JP2012230523A - Rescue system, rescue instruction device, rescue device, object device, computer program and rescue instruction method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce costs of rescue service provision.SOLUTION: A vehicle-to-be-rescued 14 (an object device, an object moving body) transmits a rescue request signal when energy stored in a battery 21 (a storage device) is not sufficient for necessary energy to travel to a destination. A rescue service center 1 (a rescue instruction device) determines a rescue vehicle 2 (a rescue device, a rescue moving body) which goes to rescue and a rendezvous point where the rescue vehicle 2 meets the vehicle-to-be-rescued 14 on the basis of a current position and the destination of the vehicle-to-be-rescued 14. After meeting the vehicle-to-be-rescued 14, the rescue vehicle 2 supplies the energy to the vehicle-to-be-rescued 14 while traveling to the destination of the vehicle-to-be-rescued 14.

Description

  The present invention relates to a rescue system that provides a rescue service to a moving target device.

2. Description of the Related Art Conventionally, there is a rescue system that provides a rescue service such as a business trip to a place where a vehicle running with gasoline as an energy source is stuck due to a shortage of gas and replenishing gasoline or towing to a gas station.
In recent years, electric vehicles that run on electric energy have become increasingly popular. Relief systems have been proposed to rescue electric vehicles that can no longer run due to breakdown or battery exhaustion.

JP 2009-73363 A JP 2005-67499 A

The number of facilities equipped with facilities that can charge electric vehicles is still small compared to gas stations. For this reason, when traveling to a final destination while charging at a power supply facility on the way so as not to run out of battery during long-distance driving, there is a possibility that it is necessary to make a detour around the original route. For this reason, it is expected that the demand for a rescue service capable of charging the battery at an arbitrary point will increase.
In order to further popularize electric vehicles, it is desirable to be able to provide such a relief service at as low a cost as possible.
The present invention has been made, for example, in order to solve the above-described problems, and an object thereof is to reduce the cost of providing a rescue service.

The relief system according to this invention is
A storage device for storing energy; a target mobile device for moving a target mobile body using the energy stored in the storage device; a target processing device for processing data; a target transmission device for transmitting signals; A plurality of target devices each having an acquisition device that captures supplied energy, a required amount calculation unit, a rescue request transmission unit, a platoon movement unit, and an acquisition accumulation unit, each mounted on a plurality of the target mobile bodies When,
An instruction receiving device for receiving a signal, an instruction processing device for processing data, an instruction transmitting device for receiving a signal, a rescue request receiving unit, a merge point candidate selecting unit, a target arrival schedule calculating unit, and a rescue arrival schedule A rescue instruction device having a calculation unit, a rescue device determination unit, a merge point determination unit, and a merge command transmission unit;
A rescue receiving device that receives a signal, a rescue mobile device that moves a rescue mobile body, a supply device that supplies energy to the target device, and an identification device that identifies a target device that exists around the rescue mobile body A merging instruction receiving unit, a merging moving unit, a target searching unit, a rescue moving unit, and a rescue supplying unit, and a plurality of rescue devices respectively mounted on a plurality of rescue moving bodies,
The required amount calculation unit calculates the energy required to move to the destination using the target processing device,
The rescue request transmission unit requests a replenishment of energy using the target transmission device when the energy stored in the storage device is insufficient for the energy calculated by the necessary amount calculation unit. A signal is sent to the rescue instruction device,
The rescue request receiving unit receives the rescue request signal transmitted by the target device using the instruction receiving device,
The junction point candidate selection unit is configured to use a plurality of the target devices that have transmitted the rescue request signal received by the rescue request reception unit, from among points located on the movement path of the target device, using the instruction processing device. To select a candidate point for
The target arrival schedule calculation unit calculates a scheduled time for the target device to arrive at the junction point candidate using the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit,
The rescue arrival schedule calculation unit calculates a scheduled time at which each of the plurality of rescue devices arrives at the junction point candidate using the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit. ,
The rescue device determining unit replenishes energy to the target device based on the scheduled time calculated by the target arrival schedule calculation unit and the rescue arrival schedule calculation unit using the instruction processing device. Is determined from among the plurality of rescue devices,
The said junction point determination part is a relief apparatus which replenishes energy with respect to the said target apparatus based on the schedule time which the said target arrival schedule calculation part and the said relief arrival schedule calculation part calculated using the said instruction | indication processing apparatus Is determined from among a plurality of merging point candidates selected by the merging point candidate selection unit,
The said merging instruction | indication transmission part instruct | indicates using the said instruction | indication transmission apparatus to join the said target apparatus with the merging point which the said merging point determination part determined with respect to the rescue apparatus which the said rescue apparatus deciding part determined. Send a join instruction signal,
The merging instruction receiving unit receives the merging instruction signal transmitted by the rescue instruction device, using the rescue receiver.
The merging moving unit moves the rescue moving body toward the merging point indicated by the merging instruction signal received by the merging instruction receiving unit using the rescue moving device,
The target search unit uses the identification device to search for a target device that has transmitted the rescue request signal from among target devices existing around the rescue mobile body,
When the target search unit finds a target device that has transmitted the rescue request signal, the rescue movement unit combines the target device that has transmitted the rescue request signal with the convoy using the rescue mobile device, and the rescue Move the rescue vehicle to the destination of the target device that sent the request signal,
The relief supply unit supplies energy to the target device that forms a formation with the rescue moving body using the supply device,
The corps movement unit uses the target moving device to assemble the rescue device and the platoon, move the target moving body toward the destination,
The acquisition storage unit uses the acquisition device to take in energy from a rescue device that forms a group with the target moving body, and stores the acquired energy in the storage device.

