving performance after use change. In particular, when the vehicle 20 is driven by manual driving, the difference between the automatic driving performance at the time of shipment and the automatic driving performance after use differs depending on the user. Further, even if the automatic driving performance of the vehicle 20 itself is not significantly different from that at the time of shipment, the traveling performance may fluctuate depending on the load capacity of the vehicle 20 and the number of passengers. Therefore, the vehicle 20 is inspected as to whether or not it is possible to automatically drive at a predetermined level by inspecting the automatic driving by the traveling inspection unit 14 in the automatic driving test zone 32 of the automatic driving exclusive road 30. To. Thereby, it is possible to inspect whether the automatic driving performance of the vehicle 20 entering the automatic driving exclusive road 30 satisfies the level of automatic driving performance required in the automatic driving exclusive road 30. Therefore, in this inspection, only vehicles having a certain level of automatic driving control performance can be allowed to enter the automatic driving road 30, and other vehicles can be excluded.
　ステップＳ１１１において、取得した車両２０の動作情報が車両２０に与えた操作指示に則していると走行検査部１４が判定した場合、フローはステップＳ１１２に進む。ステップＳ１１２において、自動運転専用道路管理装置１０の走行許可部１５は、自動運転専用道路３０の退出ゲートを閉じる。車両２０は、自動運転専用道路３０をそのまま自動運転により走行する。その後、フローは終了する（ステップＳ１１４）。 If the traveling inspection unit 14 determines in step S111 that the acquired operation information of the vehicle 20 conforms to the operation instruction given to the vehicle 20, the flow proceeds to step S112. In step S112, the travel permission unit 15 of the autonomous driving exclusive road management device 10 closes the exit gate of the autonomous driving exclusive road 30. The vehicle 20 travels on the automatic driving road 30 as it is by automatic driving. After that, the flow ends (step S114).
　ステップＳ１１１において、取得した車両２０の動作情報が車両２０に与えた操作指示に則していないと走行検査部１４が判定した場合、フローはステップＳ１１３に進む。ステップＳ１１３において、自動運転専用道路管理装置１０の走行許可部１５は、自動運転専用道路３０の退出ゲートを開く。車両２０は、自動運転専用道路３０から退出する。その際、車両２０は、再度手動運転モードに戻る。その後、フローは終了する（ステップＳ１１４）。 If the traveling inspection unit 14 determines in step S111 that the acquired operation information of the vehicle 20 does not conform to the operation instruction given to the vehicle 20, the flow proceeds to step S113. In step S113, the travel permission unit 15 of the autonomous driving exclusive road management device 10 opens the exit gate of the autonomous driving exclusive road 30. The vehicle 20 exits from the autonomous driving road 30. At that time, the vehicle 20 returns to the manual operation mode again. After that, the flow ends (step S114).
　ここで、図８（ａ）は、自動運転専用道路管理装置１０が、車両２０に対して自動運転専用道路３０での走行を許可する場合を示す（図６のステップＳ１１１Ｙｅｓ及びステップＳ１１２）。また、図８（ｂ）は、自動運転専用道路管理装置１０が、車両２０に対して自動運転専用道路３０での走行を許可しない場合を示す（図６のステップＳ１１１Ｎｏ及びステップＳ１１３）。 Here, FIG. 8A shows a case where the autonomous driving exclusive road management device 10 permits the vehicle 20 to travel on the autonomous driving exclusive road 30 (steps S111Yes and S112 in FIG. 6). Further, FIG. 8B shows a case where the automatic driving road management device 10 does not allow the vehicle 20 to travel on the automatic driving road 30 (steps S111No and S113 in FIG. 6).
　［実施例１］
　本発明の一実施形態の実施例について説明する。図９は、本発明の一実施形態の第１の実施例について説明する図である。図９は、本発明の一実施形態である図１の交通システム１を、ある国の交通に適用した場合の１つの例である交通システム６を概略的に示している。 [Example 1]
An embodiment of an embodiment of the present invention will be described. FIG. 9 is a diagram illustrating a first embodiment of an embodiment of the present invention. FIG. 9 schematically shows a transportation system 6 which is an example when the transportation system 1 of FIG. 1 which is an embodiment of the present invention is applied to the transportation of a certain country.
　図９の交通システム５は、第１の出発地５１と、第２の出発地５２と、第１の目的地５３と、第２の目的地５４とを有する。また、図９の交通システム５は、自動運転専用道路５５と、一般道路５６と、一般道路５７とを有する。第１の出発地５１と、第１の目的地５３とには、自動運転専用道路５５が敷設されている。従って、第１の出発地５１と第１の目的地５３とは、自動運転専用道路５５により結ばれている。これに対して、第２の出発地５２と、第２の目的地５４とには、自動運転専用道路５５が敷設されていない。第２の出発地５２には、一般道路５６が敷設され、第２の目的地５４には一般道路５７が敷設されている。自動運転専用道路５５と一般道路５６とは、分岐点である接続箇所５８により接続されている。また自動運転専用道路５５と一般道路５７とは、接続箇所５９により接続されている。 The transportation system 5 of FIG. 9 has a first starting point 51, a second starting point 52, a first destination 53, and a second destination 54. Further, the transportation system 5 of FIG. 9 has an automatic driving exclusive road 55, a general road 56, and a general road 57. Autonomous driving roads 55 are laid at the first starting point 51 and the first destination 53. Therefore, the first starting point 51 and the first destination 53 are connected by the automatic driving exclusive road 55. On the other hand, the automatic driving exclusive road 55 is not laid at the second starting point 52 and the second destination 54. A general road 56 is laid at the second departure point 52, and a general road 57 is laid at the second destination 54. The autonomous driving road 55 and the general road 56 are connected by a connection point 58 which is a branch point. Further, the autonomous driving exclusive road 55 and the general road 57 are connected by a connection point 59.
　図９の車両５０１は、図２の車両２０と同一の構成を有する車両である。第１の出発地５１において、車両５０１のユーザ５１１が、第１の目的地５３に向かう場合、車両５０１は、自動運転専用道路５５を自動運転により走行し、第１の目的地５３に向かう。第１の出発地５１において、車両５０１のユーザ５１１が、第２の目的地５４に行く場合、車両５０１は、接続箇所５９まで自動運転専用道路５５を自動運転により走行し、接続箇所５９から一般道路５７に進入する。車両５０１のユーザ５１１は手動運転により一般道路５７を走行し、第２の目的地５４に向かう。 The vehicle 501 in FIG. 9 is a vehicle having the same configuration as the vehicle 20 in FIG. At the first departure point 51, when the user 511 of the vehicle 501 heads for the first destination 53, the vehicle 501 travels on the automatic driving exclusive road 55 by automatic driving and heads for the first destination 53. At the first departure point 51, when the user 511 of the vehicle 501 goes to the second destination 54, the vehicle 501 travels on the automatic driving exclusive road 55 to the connection point 59 by automatic driving, and from the connection point 59 to the general. Enter the road 57. The user 511 of the vehicle 501 travels on the general road 57 by manual driving and heads for the second destination 54.
　第２の出発地５２において、車両５０２のユーザ５１２が、第１の目的地５３に向かう場合、車両５０２は、接続箇所５８まで一般道路５６を走行する。一般道路５６において、ユーザ５１２は手動運転により走行する。一般道路５６と自動運転専用道路５５との接続箇所５８において、本発明の一実施形態にかかる自動運転専用道路管理装置１０を含む交通システム１による車両認証方法（図６参照）が適用される。その後、車両５０２は、第１の目的地５３まで自動運転専用道路５５を自動運転により走行する。第２の出発地５２において、車両５０２のユーザ５１２が、第２の目的地５４に向かう場合、車両５０２は、接続箇所５８まで一般道路５６を走行する。一般道路５６において、ユーザ５１２は手動運転により走行する。一般道路５６と自動運転専用道路５５との接続箇所５８において、本発明の一実施形態にかかる自動運転専用道路管理装置１０を含む交通システム１による車両認証方法（図６参照）が適用される。その後、車両５０２は、接続箇所５９まで自動運転専用道路５５を自動運転により走行し、接続箇所５９から一般道路５７に進入する。車両５０２のユーザ５１２は、手動運転により一般道路５７を走行し、第２の目的地５４に向かう。 At the second departure point 52, when the user 512 of the vehicle 502 heads for the first destination 53, the vehicle 502 travels on the general road 56 to the connection point 58. On the general road 56, the user 512 travels by manual driving. At the connection point 58 between the general road 56 and the autonomous driving exclusive road 55, the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied. After that, the vehicle 502 travels on the automatic driving exclusive road 55 to the first destination 53 by automatic driving. At the second departure point 52, when the user 512 of the vehicle 502 heads for the second destination 54, the vehicle 502 travels on the general road 56 to the connection point 58. On the general road 56, the user 512 travels by manual driving. At the connection point 58 between the general road 56 and the autonomous driving exclusive road 55, the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied. After that, the vehicle 502 travels on the automatic driving exclusive road 55 to the connection point 59 by automatic driving, and enters the general road 57 from the connection point 59. The user 512 of the vehicle 502 travels on the general road 57 by manual driving and heads for the second destination 54.
　［実施例２］
　図１０は、本発明の一実施形態の第２の実施例について説明する図である。図１０は、本発明の一実施形態である図１の交通システム１を、ある国の交通に適用した場合の別の例である交通システム６を概略的に示している。図１０の交通システム６は、図１の交通システム１を、車両のシェアリングサービスに適用した例である。以下、図１０の交通システム６について説明する。 [Example 2]
FIG. 10 is a diagram illustrating a second embodiment of an embodiment of the present invention. FIG. 10 schematically shows a transportation system 6 which is another example when the transportation system 1 of FIG. 1 which is an embodiment of the present invention is applied to the transportation of a certain country. The transportation system 6 of FIG. 10 is an example of applying the transportation system 1 of FIG. 1 to a vehicle sharing service. Hereinafter, the transportation system 6 of FIG. 10 will be described.
　図１０の交通システム６は、ステーション６５１～６５４と、出発地６２と、目的地６４とを有する。また、図１０の交通システム６は、自動運転専用道路６５と、一般道路６６と、一般道路６７とを有する。ステーション６５１～６５４は、自動運転専用道路６５に設けられる。ステーションは、自動運転専用道路６５において、出発地及び目的地とすることができる場所である。自動運転専用道路６５と一般道路６６とは、接続箇所６８により接続されている。また自動運転専用道路６５と一般道路６７とは、接続箇所６９により接続されている。また、車両６０１～６０４は、図２の車両２０と同一の構成を有する車両である。このうち、車両６０１～６０３は、シェアリングサービス用の車両（以下、シェアリング車両６０１～６０３）である。また、車両６０３は、個人所有の車両（以下、個人用車両６０４）である。 The transportation system 6 of FIG. 10 has stations 651 to 654, a departure point 62, and a destination 64. Further, the transportation system 6 of FIG. 10 has an automatic driving exclusive road 65, a general road 66, and a general road 67. Stations 651 to 654 are provided on the autonomous driving road 65. The station is a place that can be a starting point and a destination on the autonomous driving road 65. The autonomous driving road 65 and the general road 66 are connected by a connection point 68. Further, the autonomous driving exclusive road 65 and the general road 67 are connected by a connection point 69. Further, the vehicles 601 to 604 are vehicles having the same configuration as the vehicle 20 of FIG. Of these, vehicles 601 to 603 are vehicles for sharing services (hereinafter, sharing vehicles 601 to 603). Further, the vehicle 603 is a privately owned vehicle (hereinafter referred to as a personal vehicle 604).