  According to the rescue system according to the present invention, the target device can request rescue when the accumulated energy is insufficient for the energy required for movement to the destination, and the rescue device can join the moving target device. The rescue instruction device determines the rescue device and the merge point, and the merged rescue device and the target device replenish the energy while moving in a row, reducing the time and effort required to provide the rescue service It is possible to operate the relief device efficiently.

1 is a system configuration diagram illustrating an example of an overall configuration of an inter-vehicle power supply / traction system 800 according to Embodiment 1. FIG. The figure which shows an example of the relationship between the position of the electric power feeding facilities 50 and 51 in Embodiment 1, the route | root to a final destination, the position of a rendezvous point, and the position of the start and end of relief. The flowchart figure which shows an example of the flow of the whole rescue service in Embodiment 1. FIG. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow of operation | movement (S10) until the rescue vehicle 14 in Embodiment 1 requests a relief service. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow of operation | movement (S11) of the rescue service center 1 which received the request of the rescue service from the rescue vehicle 14 in Embodiment 1. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow of operation | movement (S12, S13) of the rescue vehicle 2 after receiving the operation | work instruction | indication from the rescue service center 1 in Embodiment 1, moving to a rendezvous point, and authenticating with the rescue vehicle 14 . FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow (S12, S13) of the operation | movement of the rescue vehicle 14 until it receives the request response from the rescue service center 1 in Embodiment 1, and moves to a rendezvous point and authenticates with the rescue vehicle 2. . The flowchart figure which shows an example of the flow of operation | movement (S14) of the rescue vehicle 2 which starts tow | pulling after completion of the mutual authentication in Embodiment 1. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow (S14) of the operation of the rescue vehicle 14 which switches to the traction mode after completion of mutual authentication in the first embodiment. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow (S15, S16) of the operation of the rescue vehicle 2 from the start of power feeding and traction in Embodiment 1 to the end of power feeding. FIG. 4 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to the first embodiment. The flowchart figure which shows an example of the flow (S15, S16) of the operation of the rescue vehicle 14 from the start of power supply and traction in Embodiment 1 to the end of power supply. The block block diagram which shows an example of a structure of the rescue vehicle 2 in Embodiment 4. FIG. The figure which shows an example of the positional relationship of the rescue vehicle 2 and the rescue vehicle 14 in Embodiment 4. FIG. The figure which shows an example of the positional relationship of the rescue vehicle 2 and the rescue vehicle 14 in Embodiment 4. FIG. The figure which shows an example of the positional relationship of the rescue vehicle 2 and the rescue vehicle 14 in Embodiment 4. FIG. The figure which shows an example of the positional relationship of the rescue vehicle 2 and the rescue vehicle 14 in Embodiment 4. FIG. The figure which shows an example of the positional relationship of the rescue vehicle 2 and the rescue vehicle 14 in Embodiment 4. FIG. The system block diagram which shows an example of the whole structure of the rescue system 801 in Embodiment 5. FIG. FIG. 10 is a hardware configuration diagram illustrating an example of a configuration of a device group 400 mounted on a user vehicle 840 in a fifth embodiment. FIG. 10 is a block configuration diagram showing an example of a functional block configuration of a device group 400 mounted on a user vehicle 840 in a fifth embodiment. The hardware block diagram which shows an example of a structure of the apparatus group 300 mounted in the rescue vehicle 830 in Embodiment 5. FIG. The block block diagram which shows an example of a structure of the functional block of the apparatus group 300 mounted in the rescue vehicle 830 in Embodiment 5. FIG. The hardware block diagram which shows an example of a structure of the apparatus group 200 with which the rescue center 820 in Embodiment 5 is provided. The block block diagram which shows an example of a structure of the functional block of the apparatus group 200 with which the rescue center 820 in Embodiment 5 is provided. The flowchart figure which shows an example of the flow of relief instruction | indication process S610 in Embodiment 5. FIG. The system block diagram which shows an example of the whole structure of the vehicle-to-vehicle electric power feeding / traction system 800 in Embodiment 2. FIG. The figure shown about the structure of the smart phone 41 and ECU18 in Embodiment 2. FIG. 10 is a flowchart showing a connection operation with the ECU 18 as viewed from the smartphone 41 in the second embodiment. 10 is a flowchart showing a connection operation with the smartphone 41 as viewed from the ECU 18 in the second embodiment.

Embodiment 1 FIG.
The first embodiment will be described with reference to FIGS.

FIG. 1 is a system configuration diagram showing an example of the overall configuration of an inter-vehicle power supply / traction system 800 according to this embodiment.
The inter-vehicle power supply / traction system 800 (rescue system) includes a rescue service center 1, a plurality of rescue vehicles 2, and a plurality of rescue vehicles 14.
The rescue vehicle 14 (target device / target mobile body) is, for example, an electric vehicle that moves using electric power (energy) stored in the battery 21. The rescue vehicle 14 requests relief from the rescue service center 1 when the electric power stored in the battery 21 is insufficient for the electric power necessary to move to the destination.
The rescue service center 1 (rescue instruction device) and the rescue vehicle 2 (rescue device / rescue mobile body) belong to a business that provides a rescue service to the rescue vehicle 14. Based on the request from the rescue vehicle 14, the business operator provides the rescue vehicle 14 with a rescue service that performs power feeding and traction simultaneously. The rescue vehicle 14 receives a rescue service provided by the operator.

  The rescue vehicle 2 includes a wide area wireless device 3, a vehicle-to-vehicle wireless device 4, a car navigation 5, an ECU 6, an inter-vehicle distance sensor 7, a camera 8, a battery 9, a power management unit 10, a connector 11, and the like. The high-frequency power output device 12 and the coil unit 13 are included. In addition, the rescue vehicle 2 may be an electric vehicle that is moved by electric power stored in the battery 9 or may be a vehicle that is moved by other energy such as a fuel cell.

The wide area radio device 3 (relief transmission device / relief reception device) communicates with the rescue service center 1.
The inter-vehicle wireless device 4 (relief transmission device / relief reception device) communicates with the rescue target vehicle 14.
The inter-vehicle distance sensor 7 (positional relationship measuring device) measures the inter-vehicle distance from the rescue vehicle 14.
The camera 8 (positional relationship measurement device / identification device) is used for specifying or positioning a rescue vehicle.
The battery 9 stores electric power supplied to the rescue vehicle 14.
The power management unit 10 (supply device), the connector 11 (supply device), and the cable 28 (supply device) supply power to the rescue vehicle 14 by wire.
The high-frequency power output device 12 (supply device) and the coil unit 13 (supply device / radiation coil) supply power to the rescue vehicle 14 wirelessly.
The car navigation 5 (rescue mobile device) instructs the driver who drives the rescue vehicle 2 on the destination of the rescue vehicle 2 and the like.
The ECU 6 manages and controls information of the wide area wireless device 3, the inter-vehicle wireless device 4, the car navigation 5, the inter-vehicle distance sensor 7, the camera 8, the power management unit 10, and the high frequency power output device 12. The ECU 6 is a computer, for example, and includes a processing device (relief processing device), a storage device (relief storage device), an input device, and an output device. The processing device processes the data by executing the computer program stored in the storage device, and controls the rescue vehicle 2 as a whole. The storage device stores a computer program executed by the processing device, data processed by the processing device, and the like. The input device inputs a signal from the outside of the ECU 6 and converts it into data in a format that can be processed by the processing device. The output device converts the data processed by the processing device or the data stored in the storage device into a signal output to the outside of the ECU 6 and outputs the signal. ECU6 implement | achieves various functions, when a processing apparatus runs the computer program which the memory | storage device memorize | stored.