　車両６０１～６０３は、シェアリングサービスの１又は複数のユーザであって車両の定員数以下の人数のユーザを、自動運転専用道路６５、一般道路６６及び／又は一般道路６７において出発地から目的地まで運ぶ。ここで、シェアリング車両６０１～６０３の出発地は、シェアリングサービスの１又は複数のユーザの何れかのユーザの出発地であり、シェアリング車両６０１～６０３の目的地は、シェアリングサービスの１又は複数のユーザの何れかのユーザの目的地である。また、シェアリング車両６０１～６０３の出発地からシェアリング車両６０１～６０３の目的地までの車両の走行ルートは、シェアリングサービスの１又は複数のユーザのそれぞれの出発地及び目的地をすべて含む。また、シェアリング車両６０１～６０３の出発地からシェアリング車両６０１～６０３の目的地までの車両の走行ルートは、シェアリングサービスの１又は複数のユーザのそれぞれの出発地から目的地までの走行ルートをすべて含む。 Vehicles 601-603 include one or more users of the sharing service, the number of users less than or equal to the capacity of the vehicle, from the departure point to the destination on the autonomous driving exclusive road 65, the general road 66 and / or the general road 67. Carry to. Here, the departure point of the sharing vehicles 601 to 603 is the departure point of one of the sharing services or one of the plurality of users, and the destination of the sharing vehicles 601 to 603 is one of the sharing services. Alternatively, it is the destination of any of a plurality of users. Further, the traveling route of the vehicle from the departure point of the sharing vehicles 601 to 603 to the destination of the sharing vehicles 601 to 603 includes all the departure points and destinations of one or more users of the sharing service. Further, the travel route of the vehicle from the departure point of the sharing vehicles 601 to 603 to the destination of the sharing vehicles 601 to 603 is the travel route from the departure point to the destination of each of one or more users of the sharing service. Including all.
　以下、シェアリングサービスの使用の具体例について説明する。
　例１．ユーザ６１１がステーション６５１からステーション６５３に向かう。
　ユーザ６１１は、ステーション６５１において目的地（ステーション６５３）を入力し、車両を呼ぶ。ユーザ６１１の呼び出しにより、ステーション６５１にはシェアリング車両６０１が自動運転により到着する。つまり、車両６０１がユーザ６１１による呼出し及び／又は目的地のデマンドに基づいて自動運転される。ユーザ６１１は、ステーション６５１からシェアリング車両６０１に乗車し、ステーション６５３まで自動運転により自動運転専用道路６５を走行する。シェアリング車両６０１がステーション６５３に到着すると、ユーザ６１１は、ステーション６５３で下車する。シェアリング車両６０１は、ステーション６５３において別のユーザ６１２が乗車する。車両６０１は、自動運転専用道路６５において手動運転が禁止されたユーザ６１１とは異なるユーザ６１２による呼出し及び／又は目的地のデマンドに基づいて自動運転される。更なるユーザが存在しない場合、車両６０１は、他のステーションに向かうか、車庫に向かう。 A specific example of using the sharing service will be described below.
Example 1. User 611 goes from station 651 to station 653.
The user 611 inputs the destination (station 653) at the station 651 and calls the vehicle. By calling the user 611, the sharing vehicle 601 arrives at the station 651 by automatic driving. That is, the vehicle 601 is automatically driven based on the call by the user 611 and / or the demand of the destination. The user 611 gets on the sharing vehicle 601 from the station 651 and travels to the station 653 on the automatic driving exclusive road 65 by automatic driving. When the sharing vehicle 601 arrives at station 653, user 611 gets off at station 653. The sharing vehicle 601 is boarded by another user 612 at the station 653. The vehicle 601 is automatically driven based on a call by a user 612 different from the user 611 whose manual driving is prohibited on the automatic driving road 65 and / or a demand of the destination. In the absence of additional users, vehicle 601 heads for another station or heads to the garage.
　例２．ユーザ６１１がステーション６５１から目的地６４に向かう。
　ユーザ６１１は、ステーション６５１において目的地６４を入力し、車両を呼ぶ。ユーザ６１１の呼び出しにより、ステーション６５１にはシェアリング車両６０１が自動運転により到着する。ユーザ６１１は、ステーション６５１からシェアリング車両６０１に乗車し、接続箇所６９まで自動運転により自動運転専用道路６５を走行する。シェアリング車両６０１は、接続箇所６９から一般道路６７に進入する。ユーザ６１１は手動運転により一般道路６７を走行し、目的地６４に向かう。 Example 2. User 611 heads for destination 64 from station 651.
The user 611 inputs the destination 64 at the station 651 and calls the vehicle. By calling the user 611, the sharing vehicle 601 arrives at the station 651 by automatic driving. The user 611 gets on the sharing vehicle 601 from the station 651 and travels on the automatic driving exclusive road 65 by automatic driving to the connection point 69. The sharing vehicle 601 enters the general road 67 from the connection point 69. The user 611 travels on the general road 67 by manual driving and heads for the destination 64.
　例３．ユーザ６１３が出発地６２からステーション６５３まで向かう。
　出発地６２にシェアリング車両の車両ポートがある、又は使用されていないシェアリング車両が駐車されている場合は、出発地６２において、ユーザ６１３は、シェアリング車両（６０２）に乗車する。シェアリング車両６０２は、接続箇所６９まで一般道路６６を走行する。一般道路６６において、ユーザ６１３は手動運転により走行する。一般道路６６と自動運転専用道路６５との接続箇所６８において、本発明の一実施形態にかかる自動運転専用道路管理装置１０を含む交通システム１による車両認証方法（図６参照）が適用される。その後、シェアリング車両６０２は、ステーション６５３まで自動運転専用道路６５を自動運転により走行する。シェアリング車両６０２がステーション６５３に到着すると、ユーザ６１３は、ステーション６５３で下車する。 Example 3. User 613 heads from departure point 62 to station 653.
If there is a vehicle port for the sharing vehicle at the departure point 62, or if an unused sharing vehicle is parked, then at the departure point 62, the user 613 gets on the sharing vehicle (602). The sharing vehicle 602 travels on the general road 66 to the connection point 69. On the general road 66, the user 613 travels by manual driving. At the connection point 68 between the general road 66 and the autonomous driving exclusive road 65, the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied. After that, the sharing vehicle 602 travels to the station 653 on the automatic driving exclusive road 65 by automatic driving. When the sharing vehicle 602 arrives at station 653, user 613 disembarks at station 653.
　例４．ユーザ６１３が出発地６２から目的地６４まで向かう。
　出発地６２にシェアリング車両の車両ポートがある、又は使用されていないシェアリング車両が駐車されている場合は、ユーザ６１３は、出発地６２において、シェアリング車両（６０２）に乗車する。シェアリング車両６０２は、接続箇所６８まで一般道路６６を走行する。一般道路６６において、ユーザ６１３は手動運転により走行する。一般道路６６と自動運転専用道路６５との接続箇所６８において、本発明の一実施形態にかかる自動運転専用道路管理装置１０を含む交通システム１による車両認証方法（図６参照）が適用される。その後、シェアリング車両６０２は、接続箇所６９まで自動運転専用道路６５を自動運転により走行し、接続箇所６９から一般道路６７に進入する。ユーザ６１３はシェアリング車両６０２を手動運転して一般道路６７を走行し、目的地６４に向かう。 Example 4. User 613 heads from the departure point 62 to the destination 64.
If there is a vehicle port for the sharing vehicle at the departure point 62, or if an unused sharing vehicle is parked, the user 613 will board the sharing vehicle (602) at the departure point 62. The sharing vehicle 602 travels on the general road 66 to the connection point 68. On the general road 66, the user 613 travels by manual driving. At the connection point 68 between the general road 66 and the autonomous driving exclusive road 65, the vehicle authentication method (see FIG. 6) by the traffic system 1 including the autonomous driving exclusive road management device 10 according to the embodiment of the present invention is applied. After that, the sharing vehicle 602 travels on the automatic driving exclusive road 65 to the connection point 69 by automatic driving, and enters the general road 67 from the connection point 69. The user 613 manually drives the sharing vehicle 602, travels on the general road 67, and heads for the destination 64.
　シェアリング車両の乗車定員が２人以上の場合、１のシェアリング車両に複数人のユーザが乗車することができる。ここで、複数人のユーザ（例えばユーザ６１４及びユーザ６１５）が１のシェアリング車両に乗車する条件は、以下の要件（ｖｉ）～（ｖｉｉ）を満たす場合である。
（ｖｉ）ユーザ６１４の出発地から目的地までの走行ルートと、ユーザ６１５の出発地から目的地までの走行ルートとの一部が重なる。
（ｖｉｉ）ユーザ６１５の出発地がユーザ６１４の走行ルートであるか、又はユーザ６１４の出発地がユーザ６１５の走行ルートである。
（ｖｉｉｉ）ユーザ６１５の目的地がユーザ６１４の走行ルートであるか、又はユーザ６１４の目的地がユーザ６１５の走行ルートである。 When the passenger capacity of the sharing vehicle is two or more, a plurality of users can ride on one sharing vehicle. Here, the condition for a plurality of users (for example, user 614 and user 615) to board one sharing vehicle is a case where the following requirements (vi) to (vii) are satisfied.
(Vi) A part of the travel route from the departure point to the destination of the user 614 and the travel route from the departure point to the destination of the user 615 overlap.
(Vii) The departure point of the user 615 is the travel route of the user 614, or the departure point of the user 614 is the travel route of the user 615.
(Viii) The destination of the user 615 is the travel route of the user 614, or the destination of the user 614 is the travel route of the user 615.
　例５．ユーザ６１４がステーション６５１からステーション６５３に向かい、ユーザ６１５がステーション６５２からステーション６５４に向かう。
　ユーザ６１４は、ステーション６５１において目的地（ステーション６５３）を入力し、車両を呼ぶ。ユーザ６１１の呼び出しにより、ステーション６５１にはシェアリング車両６０３が自動運転により到着する。ユーザ６１１は、ステーション６５１からシェアリング車両６０１に乗車し、ステーション６５３まで自動運転により自動運転専用道路６５を走行する。ユーザ６１５は、ステーション６５２において目的地（ステーション６５４）を入力し、車両を呼ぶ。ユーザ６１５の呼び出しにより、ステーション６５２にはシェアリング車両６０３が自動運転により到着する。シェアリング車両６０３は、ユーザ６１４が既に乗車している。ユーザ６１５は、ステーション６５２からシェアリング車両６０３に乗車し、自動運転により自動運転専用道路６５を走行する。シェアリング車両５０３は、ステーション６５３においてユーザ６１４を下車させ、その後、自動運転によりステーション６５４に向かう。シェアリング車両６０３がステーション６５４に到着すると、ユーザ６１５は、ステーション６５４で下車する。 Example 5. User 614 goes from station 651 to station 653, and user 615 goes from station 652 to station 654.