  In addition, it is not necessary for all of the plurality of rescue vehicles 2 to support both wired power supply and wireless power supply. The rescue vehicle 2 supports only wired power supply, or the rescue vehicle 2 supports only wireless power supply. There may be. That is, the rescue vehicle 2 is equipped with a power management unit 10 and a connector 11 for power supply by wire, but is not equipped with a high-frequency power output device 12 and a coil unit 13 for power supply by wireless, and is wired. The structure corresponding only to electric power feeding may be sufficient. Moreover, although the rescue vehicle 2 is equipped with the high-frequency power output device 12 and the coil unit 13 for power feeding by radio, the power management unit 10 and the connector 11 for power feeding by wire are not installed, but by the radio. The structure corresponding only to electric power feeding may be sufficient. However, it is desirable that the inter-vehicle power supply / traction system 800 includes both the rescue vehicle 2 corresponding to at least wired power supply and the rescue vehicle 2 corresponding to at least wireless power supply.

  Further, the rescue vehicle 2 corresponding to the power supply by wire can be a robot arm that can insert the cable 28 from the vehicle of the rescue vehicle 2 into the connector 27 of the rescue vehicle 14 located at a predetermined location by manual or automatic operation. (Not shown).

  The inter-vehicle distance sensor 7 and the camera 8 are an example of a positional relationship measuring device that measures the positional relationship between the rescue vehicle 2 and the rescue vehicle 14. Instead of the inter-vehicle distance sensor 7 and the camera 8, the rescue vehicle 2 may have a configuration including a stereo camera that can measure the distance.

  The rescue vehicle 2 charges the battery 9 for power supply at a rescue service establishment (not shown) or a partner charging facility (not shown). The rescue vehicle 2 works toward the designated site when a work request arrives from the rescue service center 1.

  The rescue vehicle 14 includes a wide area radio device 16, an inter-vehicle radio device 15, a power steering 19, a brake 20, a motor 23, an inverter 22, a battery 21, a power management unit 26, and a connector 27. And a rectifier 24, a coil unit 25, a car navigation system 17, and an ECU 18.

The wide area wireless device 16 (target transmission device / target reception device) communicates with the rescue service center 1.
The inter-vehicle wireless device 15 (target transmission device / target reception device) communicates with the rescue vehicle 2.
The power steering 19 (target moving device) controls the direction of the steered wheel of the rescue vehicle 14 in accordance with an operation by the driver or an instruction from the ECU 18.
The brake 20 (target moving device) decelerates the rescue vehicle 14 in accordance with an operation by the driver or an instruction from the ECU 18.
The motor 23 (target moving device) is for driving, and rotates the driving wheel of the rescue vehicle 14 in accordance with an operation by the driver or an instruction from the ECU 18.
The inverter 22 (target moving device) controls the motor 23.
The battery 21 (storage device) stores electric power for traveling.
The power management unit 26 (acquisition device) and the connector 27 (acquisition device) receive wired power supply from the rescue vehicle 2 or the like.
The rectifier 24 (acquisition device) and the coil unit 25 (acquisition device) receive power supply by radio from the rescue vehicle 2 or the like.
The car navigation system 17 (target moving device) provides the driver of the rescue vehicle 14 with information such as the route to the destination of the rescue vehicle 14 and the nearest power supply facility.
The ECU 18 manages and controls information of the wide area radio device 16, the inter-vehicle radio device 15, the power steering 19, the brake 20, the car navigation 17, the inverter 22, the power management unit 26, and the rectifier 24.
Like the ECU 6, the ECU 18 is, for example, a computer, and includes a processing device (target processing device), a storage device (target storage device), an input device, and an output device.

  The rescue vehicle 14 does not need to be compatible with both wired power supply and wireless power supply, and may be configured to support only wired power supply or may be configured to support only wireless power supply. May be. That is, the rescue vehicle 14 is equipped with a power management unit 26 and a connector 27 for power supply by wire, but is not equipped with a rectifier 24 and a coil unit 25 for power supply by wireless, and only power supply by wire. The structure corresponding to may be sufficient. The rescue vehicle 14 is equipped with a rectifier 24 and a coil unit 25 for wireless power feeding, but is not equipped with a power supply management unit 26 or a connector 27 for wired power feeding, but only wireless power feeding. The structure corresponding to may be sufficient.

  The ECU 6 of the rescue vehicle 2 and the ECU 18 of the rescue vehicle 14 transmit and receive data to and from each other by a communication network via the inter-vehicle radio device 4 of the rescue vehicle 2 and the inter-vehicle radio device 15 of the rescue vehicle 14. I do. The ECU 18 of the rescue vehicle 14 controls the inverter 22, the power steering 19, and the brake 20 based on the vehicle control information received from the ECU 6 of the rescue vehicle 2 at the time of relief for receiving the rescue service by the rescue vehicle 2. Hereinafter, this mode is referred to as “traction mode”. The ECU 6 of the rescue vehicle 2 calculates vehicle control information for controlling the rescue vehicle 14 with respect to the rescue vehicle 14 at the time of relief for providing the rescue service to the rescue vehicle 14. The vehicle control information (control signal) of the rescue vehicle 14 is sent to the rescue vehicle 14 and the rescue vehicle 14 is pulled. In other words, the rescue vehicle 2 and the rescue vehicle 14 are not physically pulled by the rescue vehicle 2 but the rescue vehicle 2 is in front and the rescue vehicle 14 is in the rear, Travel as a unit as if you were physically towing.

  The camera 8 of the rescue vehicle 2 is used to specify whether the approached vehicle is the rescue vehicle 14 by analyzing the acquired image. ECU6 (target search part) specifies the rescue vehicle 14 by reading the number of the license plate of the rescue vehicle 14, for example.

Further, in the case of power supply by wire, the rescue vehicle 2 and the rescue vehicle 14 are connected by the cable 28, so that the cable 28, the connector 11 of the rescue vehicle 2 and the connector 27 of the rescue vehicle 14 are not subjected to a load due to tension. It is necessary to position the rescue vehicle 14.
In the case of power feeding by radio, it is necessary to position the rescue vehicle 14 so that the coil portion 13 of the rescue vehicle 2 and the coil portion 25 of the rescue vehicle are located within a specific range in order to maintain the efficiency of power supply.

  The ECU 6 (rescue moving unit) obtains the relative position of the rescue vehicle 14 with respect to the rescue vehicle 2 by analyzing the image acquired by the camera 8. When the camera 8 is a stereo camera, the ECU 6 analyzes the image acquired by the camera 8 to obtain a distance from the identified rescue vehicle 14. When the camera 8 is a single eye or when the distance measurement accuracy and calculation speed are less than the specifications required for traction even with a stereo camera, the ECU 6 determines the inter-vehicle distance from the rescue vehicle 14 specified using the inter-vehicle distance sensor 7. Ask. The ECU 6 controls the movement of the rescue vehicle 2 and the rescue vehicle 14 so that the positional relationship between the rescue vehicle 2 and the rescue vehicle 14 becomes a predetermined positional relationship based on the obtained positional relationship with the rescue vehicle 14. To do.

  The ECU 6 of the rescue vehicle 2 measures the amount of power transmitted from the battery 9 to the rescue vehicle 14. Further, the ECU 6 of the rescue vehicle 2 controls the power management unit 10 depending on whether the power supply to the rescue vehicle 14 is wired or wireless, and switches between wired power supply and wireless power supply.

The wide area wireless device 3 of the rescue vehicle 2 transmits and receives data between the rescue service center 1 and the ECU 6 of the rescue vehicle 2. The rescue service center 1 refers to the ECU 6 of the rescue vehicle 2 at a position where relief work is started (hereinafter, this position is referred to as a “rendezvous point” (joining point).
) And a series of information related to towing work such as information on the rescue vehicle 14. In addition, the ECU 6 of the rescue vehicle 2 sends work information to the rescue service center 1 during rescue work, and sends position information and battery status of the rescue vehicle except during the rescue work. When there is an instruction from the rescue service center 1 to the rescue location, the car navigation 5 of the rescue vehicle 2 guides the driver of the rescue vehicle 2 on the route to the designated location. In addition, the car navigation 5 indicates the position of the rescue vehicle 14 on the map based on the position information of the rescue vehicle 14 received from the rescue service center 1.