The user 614 inputs the destination (station 653) at the station 651 and calls the vehicle. By calling the user 611, the sharing vehicle 603 arrives at the station 651 by automatic driving. The user 611 gets on the sharing vehicle 601 from the station 651 and travels to the station 653 on the automatic driving exclusive road 65 by automatic driving. The user 615 inputs the destination (station 654) at the station 652 and calls the vehicle. Upon the call of the user 615, the sharing vehicle 603 arrives at the station 652 by automatic driving. User 614 is already on board the sharing vehicle 603. The user 615 gets on the sharing vehicle 603 from the station 652 and travels on the automatic driving exclusive road 65 by automatic driving. The sharing vehicle 503 disembarks the user 614 at the station 653 and then automatically drives towards the station 654. When the sharing vehicle 603 arrives at station 654, user 615 gets off at station 654.
　図１０の交通システムにおいて、自動運転専用道路６５、並びに一般道路６６及び６７には、シェアリング車両（例えばシェアリング車両６０１～６０３）だけでなく、個人所有の車両（例えば個人用車両６０４）も走行している。個人用車両６０４は、一般道路６６において車両６０４を手動運転で運転する。自動運転専用道路６５において手動運転が禁止される。個人用車両６０４は、手動運転が禁止されたユーザ６１６と同一のユーザ６１６による呼出し及び／又は目的地のデマンドに基づいて自動運転される。

ここで、個人用車両６０４には、シェアリング承認ボタンが設けられている。シェアリング承認ボタンは、シェア承認操作部の一例である。シェアリング承認ボタンは、車両６０４を手動運転で運転したユーザ６１６とは異なるユーザ（例えば６１７）による利用を承認するシェアリング承認ボタンは、自動運転専用道路６５、並びに一般道路６６及び６７において、交通システム６のシェアリングサービスのユーザが同乗することを承認するボタンである。但し、シェアリング承認ボタンを有する車両は、総定員が２人以上の車両である。ユーザがシェアリング承認ボタンを押すことにより、個人用車両６０４は、自動運転専用道路６５、並びに一般道路６６及び６７において、交通システム６のシェアリングサービスのユーザを運ぶ。なお、車両が運ぶ人数は、運転者以外の定員数以下の人数である。 In the transportation system of FIG. 10, not only sharing vehicles (for example, sharing vehicles 601 to 603) but also privately owned vehicles (for example, personal vehicles 604) are included in the autonomous driving exclusive road 65 and the general roads 66 and 67. I'm running. The personal vehicle 604 manually drives the vehicle 604 on the general road 66. Manual driving is prohibited on the automatic driving road 65. The personal vehicle 604 is automatically driven based on a call and / or destination demand by the same user 616 as the user 616 whose manual driving is prohibited.

Here, the personal vehicle 604 is provided with a sharing approval button. The sharing approval button is an example of the sharing approval operation unit. The sharing approval button approves the use by a user (for example, 617) different from the user 616 who manually drives the vehicle 604. The sharing approval button is used for traffic on the autonomous driving exclusive road 65 and the general roads 66 and 67. It is a button that approves the user of the sharing service of the system 6 to ride. However, the vehicle having the sharing approval button is a vehicle having a total capacity of two or more people. When the user presses the sharing approval button, the personal vehicle 604 carries the user of the sharing service of the transportation system 6 on the autonomous driving exclusive road 65 and the general roads 66 and 67. The number of people carried by the vehicle is less than or equal to the number of people other than the driver.
　例えば個人用車両６０４の所有者６１６は、個人用車両６０４を運転する際に、シェアリングボタンを押した場合、個人用車両６０４はシェアリング車両として使用される。この時、個人用車両６０４の所有者であるユーザ（所有者６１６）は、出発地から目的地の間において、シェアリングサービスのユーザを同乗させる。例えば、所有者６１６が出発地６２からステーション６５４に向かうときに、ステーション６５２においてユーザ６１７を乗せる。但し、個人用車両６０４の出発地から個人用車両６０４の目的地までの個人用車両６０４の走行ルートが、ユーザ６１７の出発地及び目的地を含み、ユーザ６１７の出発地から目的地までの走行ルートを含む場合である。この時、個人用車両６０４の出発地は、ユーザ（所有者６１６）の出発地であり、個人用車両６０４の目的地は、ユーザ（所有者６１６）の目的地である。また、ユーザが複数いる場合は、個人用車両６０４の出発地から目的地までの個人用車両６０４の走行ルートは、複数のユーザのそれぞれの出発地及び目的地をすべて含み、複数のユーザのそれぞれの出発地から目的地までの走行ルートをすべて含む。
　また、個人用車両６０４は、所有者６１６の目的地まで走行し、所有者６１６が降車した後で、他のユーザ６１７のデマンドに基づいて走行してもよい。 For example, if the owner 616 of the personal vehicle 604 presses the sharing button while driving the personal vehicle 604, the personal vehicle 604 is used as the sharing vehicle. At this time, the user (owner 616) who is the owner of the personal vehicle 604 carries the user of the sharing service between the departure place and the destination. For example, when the owner 616 heads from the departure point 62 to the station 654, the user 617 is carried at the station 652. However, the travel route of the personal vehicle 604 from the departure point of the personal vehicle 604 to the destination of the personal vehicle 604 includes the departure point and the destination of the user 617, and the travel from the departure point of the user 617 to the destination. When including the route. At this time, the departure point of the personal vehicle 604 is the departure point of the user (owner 616), and the destination of the personal vehicle 604 is the destination of the user (owner 616). When there are a plurality of users, the travel route of the personal vehicle 604 from the departure point of the personal vehicle 604 to the destination includes all the departure points and destinations of the plurality of users, and each of the plurality of users. Includes all travel routes from the starting point to the destination.
Further, the personal vehicle 604 may travel to the destination of the owner 616, and after the owner 616 gets off, may travel based on the demand of another user 617.
　ここで、図１１から図１４を参照して、自動走行制御される車両の一例を示す。車両は、以下のような構成による規格に基づいて作成されてもよい。 Here, an example of a vehicle that is automatically controlled to travel is shown with reference to FIGS. 11 to 14. The vehicle may be created based on a standard having the following configuration.
　［小型パーソナルホイールドヴィークル制御装置および小型パーソナルホイールドヴィークル］
　主要都市及び主要都市に向かう幹線道路において慢性的な渋滞が発生している。これは、個人が所有している車両が増加したためである。そこで、渋滞を解消するために、公共交通機関の導入が積極的に行われている。また、車両をシェアして使用する車両シェアリングも行われている。しかしながら、公共交通機関および車両シェアリングは、個人の移動ニーズにマッチしていない。例えば、公共交通機関および車両シェアリングは、ドアＴＯドアでの使用および移動中のパーソナルな空間の確保が困難である。また、タクシーやバイクタクシーなどのライドシェアリングは、ドアＴＯドアで使用できるが、コストが高く、パーソナルな空間の確保が困難である。また、例えば、家族の送り迎えに個人が所有している車両を使用する場合、ドアＴＯドアでの使用、パーソナルな空間の確保などパーソナルな使用が可能であるが、送り迎えの間の待ち時間などドライバーの時間が消費されるという課題も存在する。
　ドアＴＯドアでの使用、パーソナルな空間の確保などパーソナルな使用が可能、渋滞を解消可能であり、かつ、リーズナブルな交通機関が求められている。
　ドアＴＯドアでの使用、パーソナルな空間の確保などパーソナルな使用が可能、渋滞を解消可能であり、かつ、リーズナブルな小型パーソナルホイールドヴィークル制御装置および小型パーソナルホイールドヴィークルを提供する。
　ドライバーがドライビングに費やす時間を低減し、かつ、リーズナブルな交通機関が求められている。
　ドライバーがドライビングに費やす時間を低減し、かつ、リーズナブルな小型パーソナルホイールドヴィークル制御装置および小型パーソナルホイールドヴィークルを提供する。
　小型パーソナルホイールドヴィークルは、車輪を備えている。小型パーソナルホイールドヴィークルは、車両の駆動力を発生する駆動機構、進行方向を変更するための進行方向変更機構および車両の制動力を発生する制動機構を備えている。小型パーソナルホイールドヴィークルは、駆動機構、進行方向変更機構および制動機構を制御する制御装置を備えている。小型パーソナルホイールドヴィークルは、制御装置に電気的に接続されるオペレーティングデバイスを備えている。制御装置は、オペレーティングデバイスから入力された電気信号に基づいて小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する。
　制御装置は、小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する車両制御装置を含んでいる。車両制御装置は、駆動機構、進行方向変更機構および制動機構に電気的に接続されている。
　制御装置は、小型パーソナルホイールドヴィークルを自動運転させるための自動運転制御装置を含んでいる。自動運転制御装置は、車両制御装置に電気的に接続される。
　小型パーソナルホイールドヴィークルは、車両の自動運転に必要な各種センサを有する。
　各種センサは、制御装置に電気的に接続される。各種センサの一部は、自動運転制御装置に電気的に接続される。各種センサの一部は、車両制御装置に電気的に接続される。各種センサは、自動運転制御装置および車両制御装置と電気的に接続される。
　なお、自動運転制御装置および車両制御装置は、独立した筐体を有する２つの部品として構成されていても良い。自動運転制御装置および車両制御装置は、１つの筐体に納められる１つの部品として構成されていても良い。
　キャビンは、自動運転制御装置を有するように構成されていても良い。
　キャビンは、車両制御装置を有するように構成されていても良い。
　シャーシは、車両制御装置を有するように構成されていても良い。
　シャーシは、自動運転制御装置を有するように構成されていても良い。
　なお、小型パーソナルホイールドヴィークルは、例えば、バスより小さい車両である。小型パーソナルホイールドヴィークルは、例えば、その乗車定員が１０人未満の車両である。例えば、車両（ホイールドヴィークル）の左右方向の定員が二人以下であり且つ総定員が四人以下の車両である。小型パーソナルホイールドヴィークルは、例えば、車両の左右方向の大きさが２０００ｍｍ以下である。小型パーソナルホイールドヴィークルは、例えば、車両の左右方向の大きさが１５００ｍｍ以下、フットプリントが４．４ｍ２以下の車両である。小型パーソナルホイールドヴィークルは、例えば、シットインタイプシートを有する車両である。小型パーソナルホイールドヴィークルは、例えば、エンジンにより走行可能な車両、電動機により走行可能な車両、エンジン及び電動機により走行可能な車両である。小型パーソナルホイールドヴィークルの動力源は、特に限定されない。小型パーソナルホイールドヴィークルは、例えば、オフロード型、オンロード型の車両である。小型パーソナルホイールドヴィークルは、例えば、２輪車、３輪車又は４輪車である。 [Small personal wheeled vehicle controller and small personal wheeled vehicle]
Chronic congestion is occurring in major cities and on the trunk roads leading to them. This is because the number of vehicles owned by individuals has increased. Therefore, public transportation is being actively introduced in order to eliminate traffic congestion. In addition, vehicle sharing is also carried out in which vehicles are shared and used. However, public transport and vehicle sharing do not match individual mobility needs. For example, public transport and vehicle sharing are difficult to use in door-to-door and secure personal space on the move. Ride sharing such as taxis and motorcycle taxis can be used with doors to doors, but the cost is high and it is difficult to secure a personal space. In addition, for example, when a vehicle owned by an individual is used for picking up and dropping off a family member, personal use such as door-to-door use and securing of a personal space is possible, but the driver such as waiting time between pick-up and drop-off There is also the problem that time is consumed.