  The wide area wireless device 16 of the rescue vehicle 14 transmits and receives data between the rescue service center 1 and the ECU 18 of the rescue vehicle 14. The ECU 18 of the rescue vehicle 14 sends information related to the request for the rescue service, such as destination route information and a necessary power supply amount, to the rescue service center 1. The rescue service center 1 sends rendezvous point information and information of the rescue vehicle 2 to the rescue vehicle 14. In addition, after the completion of the rescue service, the rescue service center 1 sends settlement information and the like to the rescue vehicle.

  FIG. 2 is a diagram showing an example of the relationship between the positions of the power supply facilities 50 and 51 in this embodiment, the route to the final destination, the position of the rendezvous point, and the start and end positions of relief.

The ECU 18 (necessary amount calculation unit) of the rescue vehicle 14 constantly monitors the remaining amount information of the battery 21 and sequentially calculates the remaining travelable distance.
Further, the ECU 18 (destination selection unit) of the rescue vehicle 14 determines the nearest power feeding facility 50 or the power feeding facility 51 on the destination route on the basis of the map information of the car navigation 17 and the location information of the power feeding facility. Pick up. The ECU 18 notifies the driver (driver) of the rescue vehicle 14 of the current situation using the monitor screen of the car navigation system 17. For example, in order to stop at the power supply facility 51 on the destination route when the remaining amount of the battery 21 is low and it is necessary to select whether to stop at the power supply facility 51 on the destination route or the nearest power supply facility 50 Inform the driver of the situation where he / she needs to receive a rescue service or the situation where he / she can no longer travel to any power supply facility. Instead of using the monitor screen of the car navigation system 17, for example, an external device such as an instrument panel (not shown) or a smartphone (not shown) of the rescue vehicle 14 is used as a monitor in the vehicle interior. It is also possible to make a notification using a display or voice.
The ECU 18 uses the monitor screen of the car navigation system 17 or the like to select a selection menu for selecting whether or not to request a rescue service, and a selection to select whether the power supply facility that stops when the rescue service is requested is on a destination route or nearest. Display menus.
When the driver selects the menu for requesting the rescue service, the ECU 18 calculates the minimum power supply amount required to go to the power supply facility (destination) selected by the driver. The ECU 18 uses the wide area radio device 16 to determine whether the power supply facility selected by the driver is on the destination route, the remaining travelable distance and the necessary power supply amount, vehicle information, and the rescue service provider. Is sent to the rescue service center 1.
These notifications may be notified to the driver by voice guidance. Moreover, the structure which confirms a driver | operator's intention by voice recognition or another alternative system may be sufficient.

  When rendezvous point information arrives from the rescue service center 1, the car navigation system 17 provides route guidance to the rendezvous point. In addition, the car navigation system 17 indicates the position of the rescue vehicle 2 on the map based on the position information of the rescue vehicle 2 received from the rescue service center 1.

  Moreover, ECU18 (completion determination part) of the rescue target vehicle 14 calculates the electric power feeding amount supplied to the battery 21 of the own vehicle from the rescue vehicle 2 when receiving the relief service. In addition, the ECU 18 sequentially calculates the travelable distance while monitoring the remaining amount information of the battery 21, and constantly monitors whether the power supply facility where the vehicle stops is capable of traveling.

The rescue service center 1 (rescue position management unit) constantly monitors the position of the rescue vehicle 2 by regular communication transmitted from the rescue vehicle 2 via the wide area wireless device 3.
The rescue service center 1 (rescue state management unit) manages the status of the rescue vehicle 2 in addition to the position of the rescue vehicle 2. The status of the rescue vehicle 2 includes, for example, being rescued, free, and charging its own battery. Relieving means that a rescue service is being provided to the rescue vehicle 14 or a midway toward a rendezvous point in order to provide the rescue service to the rescue vehicle 14. Free means that there is no plan and a rescue service can be provided to the rescue vehicle 14 at any time. When the battery is being charged, when the battery 9 is being charged at the rescue service establishment or when the remaining amount of the battery 9 is low and the battery 9 is not charged at the relief service establishment, etc. It means when the service cannot be provided.