Doors There is a demand for reasonable transportation that can be used as TO doors, can be used for personal purposes such as securing a personal space, can eliminate traffic congestion, and is reasonably priced.
We provide a small personal wheeled vehicle control device and a small personal wheeled vehicle that can be used as doors, can be used for personal purposes such as securing a personal space, can eliminate traffic congestion, and are reasonably priced.
There is a need for reasonable transportation that reduces the time the driver spends on driving.
It provides a small personal wheeled vehicle controller and a small personal wheeled vehicle that reduce the time the driver spends on driving and are reasonably priced.
Small personal wheeled vehicles are equipped with wheels. The small personal wheeled vehicle includes a drive mechanism that generates a driving force of the vehicle, a traveling direction changing mechanism for changing the traveling direction, and a braking mechanism that generates a braking force of the vehicle. The small personal wheeled vehicle is equipped with a control device that controls a drive mechanism, a traveling direction changing mechanism, and a braking mechanism. The small personal wheeled vehicle has an operating device that is electrically connected to the control unit. The control device controls the driving force, the traveling direction, and the braking force of the small personal wheeled vehicle based on the electric signal input from the operating device.
The control device includes a vehicle control device that controls the driving force, the direction of travel, and the braking force of the small personal wheeled vehicle. The vehicle control device is electrically connected to a drive mechanism, a traveling direction changing mechanism, and a braking mechanism.
The control device includes an automatic driving control device for automatically driving a small personal wheeled vehicle. The autonomous driving control device is electrically connected to the vehicle control device.
The small personal wheeled vehicle has various sensors necessary for the automatic driving of the vehicle.
The various sensors are electrically connected to the control device. Some of the various sensors are electrically connected to the automatic driving control device. Some of the various sensors are electrically connected to the vehicle control device. The various sensors are electrically connected to the automatic driving control device and the vehicle control device.
The automatic driving control device and the vehicle control device may be configured as two parts having independent housings. The automatic driving control device and the vehicle control device may be configured as one component housed in one housing.
The cabin may be configured to have an automatic driving control device.
The cabin may be configured to have a vehicle control device.
The chassis may be configured to have a vehicle control device.
The chassis may be configured to have an automatic driving control device.
The small personal wheeled vehicle is, for example, a vehicle smaller than a bus. A small personal wheeled vehicle is, for example, a vehicle having a passenger capacity of less than 10. For example, a vehicle (wheeled vehicle) has a capacity of two or less in the left-right direction and a total capacity of four or less. The small personal wheeled vehicle has, for example, a vehicle having a size of 2000 mm or less in the left-right direction. The small personal wheeled vehicle is, for example, a vehicle having a size of 1500 mm or less in the left-right direction and a footprint of 4.4 m2 or less. A small personal wheeled vehicle is, for example, a vehicle having a sit-in type seat. The small personal wheeled vehicle is, for example, a vehicle that can be driven by an engine, a vehicle that can be driven by an electric motor, and a vehicle that can be driven by an engine and an electric motor. The power source of the small personal wheeled vehicle is not particularly limited. The small personal wheeled vehicle is, for example, an off-road type or an on-road type vehicle. The small personal wheeled vehicle is, for example, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle.
　［入力動作が異なる複数のオペレーティングデバイスで操作可能な小型パーソナルホイールドヴィークル］
　制御装置は、駆動力の発生、進行方向の変更および制動力の発生の少なくとも一つの指示に対して入力動作が異なる複数種類のオペレーティングデバイスが電気的に接続可能に構成される。これにより、ドライバーはオペレーティングデバイスを選択することが可能となり、よりパーソナライズすることができる。
　制御装置は、入力動作が異なる複数種類のオペレーティングデバイスのうち、一つのオペレーティングデバイスと電気的に接続され、かつ、オペレーティングデバイスから入力された電気信号に基づいて小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する。
　制御装置は、入力動作が異なる複数種類のオペレーティングデバイスのうち、複数のオペレーティングデバイスと優先順位が付与された状態で電気的に接続され、かつ、優先順位に基づいてオペレーティングデバイスから入力された電気信号に基づいて小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する。
　入力動作が異なる複数種類のオペレーティングデバイスは、３６０度以上回転可能なステアリングハンドル、１８０度未満の範囲で回転するステアリングハンドル（バー、ガングリップタイプ）、ゲーム機で使用されるようなスイッチを使用したコントローラー、スマートフォン・タブレット・マウスパッドのように触れて入力する接触式入力デバイス、ジョイスティックコントローラーまたはドライバーのジェスチャーを認識して入力する非接触式入力デバイスなどを含む。また、制御装置は、入力動作が異なる複数種類のオペレーティングデバイスに合わせて、小型パーソナルホイールドヴィークルの走行時の仕様又は性能を変更しても良い。例えば、オペレーティングデバイスがジョイスティックコントローラーである場合には、制御装置が最高速度を通常より低く設定することも可能である。
　なお、オペレーティングデバイスは、小型パーソナルホイールドヴィークルに搭載されていても良い。オペレーティングデバイスは、小型パーソナルホイールドヴィークルに装着および着脱可能に構成されていても良い。小型パーソナルホイールドヴィークルは、入力動作が異なる複数のオペレーティングデバイスで操作可能に構成される。小型パーソナルホイールドヴィークルは、車両の内部に存在しない車両の外部にあるオペレーティングデバイスで操作可能に構成されていても良い。 [Small personal wheeled vehicle that can be operated by multiple operating devices with different input behavior]
The control device is configured so that a plurality of types of operating devices having different input operations can be electrically connected to at least one instruction of generating a driving force, changing a traveling direction, and generating a braking force. This allows the driver to choose the operating device and be more personalized.
The control device is electrically connected to one of a plurality of types of operating devices having different input operations, and is driven by a small personal wheeled vehicle based on an electric signal input from the operating device. Control the direction and braking force.
The control device is electrically connected to a plurality of types of operating devices having different input operations in a prioritized state, and an electric signal input from the operating device based on the priority. Controls the driving force, traveling direction and braking force of the small personal wheeled vehicle based on.
Multiple types of operating devices with different input operations used a steering handle that can rotate 360 degrees or more, a steering handle that rotates within a range of less than 180 degrees (bar, gun grip type), and switches such as those used in game consoles. Includes touch-type input devices such as controllers, smartphones, tablets, and mouse pads, and non-contact input devices that recognize and input joystick controllers or driver gestures. Further, the control device may change the running specifications or performance of the small personal wheeled vehicle according to a plurality of types of operating devices having different input operations. For example, if the operating device is a joystick controller, the controller can also set the maximum speed lower than normal.
The operating device may be mounted on a small personal wheeled vehicle. The operating device may be configured to be removable and attachable to a small personal wheeled vehicle. The small personal wheeled vehicle is configured to be operable on multiple operating devices with different input behavior. The small personal wheeled vehicle may be configured to be operable with an operating device outside the vehicle that is not inside the vehicle.
　［車両の内部に存在しない車両の外部にあるオペレーティングデバイスで操作可能な小型パーソナルホイールドヴィークル］
　制御装置は、車両の内部に存在しない車両の外部にあるオペレーティングデバイスが電気的に接続可能に構成される。制御装置は、複数のセンサで取得された車両の状況および車両の周囲の状況に関するデータをオペレーティングデバイスに送信する。車両の外部にいるドライバーは、車両の状況および車両の周囲の状況に基づいて、オペレーティングデバイスを操作する。
　これにより、ドライバーは、例えば、自宅やオフィスにいる状態で、小型パーソナルホイールドヴィークルを操縦して、小型パーソナルホイールドヴィークルを目的地に移動させることができる。そのため、例えば、家族の送り迎えの間の待ち時間などドライバーの時間の消費を低減することができる。また、例えば、遠隔操縦の代行サービスをリーズナブルに行うことができる。 [Small personal wheeled vehicle that does not exist inside the vehicle and can be operated by an operating device outside the vehicle]
The control device is configured to be electrically connectable to operating devices outside the vehicle that are not inside the vehicle. The control device transmits data on the vehicle condition and the surrounding condition of the vehicle acquired by a plurality of sensors to the operating device. The driver outside the vehicle operates the operating device based on the conditions of the vehicle and the surroundings of the vehicle.
This allows the driver to steer the small personal wheeled vehicle, for example, while at home or in the office, to move the small personal wheeled vehicle to the destination. Therefore, it is possible to reduce the time consumption of the driver, for example, the waiting time between the pick-up and drop-off of the family. Further, for example, a remote control agency service can be provided at a reasonable price.
　［複数の小型パーソナルホイールドヴィークルを管制する管制制装置によってドライビング可能、かつ、車両の内部に搭乗しているドライバーがドライビング可能または車両の外部にいるドライバーがドライビング可能な小型パーソナルホイールドヴィークル］
　制御装置は、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路上を走行する複数の小型パーソナルホイールドヴィークルを集中管制する集中管制制装置が電気的に接続可能に構成される。制御装置は、管制制装置から入力された電気信号に基づいて、小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する。さらに、制御装置は、車両の内部に搭乗しているドライバーが操作するオペレーティングデバイスから入力された電気信号に基づいて、または、車両の外部にいるドライバーが操作するオペレーティングデバイスから入力された電気信号に基づいて、小型パーソナルホイールドヴィークルの駆動力、進行方向および制動力を制御する。
　これにより、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路上を走行し、集中管制されるため、制御装置を簡素化できる。また、専用道路以外の汎用道路では、車両の内部に搭乗しているドライバーまたは車両の外部にいるドライバーがドライブするため、小型パーソナルホイールドヴィークルに搭載される自動運転のための制御装置をより簡素化できる。
　ドアＴＯドアでの使用、パーソナルな空間の確保などパーソナルな使用が可能、渋滞を解消可能であり、かつ、リーズナブルな小型パーソナルホイールドヴィークルおよび小型パーソナルホイールドヴィークル制御装置を提供することができる。
　ドライバーがドライビングに費やす時間を低減し、かつ、リーズナブルな小型パーソナルホイールドヴィークルおよび小型パーソナルホイールドヴィークル制御装置を提供することができる。
　所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路上を走行し、集中管制されるため、公共交通機関の一つであると考えられる。しかしながら、専用道路以外の汎用道路では、車両の内部に搭乗しているドライバーまたは車両の外部にいるドライバーがドライブするため、小型パーソナルホイールドヴィークルである。それらを両立したため、本技術は、公共交通機関をパーソナライズする技術であると考えられる。本開示に係る小型パーソナルホイールドヴィークルは、公共交通機関でありながらパーソナルな使用を満たすことができる。
　なお、所定の規格を充足する小型パーソナルホイールドヴィークルとは、集中管制が行いやすいように車両の大きさ、駆動源の出力など車両の仕様がある範囲に制限された小型パーソナルホイールドヴィークルである。本開示に係る小型パーソナルホイールドヴィークルは、同じメーカーの車両である必要はない。本開示に係る小型パーソナルホイールドヴィークルは、異なるメーカーの車両であっても、所定の規格を充足していれば良い。本開示に係る小型パーソナルホイールドヴィークルの仕様（性能）としては、例えば、集中管制で制御する際に、最高速度が４５から６０ｋｍ／ｈ、０から５０ｋｍ／ｈまでの加速度が１０秒以内、５０から０ｋｍ／ｈまでの減速度が５秒以内を充足する仕様が考えられる。また、本開示に係る小型パーソナルホイールドヴィークルの仕様（サイズ）としては、例えば、車両の左右方向の大きさが１５００ｍｍ以下、フットプリントが４．４ｍ２以下とすることが考えられる。
　所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路とは、上述した所定の規格を充足する小型パーソナルホイールドヴィークル以外の一般車両、マニュアル運転車両、人力自転車などの走行を禁止した道路である。
　集中管制装置は、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路上を走行する際に、走行が許可された小型パーソナルホイールドヴィークルであることを認証する機構を設けても良い。具体的には、小型パーソナルホイールドヴィークルに認証デジタルキーが記憶された認証モジュールを搭載していても良い。その認証モジュールは制御装置の通信ユニットと電気的に接続され、集中管制装置と通信することができる。この通信により、小型パーソナルホイールドヴィークルの専用道路への進入が許可される。なお、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路には、車両の大きさを測定する装置を設けても良い。また、小型パーソナルホイールドヴィークルのＡＤＡＳ、自動運転に必要なセンサ、アクチュエータの有無、作動状況をチェックし、所定のチェック項目を満たした場合に許可するようにしても良い。また、集中管制装置は、小型パーソナルホイールドヴィークルのメンテナンス情報、車両検査情報を取得し、その情報に基づいて、小型パーソナルホイールドヴィークルの専用道路への進入を許可しても良い。また、集中管制装置は、小型パーソナルホイールドヴィークルのメンテナンス情報及び／又は車両検査情報を取得し、その情報に基づいて、適切なメンテナンスを促す情報およびサービスに関する情報などを車両のオーナー、ドライバーに提案しても良い。また、ドライバーに関する情報が登録されている場合は、車両の情報、車両の走行に関する情報と組み合わせることで、種々のサービスに関する情報をドライバーに提供することができる。
　また、集中管制装置は、小型パーソナルホイールドヴィークルに搭載されている診断装置と通信できるように構成しても良い。各車両は走行中に診断装置で自己診断を行い、集中管制装置が不具合の度合いに応じて、各車両を管制しても良い。
　なお、小型パーソナルホイールドヴィークルが搭載している各種センサを利用することで、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路または他の小型パーソナルホイールドヴィークルの状況を監視しても良い。例えば、道路の路面状況を監視し、道路上の障害物を見つけることができる。路面の凹凸などについては、カメラなどの撮像装置で監視できる。また、車輪の状況で監視することもできる。監視のための装置は、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路に設けても良い。
　このようにして取得した情報は、車両の集中管制に利用することができる。これにより、より効率的な車両管制が可能になる。
　小型パーソナルホイールドヴィークルは、走行中に他の小型パーソナルホイールドヴィークルと機械的に連結されても良い。連結後は、先頭の小型パーソナルホイールドヴィークルが後続の他の小型パーソナルホイールドヴィークルを牽引するように制御しても良い。また、機械的な連結ではなく電気的な連結により、複数の小型パーソナルホイールドヴィークルを隊列走行させても良い。
　小型パーソナルホイールドヴィークルは、走行中に搭載しているエネルギー量を調整することができる。例えば、複数の小型パーソナルホイールドヴィークルが機械的に連結されている場合、連結されている車両間でエネルギーの量を調整することができる。また、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路に設けたエネルギー供給装置と小型パーソナルホイールドヴィークルに搭載したエネルギー補充装置との間で、小型パーソナルホイールドヴィークルのエネルギーを補充することができる。非接触給電または接触給電などの形式を採用することができる。
　なお、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路は、高架とすることができる。また、橋脚、路面、柵など各要素をモジュール化することで、都市の変化に合わせて、容易に専用道路の規模を変更することができる。また、メンテナンスも容易に行うことができる。また、各モジュールをコンクリートではなく、金属または樹脂などで構成することで、より容易に専用道路の規模を変更することができる。メンテナンスもより容易に行うことができる。
　なお、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路は、ループ状に形成することができる。これにより、集中管制がより容易に行うことができる。また、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路は、専用ではない道路と接続されても良い。
　なお、上述した集中管制装置は、小型パーソナルホイールドヴィークルの運転を制御する機能および小型パーソナルホイールドヴィークルまたはそのドライバーに関する情報を集中的に管理し、制御する機能を備えている。しかしながら、集中管制装置は、小型パーソナルホイールドヴィークルの運転を制御する機能を備えている必要はない。集中管制装置は、小型パーソナルホイールドヴィークルまたはそのドライバーに関する情報を集中的に管理し、制御する機能を備えている必要はない。集中管制装置が存在しなくても良い。同等の機能を各小型パーソナルホイールドヴィークルで分散処理しても良い。
　本開示の一実施形態に係る小型パーソナルホイールドヴィークルとしては、例えば、以下のヴィークルが挙げられる。 [Small personal wheeled vehicle that can be driven by a control device that controls multiple small personal wheeled vehicles, and that can be driven by a driver inside the vehicle or by a driver outside the vehicle]
The control device is configured so that a centralized control device that centrally controls multiple small personal wheeled vehicles traveling on a dedicated road for small personal wheeled vehicles that meet a predetermined standard can be electrically connected. Wheel. The control device controls the driving force, the traveling direction, and the braking force of the small personal wheeled vehicle based on the electric signal input from the control device. In addition, the control device is based on an electrical signal input from an operating device operated by a driver inside the vehicle, or to an electrical signal input from an operating device operated by a driver outside the vehicle. Based on this, the driving force, traveling direction and braking force of the small personal wheeled vehicle are controlled.
As a result, a small personal wheeled vehicle that meets a predetermined standard travels on a dedicated road for traveling and is centrally controlled, so that the control device can be simplified. In addition, on general-purpose roads other than private roads, the driver inside the vehicle or the driver outside the vehicle drives the vehicle, which makes the control device for automatic driving mounted on the small personal wheeled vehicle simpler. Can be changed.
It is possible to provide a small personal wheeled vehicle and a small personal wheeled vehicle control device that can be used as a door to a door, can be used personally such as securing a personal space, can eliminate traffic congestion, and are reasonably priced.
It is possible to reduce the time spent by the driver for driving and to provide a reasonable small personal wheeled vehicle and a small personal wheeled vehicle control device.
It is considered to be one of the public transportation systems because it runs on a dedicated road for small personal wheeled vehicles that meet the prescribed standards and is centrally controlled. However, on general-purpose roads other than private roads, it is a small personal wheeled vehicle because it is driven by a driver who is on the inside of the vehicle or a driver who is outside the vehicle. Since both of these are compatible, this technology is considered to be a technology for personalizing public transportation. The small personal wheeled vehicle according to the present disclosure can satisfy personal use while being a public transportation system.
A small personal wheeled vehicle that meets the specified standards is a small personal wheeled vehicle that is limited to a certain range of vehicle specifications such as vehicle size and drive source output so that centralized control can be performed easily. .. The small personal wheeled vehicle according to the present disclosure does not have to be a vehicle of the same manufacturer. The small personal wheeled vehicle according to the present disclosure may satisfy a predetermined standard even if it is a vehicle of a different manufacturer. The specifications (performance) of the small personal wheeled vehicle according to the present disclosure include, for example, a maximum speed of 45 to 60 km / h, an acceleration of 0 to 50 km / h within 10 seconds, and 50 when controlled by centralized control. It is conceivable that the deceleration from to 0 km / h satisfies within 5 seconds. Further, as the specifications (size) of the small personal wheeled vehicle according to the present disclosure, for example, it is conceivable that the size of the vehicle in the left-right direction is 1500 mm or less and the footprint is 4.4 m2 or less.
Dedicated roads for small personal wheeled vehicles that meet the specified standards are prohibited from running on general vehicles, manually driven vehicles, human-powered bicycles, etc. other than the small personal wheeled vehicles that meet the specified standards mentioned above. It is a road that has been used.
The centralized control device is provided with a mechanism to certify that the small personal wheeled vehicle that meets the specified standards is a small personal wheeled vehicle that is permitted to drive when traveling on a dedicated road for traveling. Is also good. Specifically, an authentication module in which an authentication digital key is stored may be mounted on a small personal wheeled vehicle. The authentication module is electrically connected to the communication unit of the control device and can communicate with the centralized control device. This communication allows small personal wheeled vehicles to enter the private road. A device for measuring the size of a vehicle may be provided on a dedicated road for a small personal wheeled vehicle that meets a predetermined standard to travel. Further, the ADAS of the small personal wheeled vehicle, the presence / absence of the sensor and the actuator required for automatic operation, and the operating status may be checked, and if a predetermined check item is satisfied, the permission may be given. Further, the centralized control device may acquire maintenance information and vehicle inspection information of the small personal wheeled vehicle, and based on the information, permit the small personal wheeled vehicle to enter the dedicated road. In addition, the centralized control device acquires maintenance information and / or vehicle inspection information for small personal wheeled vehicles, and based on that information, proposes information that encourages appropriate maintenance and information on services to vehicle owners and drivers. You may. Further, when the information about the driver is registered, the information about various services can be provided to the driver by combining with the information about the vehicle and the information about the running of the vehicle.
In addition, the centralized control device may be configured to be able to communicate with the diagnostic device mounted on the small personal wheeled vehicle. Each vehicle may self-diagnose with a diagnostic device while traveling, and the centralized control device may control each vehicle according to the degree of failure.
By using various sensors installed in the small personal wheeled vehicle, the status of the dedicated road or other small personal wheeled vehicle for the small personal wheeled vehicle that meets the specified standards to run can be monitored. You may. For example, it is possible to monitor the road surface condition and find obstacles on the road. The unevenness of the road surface can be monitored by an imaging device such as a camera. It can also be monitored by the condition of the wheels. The device for monitoring may be provided on a dedicated road for a small personal wheeled vehicle that meets a predetermined standard to travel.
The information acquired in this way can be used for centralized control of vehicles. This enables more efficient vehicle control.
The small personal wheeled vehicle may be mechanically connected to other small personal wheeled vehicles while driving. After the connection, the leading small personal wheeled vehicle may be controlled to pull the other small personal wheeled vehicles that follow. In addition, a plurality of small personal wheeled vehicles may be platooned by electrical connection instead of mechanical connection.
The small personal wheeled vehicle can adjust the amount of energy it carries while driving. For example, when a plurality of small personal wheeled vehicles are mechanically connected, the amount of energy can be adjusted between the connected vehicles. In addition, the energy of the small personal wheeled vehicle is located between the energy supply device installed on the dedicated road for the small personal wheeled vehicle that meets the specified standards and the energy replenishment device mounted on the small personal wheeled vehicle. Can be replenished. A form such as non-contact power supply or contact power supply can be adopted.
The dedicated road for the small personal wheeled vehicle that meets the predetermined standard can be elevated. In addition, by modularizing each element such as piers, road surfaces, and fences, the scale of dedicated roads can be easily changed according to changes in the city. In addition, maintenance can be easily performed. Further, by configuring each module with metal or resin instead of concrete, the scale of the dedicated road can be changed more easily. Maintenance can also be performed more easily.