  The relief service center 1 (instruction receiving device / relief request receiving unit) receives a request for relief (a relief request signal) from the rescue target vehicle 14 via the wide area wireless device 16. When the rescue request arrives, the rescue service center 1 (rescue device determination unit / joining point determination unit) makes a plurality of power supply facilities, the remaining travelable distance, and the required power supply amount that arrives from the rescue vehicle 14. The most suitable rescue vehicle 2 is selected from the rescue vehicles 2 and a rendezvous point is set. After selecting the rescue vehicle 2 and setting the rendezvous point, the rescue service center 1 (instruction transmission device / merging instruction transmission unit) notifies the selected rescue vehicle 2 and the rescue target vehicle 14 of the rendezvous point. The rescue service center 1 notifies the rescue vehicle 2 of the information on the rescue vehicle 14 at the same time as the notification of the rendezvous point, and informs the rescue vehicle 14 of the information of the rescue vehicle 2. And the rescue vehicle 14 are notified of information related to the rescue service, such as the receipt number of the rescue service.

  In addition, after receiving the end notification of the rescue operation from the rescue vehicle 2, the rescue service center 1 (billing calculation unit / billing notification unit) performs settlement related to the service and notifies the rescue vehicle 14 of the settlement result. The relief service center 1 has in advance information on a service cost debiting account or credit information that can be linked to a settlement, the number of a rescued vehicle, and a power supply method (wireless or wired power supply). The rescue service center 1 (billing calculation unit) calculates the billing amount based on the amount of power transmitted from the rescue vehicle 2, the amount of power received from the rescue vehicle 14, or the towed distance.

FIG. 3 is a flowchart showing an example of the flow of the entire rescue service in this embodiment.
The rescue service starts when the rescued vehicle requests relief, and continues until the series of services ends.

  First, in S10, the rescue vehicle 14 requests a rescue service from the rescue service center 1. The rescue vehicle 14 transmits a rescue request (a rescue request signal) to the rescue service center 1.

  When the rescue service center 1 receives a rescue request from the rescue vehicle 14, the rescue service center 1 sets the dispatch of the rescue vehicle 2 and the rendezvous point in S11. When the dispatch and rendezvous point are determined, the rescue service center 1 transmits the rendezvous point information and information for authentication to the rescue vehicle 2 and the rescue target vehicle 14 to be dispatched.

The rescue vehicle 2 and the rescue target vehicle 14 that have received the rendezvous point information each move to the rendezvous point in S12.
The rescue vehicle 2 and the rescue vehicle 14 arriving at the rendezvous point authenticate each other in S13.
After the authentication of the rescue vehicle 2 and the rescue vehicle 14 is completed, the rescue vehicle 2 and the rescue vehicle 14 are brought close to each other so as to be positioned at a predetermined position suitable for power feeding in S14.
When the position is determined, the rescue vehicle 2 and the rescue vehicle 14 start power feeding and traction in S15.
When the rechargeable vehicle 14 has been charged enough to drive to the destination (power supply facility), the rescue vehicle 2 and the rescue vehicle 14 perform an end procedure for power supply and traction in S16.

  Note that S10 to S16 are performed while the rescue vehicle 2 and the rescue vehicle 14 are traveling.

FIG. 4 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
Before the rescue service is started, the rescue vehicle 2 periodically transmits regular communication to the rescue service center 1. The regular communication includes information such as the status of the rescue vehicle 2, the current position, the battery state, and the time until the vehicle becomes free (if the status is not free).
The rescue service center 1 receives regular communication from the rescue vehicle 2. Based on the received regular communication, the rescue vehicle 2 stores information such as the status of the rescue vehicle 2, the current position, the battery state, and the time until free, and manages the rescue vehicle 2.

  FIG. 5 is a flowchart showing an example of the flow of operations (S10) until the rescue vehicle 14 requests a rescue service in this embodiment.

In S <b> 20, the rescue vehicle 14 searches for the nearest power feeding facility A using the car navigation system 17. The rescue vehicle 14 calculates the distance to the nearest power feeding facility A searched.
In S21, the rescue vehicle 14 uses the car navigation system 17 to search for the nearest power supply facility B on the route to the final destination. The rescue vehicle 14 calculates the distance to the power supply facility B on the searched route.
In S22, the rescue vehicle 14 checks the battery 21 and calculates the remaining travelable distance that can be traveled without receiving power.

In S23, the rescue vehicle 14 compares the distance to the nearest power supply facility A calculated in S20 and the distance to the power supply facility B on the route calculated in S21 with the travelable distance calculated in S22.
When the distance to the power supply facility B on the route is shorter than the travelable distance, the rescue vehicle 14 returns the process to S20.
When the distance to the power supply facility B on the route is longer than the travelable distance and the distance to the nearest power supply facility A is shorter than the travelable distance, the rescue vehicle 14 uses the car navigation system 17 to the power supply facility A. A route to go to and a route to power feeding facility B are searched, and a point where both branch is determined.
The rescue vehicle 14 compares the distance from the current location to the branch point with a predetermined threshold value.
If the distance from the current location to the branch point is shorter than the threshold value, the rescue vehicle 14 determines that it has reached a point where the power supply facility A or B has to be selected and proceeds to S24.
If the distance from the current location to the branch point is longer than the threshold, the rescue vehicle 14 returns the process to S20.