It should be noted that the dedicated road for the small personal wheeled vehicle that meets the predetermined standard can be formed in a loop shape. As a result, centralized control can be performed more easily. In addition, a dedicated road for a small personal wheeled vehicle that meets a predetermined standard may be connected to a non-dedicated road.
The centralized control device described above has a function of controlling the operation of the small personal wheeled vehicle and a function of centrally managing and controlling information about the small personal wheeled vehicle or its driver. However, the centralized control system need not have the function of controlling the operation of the small personal wheeled vehicle. The centralized control system need not have the ability to centrally manage and control information about the small personal wheeled vehicle or its driver. The centralized control system does not have to exist. Equivalent functions may be distributed in each small personal wheeled vehicle.
Examples of the small personal wheeled vehicle according to the embodiment of the present disclosure include the following vehicles.
　［所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路を自動運転可能、かつ、汎用道路を車両の内部に搭乗しているドライバーがドライビング可能、かつ、車両の外部にいるドライバーがドライビング可能な小型パーソナルホイールドヴィークル］または、
　［所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路を自動運転可能、かつ、汎用道路を車両の内部に搭乗しているドライバーがドライビング可能な小型パーソナルホイールドヴィークル］または、
　［所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路を自動運転可能、かつ、車両の外部にいるドライバーがドライビング可能な小型パーソナルホイールドヴィークル］。
　これにより、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路上を走行するため、混合交通である汎用道路を自動運転可能とした車両と比較して、自動運転に必要な制御装置を簡素化できる。また、専用道路以外の汎用道路では、車両の内部に搭乗しているドライバーまたは車両の外部にいるドライバーがドライブするため、混合交通である汎用道路を自動運転可能とした車両と比較して、小型パーソナルホイールドヴィークルに搭載される自動運転のための制御装置をより簡素化できる。なお、小型パーソナルホイールドヴィークルは、汎用道路を自動運転可能にも構成されるとともに、汎用道路において、車両の内部に搭乗しているか若しくは車両の外部にいるドライバーがドライブするか、又は自動運転するかが選択可能に構成されてもよい。
　ドアＴＯドアでの使用、パーソナルな空間の確保などパーソナルな使用が可能、渋滞を解消可能であり、かつ、リーズナブルな小型パーソナルホイールドヴィークルおよび小型パーソナルホイールドヴィークル制御装置を提供することができる。
　ドライバーがドライビングに費やす時間を低減し、かつ、リーズナブルな小型パーソナルホイールドヴィークルおよび小型パーソナルホイールドヴィークル制御装置を提供することができる。 [A driver who can automatically drive a dedicated road for a small personal wheeled vehicle that meets the specified standards, can drive a driver who is on a general-purpose road inside the vehicle, and is outside the vehicle. Small personal wheeled vehicle that can be driven] or
[Small personal wheeled vehicle that can automatically drive a dedicated road for a small personal wheeled vehicle that meets the specified standards, and can be driven by a driver who is on a general-purpose road inside the vehicle] or
[Small personal wheeled vehicle that can automatically drive on a dedicated road for a small personal wheeled vehicle that meets the specified standards, and can be driven by a driver outside the vehicle].
As a result, small personal wheeled vehicles that meet the prescribed standards run on dedicated roads for driving, so they are necessary for autonomous driving compared to vehicles that can automatically drive general-purpose roads that are mixed traffic. The control device can be simplified. In addition, on general-purpose roads other than private roads, the driver who is on the inside of the vehicle or the driver who is outside the vehicle drives, so it is smaller than a vehicle that can automatically drive a general-purpose road that is mixed traffic. The control device for autonomous driving mounted on the personal wheeled vehicle can be further simplified. The small personal wheeled vehicle is also configured to be able to automatically drive on general-purpose roads, and on general-purpose roads, the driver who is on the inside of the vehicle or outside the vehicle drives or automatically drives. May be configured to be selectable.
It is possible to provide a small personal wheeled vehicle and a small personal wheeled vehicle control device that can be used as a door to a door, can be used personally such as securing a personal space, can eliminate traffic congestion, and are reasonably priced.
It is possible to reduce the time spent by the driver for driving and to provide a reasonable small personal wheeled vehicle and a small personal wheeled vehicle control device.
　［自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置が車両の駆動力、進行方向の変更および制動力を制御する車両制御装置に対して交換可能に構成される小型パーソナルホイールドヴィークル］
　自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置は、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置に対して交換可能に構成される。自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置は、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置に対して、電気的に接続および非接続が可能に構成される。
　このように構成されるため、自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置のアップグレードを容易に行うことができる。」
　このように構成されるため、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置を長期にわたり使用することができる。
　自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置は、キャビンに設けられる。車両制御装置は、シャーシに設けられる。キャビンは、シャーシに対して、交換可能に構成される。キャビンは、シャーシに対して機械的に接続および非接続が可能に構成される。
　このように構成されるため、自動運転に必要なセンサの一部および自動運転を制御する自動運転制御装置およびキャビンのアップグレードを容易に行うことができる。
　このように構成されるため、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置およびシャーシを長期にわたり使用することができる。 [Small personal that is configured so that some of the sensors required for autonomous driving and the autonomous driving control device that controls autonomous driving are interchangeable with the vehicle control device that controls the driving force, change of direction of travel, and braking force of the vehicle. Wheeled Vehicle]
A part of the sensors required for the automatic driving and the automatic driving control device for controlling the automatic driving are configured to be interchangeable with the vehicle control device for controlling the driving force, the change of the traveling direction and the braking force of the vehicle. Some of the sensors required for autonomous driving and the autonomous driving control device that controls autonomous driving are electrically connected and disconnected from the vehicle control device that controls the driving force, change of direction of travel, and braking force of the vehicle. Is configured to be possible.
With this configuration, it is possible to easily upgrade a part of the sensors required for automatic driving and the automatic driving control device that controls automatic driving. "
With such a configuration, a vehicle control device that controls the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
A part of the sensors required for automatic driving and an automatic driving control device for controlling automatic driving are provided in the cabin. The vehicle control device is provided on the chassis. The cabin is configured to be replaceable with respect to the chassis. The cabin is configured to be mechanically connectable and disconnected from the chassis.
With such a configuration, it is possible to easily upgrade some of the sensors required for automatic driving, the automatic driving control device for controlling automatic driving, and the cabin.
With this configuration, the vehicle control device and chassis that control the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
　図１１において、Ｆは小型パーソナルホイールドヴィークルの前方向、Ｒｅは後方向、Ｕは上方向、Ｄは下方向、Ｒｉは右方向およびＬは左方向を示す。
　図１１は、小型パーソナルホイールドヴィークル、車両の内部に存在しない車両の外部にあるオペレーティングデバイス、所定の規格を充足する小型パーソナルホイールドヴィークルが走行するための専用道路および専用道路以外の汎用道路を表している。
　小型パーソナルホイールドヴィークルＸ１は、シャーシＸ２とキャビンＸ３を有する。
　シャーシＸ２は、制御装置Ｘ４、駆動機構Ｘ５、進行方向変更機構Ｘ６、制動機構Ｘ７、前右車輪Ｘ９ＦＲｉ、前左車輪Ｘ９ＦＬ、後右車輪Ｘ９ＲｅＲｉおよび後左車輪Ｘ９ＲｅＬを有する。
　制御装置Ｘ４は、車両制御装置Ｘ４Ａおよび自動運転制御装置Ｘ４Ｂを含む。
　車両制御装置Ｘ４Ａは、自動運転制御装置Ｘ４Ｂと電気的に接続される。
　各種センサの一部Ｘ１３は、制御装置Ｘ４に電気的に接続される。
　各種センサの一部Ｘ１３は、車両制御装置Ｘ４Ａに電気的に接続される。
　各種センサの一部Ｘ１３は、自動運転制御装置Ｘ４Ｂに電気的に接続される。図示されていないが、各種センサの一部Ｘ１３以外のセンサが、小型パーソナルホイールドヴィークルＸ１に設けられていてもよい。
　制御装置Ｘ４は、駆動機構Ｘ５、進行方向変更機構Ｘ６および制動機構Ｘ７と電気的に接続される。
　車両制御装置Ｘ４Ａは、駆動機構Ｘ５、進行方向変更機構Ｘ６および制動機構Ｘ７と電気的に接続される。
　自動運転制御装置Ｘ４Ｂは、駆動機構Ｘ５、進行方向変更機構Ｘ６および制動機構Ｘ７と電気的に接続される。
　キャビンＸ３は、車両の内部に設けられた内部オペレーティングデバイスＸ８ＩＮ、前右シートＸＦＲｉ、前左シートＸＦＬ、後右シートＸＲｅＲｉおよび後左シートＲｅＬを有する。
　キャビンＸ３は、各種センサの一部Ｘ１３を有する。
　キャビンＸ３は、自動運転制御装置Ｘ４Ｂを有する。
　内部オペレーティングデバイスＸ８ＩＮは、制御装置Ｘ４と電気的に接続される。
　内部オペレーティングデバイスＸ８ＩＮは、３６０度以上回転可能なステアリングハンドルＸ８ＩＮＡを有する。
　外部オペレーティングデバイスＸ８ＯＵＴは、アンテナＸ８ＯＵＴ１および３６０度以上回転可能なステアリングハンドルＸ８ＯＵＴＡを有する。
　外部オペレーティングデバイスＸ８ＯＵＴは、小型パーソナルホイールドヴィークルＸ１の制御装置Ｘ４と無線によって電気的に接続される。
　小型パーソナルホイールドヴィークルＸ１は、集中管制装置Ｘ１１と電気的に接続され、集中管制装置Ｘ１１によって集中的に管制される。
　集中管制装置Ｘ１１は、アンテナＸ１１１を有する。
　集中管制装置Ｘ１１は、小型パーソナルホイールドヴィークルＸ１の制御装置Ｘ４と無線によって電気的に接続される。
　小型パーソナルホイールドヴィークルＸ１は、小型パーソナルホイールドヴィークルが走行するための専用道路Ｘ１２Ｅ、その専用道路Ｘ１２Ｅに設けられた専用道路乗降ステーションＸ１２Ｓ、その専用道路Ｘ１２Ｅ以外の汎用道路Ｘ１２Ｇを走行する。
　なお、図中において、小型パーソナルホイールドヴィークルが走行するための専用道路Ｘ１２Ｅおよびその専用道路Ｘ１２Ｅに設けられた専用道路乗降ステーションＸ１２Ｓは、太い線で示されている。その専用道路Ｘ１２Ｅ以外の汎用道路Ｘ１２Ｇは、細い線で示されている。
　なお、電気的接続の形式は、有線による接続形式または無線による接続形式のいずれかの接続形式であっても良い。電気的接続が満たされる形式であれば、特定の形式に限定されない。
　なお、無線の形式は、電気的接続が可能な形式であれば良い。無線の形式は、特定の形式に限定されない。 In FIG. 11, F indicates the front direction of the small personal wheeled vehicle, Re indicates the rear direction, U indicates the upward direction, D indicates the downward direction, Ri indicates the right direction, and L indicates the left direction.
FIG. 11 shows a small personal wheeled vehicle, an operating device outside the vehicle that does not exist inside the vehicle, a dedicated road for the small personal wheeled vehicle that meets a predetermined standard, and a general-purpose road other than the dedicated road. Represents.
The small personal wheeled vehicle X1 has a chassis X2 and a cabin X3.
The chassis X2 includes a control device X4, a drive mechanism X5, a traveling direction changing mechanism X6, a braking mechanism X7, a front right wheel X9FRi, a front left wheel X9FL, a rear right wheel X9ReRi and a rear left wheel X9ReL.
The control device X4 includes a vehicle control device X4A and an automatic driving control device X4B.
The vehicle control device X4A is electrically connected to the automatic driving control device X4B.
A part X13 of various sensors is electrically connected to the control device X4.
A part X13 of various sensors is electrically connected to the vehicle control device X4A.
A part X13 of various sensors is electrically connected to the automatic operation control device X4B. Although not shown, sensors other than some of the various sensors X13 may be provided in the small personal wheeled vehicle X1.
The control device X4 is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
The vehicle control device X4A is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
The automatic operation control device X4B is electrically connected to the drive mechanism X5, the traveling direction changing mechanism X6, and the braking mechanism X7.
The cabin X3 has an internal operating device X8IN, a front right seat XFRi, a front left seat XFL, a rear right seat XReRi and a rear left seat ReL provided inside the vehicle.
The cabin X3 has a part X13 of various sensors.
The cabin X3 has an automatic driving control device X4B.
The internal operating device X8IN is electrically connected to the control device X4.
The internal operating device X8IN has a steering handle X8INA that can rotate 360 degrees or more.
The external operating device X8OUT has an antenna X8OUT1 and a steering handle X8OUTA that can rotate 360 degrees or more.
The external operating device X8OUT is wirelessly electrically connected to the control device X4 of the small personal wheeled vehicle X1.
The small personal wheeled vehicle X1 is electrically connected to the centralized control device X11 and is centrally controlled by the centralized control device X11.
The centralized control device X11 has an antenna X111.
The centralized control device X11 is electrically connected to the control device X4 of the small personal wheeled vehicle X1 by radio.
The small personal wheeled vehicle X1 travels on a dedicated road X12E for the small personal wheeled vehicle to travel, a dedicated road boarding / alighting station X12S provided on the dedicated road X12E, and a general-purpose road X12G other than the dedicated road X12E.
In the figure, the dedicated road X12E for the small personal wheeled vehicle to travel and the dedicated road boarding / alighting station X12S provided on the dedicated road X12E are shown by thick lines. General-purpose roads X12G other than the dedicated road X12E are indicated by thin lines.
The form of the electrical connection may be either a wired connection type or a wireless connection type. It is not limited to a specific format as long as the electrical connection is satisfied.
The wireless format may be any format that allows electrical connection. The format of the radio is not limited to any particular format.
　図１２は、本開示の他の形態に係る小型パーソナルホイールドヴィークルを示している。
　キャビンＸ３は、シャーシＸ２に機械的に接続／非接続可能に構成される。
　キャビンＸ３は、各種センサの一部Ｘ１３を有する。
　キャビンＸ３は、自動運転制御装置Ｘ４Ｂを有する。
　キャビンＸ３は、内部オペレーティングデバイスＸ８ＩＮを有する。
　シャーシＸ２は、車両制御装置Ｘ４Ａ、駆動機構Ｘ５、進行方向変更機構Ｘ６および制動機構Ｘ７を有する。
　キャビンＸ３は、シャーシＸ２に対して機械的に接続／非接続可能に構成される。
　キャビンＸ３は、シャーシＸ２に対して交換可能に構成される。
　自動運転制御装置Ｘ４Ｂは、制御装置Ｘ４に電気的に接続／非接続可能に構成される。
　自動運転制御装置Ｘ４Ｂは、制御装置Ｘ４に対して交換可能に構成される。
　自動運転制御装置Ｘ４Ｂは、車両制御装置Ｘ４Ａに電気的に接続／非接続可能に構成される。
　自動運転制御装置Ｘ４Ｂは、車両制御装置Ｘ４Ａに対して交換可能に構成される。
　自動運転制御装置Ｘ４Ｂは、制御装置Ｘ４に電気的に接続／非接続可能に構成される。
　自動運転制御装置Ｘ４Ｂは、制御装置Ｘ４に対して交換可能に構成される。
　各種センサの一部Ｘ１３は、制御装置Ｘ４に電気的に接続／非接続可能に構成される。
　各種センサの一部Ｘ１３は、制御装置Ｘ４に対して交換可能に構成される。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３のアップグレードを容易に行うことができる。
　このように構成されるため、自動運転を制御する自動運転制御装置Ｘ４Ｂのアップグレードを容易に行うことができる。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３および自動運転を制御する自動運転制御装置Ｘ４Ｂのアップグレードを容易に行うことができる。
　このように構成されるため、キャビンＸ３のアップグレードを容易に行うことができる。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３、自動運転を制御する自動運転制御装置Ｘ４ＢおよびキャビンＸ３のアップグレードを容易に行うことができる。
　このように構成されるため、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置およびシャーシＸ２を長期にわたり使用することができる。 FIG. 12 shows a small personal wheeled vehicle according to another embodiment of the present disclosure.
The cabin X3 is configured to be mechanically connectable / non-connectable to the chassis X2.
The cabin X3 has a part X13 of various sensors.
The cabin X3 has an automatic driving control device X4B.
The cabin X3 has an internal operating device X8IN.
The chassis X2 includes a vehicle control device X4A, a drive mechanism X5, a traveling direction changing mechanism X6, and a braking mechanism X7.
The cabin X3 is configured to be mechanically connectable / non-connectable to the chassis X2.
The cabin X3 is configured to be replaceable with respect to the chassis X2.
The automatic operation control device X4B is configured to be electrically connectable / non-connectable to the control device X4.
The automatic operation control device X4B is configured to be replaceable with respect to the control device X4.
The automatic driving control device X4B is configured to be electrically connectable / non-connectable to the vehicle control device X4A.
The automatic driving control device X4B is configured to be replaceable with respect to the vehicle control device X4A.
The automatic operation control device X4B is configured to be electrically connectable / non-connectable to the control device X4.
The automatic operation control device X4B is configured to be replaceable with respect to the control device X4.
A part X13 of various sensors is configured to be electrically connectable / non-connectable to the control device X4.
A part X13 of various sensors is configured to be replaceable with respect to the control device X4.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for automatic operation.
With such a configuration, it is possible to easily upgrade the automatic operation control device X4B that controls automatic operation.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for the automatic operation and the automatic operation control device X4B for controlling the automatic operation.
Due to this configuration, the cabin X3 can be easily upgraded.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for the automatic operation, the automatic operation control device X4B for controlling the automatic operation, and the cabin X3.
With such a configuration, the vehicle control device and the chassis X2 that control the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
　図１３は、オペレーティングデバイスの具体例を示している。
　自動運転制御装置Ｘ４Ｂは、キャビンＸ３に対して交換可能に構成される。
　各種センサの一部Ｘ１３は、キャビンＸ３に対して交換可能に構成される。
　着脱式オペレーティングデバイスＸ８ＩＮＯＵＴは、キャビンＸ３に対して交換可能に構成される。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３のアップグレードを容易に行うことができる。
　このように構成されるため、自動運転を制御する自動運転制御装置Ｘ４Ｂのアップグレードを容易に行うことができる。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３および自動運転を制御する自動運転制御装置Ｘ４Ｂのアップグレードを容易に行うことができる。
　このように構成されるため、キャビンＸ３のアップグレードを容易に行うことができる。
　このように構成されるため、自動運転に必要なセンサの一部Ｘ１３、自動運転を制御する自動運転制御装置Ｘ４ＢおよびキャビンＸ３のアップグレードを容易に行うことができる。
　このように構成されるため、車両の駆動力、進行方向の変更および制動力を制御する車両制御装置およびシャーシＸ２を長期にわたり使用することができる。 FIG. 13 shows a specific example of an operating device.
The automatic operation control device X4B is configured to be replaceable with respect to the cabin X3.
A part X13 of various sensors is configured to be replaceable with respect to the cabin X3.
The removable operating device X8INOUT is configured to be replaceable with respect to cabin X3.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for automatic operation.
With such a configuration, it is possible to easily upgrade the automatic operation control device X4B that controls automatic operation.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for the automatic operation and the automatic operation control device X4B for controlling the automatic operation.
Due to this configuration, the cabin X3 can be easily upgraded.
With such a configuration, it is possible to easily upgrade a part of the sensor X13 required for the automatic operation, the automatic operation control device X4B for controlling the automatic operation, and the cabin X3.
With such a configuration, the vehicle control device and the chassis X2 that control the driving force, the change of the traveling direction, and the braking force of the vehicle can be used for a long period of time.
　図１４は、オペレーティングデバイスの具体例を示している。
　着脱式オペレーティングデバイスＸ８ＩＮＯＵＴは、アンテナＸ８ＩＮＯＵＴ１を有する（図１１参照）。
　着脱式オペレーティングデバイスＸ８ＩＮＯＵＴは、小型パーソナルホイールドヴィークルＸ１の制御装置Ｘ４と電気的に接続できる（図１１参照）。
　着脱式オペレーティングデバイスＸ８ＩＮＯＵＴは、例えば、３６０度以上回転可能なステアリングハンドルＸ８ＩＮＯＵＴＡ、１８０度未満の範囲で回転するステアリングハンドルバーＸ８ＩＮＯＵＴＢ、ゲーム機で使用されるようなスイッチを使用したコントローラーＸ８ＩＮＯＵＴＣ、スマートフォン・タブレット・マウスパッドのように触れて入力する接触式入力デバイスＸ８ＩＮＯＵＴＤ、ジョイスティックコントローラーＸ８ＩＮＯＵＴＥまたはドライバーのジェスチャーを認識して入力する非接触式入力デバイスＸ８ＩＮＯＵＴＦなどを有するように構成することができる。 FIG. 14 shows a specific example of an operating device.
The removable operating device X8INOUT has an antenna X8INOUT1 (see FIG. 11).
The removable operating device X8INOUT can be electrically connected to the control device X4 of the small personal wheeled vehicle X1 (see FIG. 11).
Detachable operating devices X8INOUTA include, for example, a steering handle X8INOUTA that can rotate 360 degrees or more, a steering handlebar X8INOUTB that rotates in a range of less than 180 degrees, a controller X8INOUTC that uses a switch as used in game consoles, and a smartphone / tablet. -It can be configured to have a contact type input device X8INOUTD for touching and inputting like a mouse pad, a joystick controller X8INOUTE, or a non-contact type input device X8INOUTF for recognizing and inputting a driver's gesture.
１、５、６　　交通システム
２、３　　自動運転制御システム
１０　自動運転専用道路管理装置
２０～２３、５０１、５０２、６０１～６０４　車両
３０、５５、６５　自動運転専用道路
４０、５６、５７、６６、６７一般道路
２０１、２１１　自動運転制御装置 1, 5, 6 Traffic system 2, 3 Autonomous driving control system 10 Autonomous driving road management device 20-23, 501, 502, 601-604 Vehicles 30, 55, 65 Autonomous driving road 40, 56, 57, 66, 67 General roads 201, 211 Automatic driving control device

Claims (11)

  1. 少なくとも一部が複線となるように形成され自動運転される車両のみが走行する自動運転専用道路に、前記自動運転専用道路とは異なる一般道路から車両が進入することを管理する、自動運転専用道路管理装置であって、
    　前記自動運転専用道路管理装置は、
    　前記自動運転専用道路に進入しようとする前記車両が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認された場合、前記車両の自動運転専用道路への進入を許可し、
    　前記自動運転専用道路に進入しようとする前記車両が、下記（ｉ）～（ｉｉｉ）を満たす自動／手動運転兼用車両であることが確認されない場合は、前記車両の前記自動運転専用道路への進入を禁止し、
    　前記（ｉ）～（ｉｉｉ）は、
    　（ｉ）７フィート未満の車幅を有し、
    　（ｉｉ）前記一般道路において、前記車両のユーザにより手動運転で運転され、
    　（ｉｉｉ）前記自動運転専用道路において、前記ユーザによる手動運転が禁止され、ユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。     An autonomous driving exclusive road that manages the entry of vehicles from a general road different from the autonomous driving exclusive road into an autonomous driving exclusive road that is formed so that at least a part is a double line and only vehicles that are automatically driven travel. It ’s a management device,
    The road management device dedicated to autonomous driving
    When it is confirmed that the vehicle trying to enter the autonomous driving exclusive road is a vehicle for both automatic / manual driving satisfying the following (i) to (iii), the vehicle enters the autonomous driving exclusive road. Allow and
    If it is not confirmed that the vehicle trying to enter the autonomous driving exclusive road is an automatic / manual driving combined vehicle satisfying the following (i) to (iii), the vehicle enters the autonomous driving exclusive road. Ban,
    The above (i) to (iii) are
    (I) With a vehicle width of less than 7 feet
    (Ii) On the general road, the user of the vehicle manually drives the vehicle.
    (Iii) On the automatic driving exclusive road, manual driving by the user is prohibited, and automatic driving is performed based on a call by the user and / or the demand of the destination.
  2. 　請求項１に記載の自動運転専用道路管理装置であって、
    　前記自動運転専用道路管理装置は、出荷時及び検査時の検査により前記（ｉ）～（ｉｉｉ）を満たすと判定された車両の車両ＩＤが登録され、
    　前記自動運転専用道路管理装置は、
    前記自動運転専用道路に進入しようとする前記車両の車両ＩＤが、登録された車両の車両ＩＤと一致した場合に、前記車両の自動運転専用道路への進入を許可し、
    前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両の車両ＩＤと一致しない場合に、前記車両の前記自動運転専用道路への進入を禁止する。     The road management device for automatic driving according to claim 1.
    In the road management device dedicated to autonomous driving, the vehicle ID of the vehicle determined to satisfy the above (i) to (iii) by the inspection at the time of shipment and at the time of inspection is registered.
    The road management device dedicated to autonomous driving
    When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
    When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road does not match the vehicle ID of the registered vehicle, the entry of the vehicle into the autonomous driving exclusive road is prohibited.
  3. 　請求項２に記載の自動運転専用道路管理装置であって、
    　前記自動運転専用道路管理装置は、
    出荷時及び検査時の検査により下記（ｉｖ）を満たすと判定された車両の車両ＩＤが登録され、
    前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両の車両ＩＤと一致した場合に、前記車両の自動運転専用道路への進入を許可し、
    前記自動運転専用道路に進入しようとする車両の車両ＩＤが、登録された車両ＩＤと一致しない場合に、前記車両の前記自動運転専用道路への進入を禁止し、
    　前記（ｉｖ）は、
    　（ｉｖ）自動運転による車両の制御の精度が前記自動運転専用道路を走行可能な基準を満たす。     The road management device for autonomous driving according to claim 2.
    The road management device dedicated to autonomous driving
    The vehicle ID of the vehicle determined to satisfy the following (iv) by inspection at the time of shipment and inspection is registered.
    When the vehicle ID of the vehicle trying to enter the autonomous driving exclusive road matches the vehicle ID of the registered vehicle, the vehicle is permitted to enter the autonomous driving exclusive road.
    When the vehicle ID of the vehicle trying to enter the autonomous driving road does not match the registered vehicle ID, the vehicle is prohibited from entering the autonomous driving road.
    The above (iv) is
    (Iv) The accuracy of vehicle control by automatic driving satisfies the standard for driving on the automatic driving exclusive road.
  4. 　請求項１～３の何れか１項に記載の自動運転専用道路管理装置であって、
    　前記自動運転専用道路は、前記一般道路との接続部分に自動走行試験ゾーンが設けられ、
    　前記自動運転専用道路管理装置は、
    　前記自動走行試験ゾーンにおいて、前記自動運転専用道路への進入を許可された前記車両を試験パターンに沿って自動運転走行させることにより、前記試験パターンに沿った自動運転による前記車両の制御の精度が前記自動運転専用道路を走行可能な基準を満たすか否かを検査する自動運転走行検査を行い、
    前記自動運転走行検査により制御の精度が前記基準を満たすと判定された車両を、前記自動運転専用道路において走行させ、
    前記自動運転走行検査により制御の精度が前記基準を満たさないと判定された車両を、前記自動運転専用道路から退出させる。     The road management device for autonomous driving according to any one of claims 1 to 3.
    The self-driving exclusive road is provided with an automatic driving test zone at a connection portion with the general road.
    The road management device dedicated to autonomous driving
    In the automatic driving test zone, the vehicle permitted to enter the automatic driving exclusive road is automatically driven according to the test pattern, so that the accuracy of the control of the vehicle by the automatic driving according to the test pattern can be improved. Perform an autonomous driving inspection to check whether or not it meets the criteria for driving on the autonomous driving exclusive road.
    A vehicle whose control accuracy is determined to meet the criteria by the automatic driving inspection is driven on the automatic driving exclusive road.
    Vehicles whose control accuracy is determined not to meet the criteria by the autonomous driving driving inspection are evacuated from the autonomous driving exclusive road.
  5. 　請求項１～４の何れか１項に記載の自動運転専用道路管理装置であって、
    　前記自動運転専用道路管理装置は、
    前記車両が前記一般道路を走行中に、前記自動運転専用道路における自動運転走行が可能か否かを判定する自動運転事前検査を行い、
    前記自動運転専用道路に進入しようとする前記車両が、前記自動運転事前検査により前記自動運転走行が可能であると確認された場合、前記車両の自動運転専用道路への進入を許可し、
    前記自動運転専用道路に進入しようとする前記車両が、前記自動運転事前検査により前記自動運転走行が可能でないと確認された場合、前記車両の前記自動運転専用道路への進入を禁止する。     The road management device for autonomous driving according to any one of claims 1 to 4.
    The road management device dedicated to autonomous driving
    While the vehicle is traveling on the general road, an automatic driving pre-inspection for determining whether or not automatic driving is possible on the automatic driving exclusive road is performed.
    When it is confirmed by the automatic driving pre-inspection that the vehicle trying to enter the automatic driving exclusive road is capable of the automatic driving driving, the vehicle is permitted to enter the automatic driving exclusive road.
    When the vehicle trying to enter the automatic driving exclusive road is confirmed by the automatic driving preliminary inspection that the automatic driving driving is not possible, the entry of the vehicle into the automatic driving exclusive road is prohibited.
  6. 　請求項１～５の何れか１項に記載の自動運転専用道路管理装置であって、
    　前記自動運転専用道路は、前記一般道路との接続箇所に進入用ゲートを有し、
    　前記一般道路から前記自動運転専用道路に進入する前記車両が、前記自動運転専用道路への進入を許可された車両である場合、前記進入用ゲートを開く。     The road management device for autonomous driving according to any one of claims 1 to 5.
    The self-driving exclusive road has an entry gate at a connection point with the general road.
    When the vehicle entering the autonomous driving exclusive road from the general road is a vehicle permitted to enter the autonomous driving exclusive road, the approach gate is opened.
  7. 　請求項６の記載の自動運転専用道路管理装置であって、
    　前記一般道路は、前記自動運転専用道路との接続箇所の手前において、前記自動運転専用道路管理装置が前記車両の自動運転専用道路への進入を許可するか禁止するかを判定する認証ゾーンを有し、
    　前記車両は、前記車両に乗ったユーザの操作によって自動運転の開始を承諾する自動運転開始操作部を有し、
    　前記自動運転専用道路管理装置は、前記認証ゾーンにおいて、前記車両の前記自動運転専用道路への進入を許可し、前記車両のユーザにより前記自動運転開始操作部が操作された場合に、前記進入用ゲートを開く。     The road management device for autonomous driving according to claim 6.
    The general road has an authentication zone for determining whether the automatic driving road management device permits or prohibits the vehicle from entering the automatic driving road in front of the connection point with the automatic driving road. And
    The vehicle has an automatic driving start operation unit that consents to the start of automatic driving by the operation of a user riding the vehicle.
    The self-driving dedicated road management device permits the vehicle to enter the self-driving road in the authentication zone, and when the user of the vehicle operates the self-driving start operation unit, the approaching Open the gate.
  8. 　請求項７の記載の自動運転専用道路管理装置であって、
    　前記車両は、前記車両に乗ったユーザの操作によって前記車両の目的地を入力する入力部を備え、
    　前記自動運転専用道路管理装置は、更に、前記ユーザにより前記入力部に前記目的地が入力されている場合に、前記進入用ゲートを開く。     The road management device for autonomous driving according to claim 7.
    The vehicle includes an input unit for inputting a destination of the vehicle by the operation of a user riding the vehicle.
    The self-driving road management device further opens the approach gate when the destination is input to the input unit by the user.
  9. 　請求項１～８のいずれか１項に記載の自動運転専用道路管理装置であって、
    　前記車両は、前記一般道路において前記車両を手動運転で運転し、前記自動運転専用道路において手動運転が禁止されたユーザとは異なるユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転される。     The road management device for autonomous driving according to any one of claims 1 to 8.
    The vehicle is manually driven on the general road and is automatically driven based on a call and / or destination demand by a user different from the user prohibited from manual driving on the autonomous driving exclusive road. ..
  10. 　請求項１～８のいずれか１項に記載の自動運転専用道路管理装置であって、
    　前記車両は、前記一般道路において手動運転で運転され、前記自動運転専用道路において手動運転が禁止されたユーザと同一のユーザによる呼出し及び／又は目的地のデマンドに基づいて自動運転され、更に、操作によって、前記ユーザとは異なるユーザによる利用を承認するシェア承認操作部を有する。     The road management device for autonomous driving according to any one of claims 1 to 8.
    The vehicle is manually driven on the general road and is automatically driven and / or operated based on the demand of the same user as the user whose manual driving is prohibited on the automatic driving exclusive road. Has a share approval operation unit that approves the use by a user different from the user.
  11. 　請求項１～１０の何れか１項に記載の自動運転専用道路管理装置であって、
    　前記自動／手動運転兼用車両は、幅方向の定員が２人以下であり且つ総定員が１０人以下である。     The road management device for automatic driving according to any one of claims 1 to 10.
    The automatic / manual driving combined vehicle has a capacity of 2 or less in the width direction and a total capacity of 10 or less.
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