In S <b> 24, the rescue vehicle 14 displays on the monitor of the car navigation system 17 that it has reached a point where it is necessary to select which of the power supply facilities A and B is to be approached. For example, the car navigation system 17 displays a selection button for selecting whether the driver selects the nearest power feeding facility A or the power feeding facility B existing on the route to the final destination. In addition, the car navigation system 17 displays that it is necessary to receive a relief service when the power supply facility B51 is selected.
When the driver selects the nearest power feeding facility A, the rescue vehicle 14 proceeds to S26.
When the driver selects the power supply facility B existing on the route to the final destination, the rescue vehicle 14 advances the process to S27.

  In S26, the car navigation system 17 starts route guidance to the power supply facility A.

  In S <b> 27, the rescue vehicle 14 (relief request transmission unit) requests the rescue service center 1 for a rescue request.

FIG. 6 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
Information (request request) that the rescue vehicle 14 transmits to the rescue service center 1 includes information such as rescue vehicle ID, current position, destination route information, necessary power supply amount, and travelable distance. Among these, the current position is GPS information that the car navigation system 17 has. The destination route information is information including the fact that the destination is the power supply facility B51 and the route information to the power supply facility B51. The necessary power supply amount is the amount of power obtained by subtracting the remaining amount of the battery 21 from the amount of power required for traveling to the destination (power supply facility B) obtained by the ECU 18 (required amount calculation unit).

In response to the request from the rescue vehicle 14, the rescue service center 1 determines a rescue vehicle 2 heading for rescue and a rendezvous point.
The rescue vehicle 14 transmits relief instruction information (a relief instruction signal) to the determined rescue vehicle 2. The rescue instruction information that the rescue vehicle 14 transmits to the rescue vehicle 2 includes, for example, information such as a reception number, a rescue vehicle ID, a number of the rescue vehicle 14, a power feeding method, and a rendezvous point.
The rescue vehicle 2 receives the rescue instruction information from the rescue vehicle 14 and transmits a rescue instruction response to the rescue service center 1. The rescue instruction response represents receiving an instruction and going to rescue. When trouble occurs in the rescue vehicle 2 and it is not possible to go to the rescue service, the rescue vehicle 2 does not return a rescue instruction response, and instead, information indicating that the rescue vehicle 2 cannot go to the rescue is sent to the rescue service center 1. Send to. In that case, the rescue service center 1 reselects the rescue vehicle 2 heading for the rescue, and again determines the rendezvous point. The rescue service center 1 transmits relief instruction information to the rescue vehicle 2 that has been selected again.
The rescue service center 1 receives a rescue instruction response from the rescue vehicle 2, and after confirming the rescue vehicle 2 and the rendezvous point toward the rescue, transmits a request acceptance response to the rescue vehicle 14. The request reception response transmitted from the rescue service center 1 to the rescue vehicle 14 includes information such as a reception number, a rescue vehicle ID, and a rendezvous point, for example.

  FIG. 7 is a flowchart showing an example of the flow of the operation (S11) of the rescue service center 1 that has received a request for a rescue service from the rescue vehicle 14 in this embodiment.

First, in S <b> 30, the rescue service center 1 stands by until regular communication is received from each rescue vehicle 2. When the regular communication from any rescue vehicle 2 is received, the rescue service center 1 advances the process to S31.
In S31, the rescue service center 1 updates the status of the rescue vehicle 2, the current position, the state of the battery 9, the time until it becomes free, and the like based on the received regular communication.
These pieces of information are held in the rescue service center 1. Among these, the current position is GPS information that the car navigation 5 of each rescue vehicle 2 has. In addition, the time until becoming free represents, for example, how long the charging will be completed when the rescue vehicle 2 charges the battery 9 of the own vehicle at a certain power supply facility.
In S32, the rescue service center 1 (rescue request receiving unit) waits for the rescue vehicle 14 to receive the request request transmitted in S27. If the request is not received, the rescue service center 1 returns the process to S30. When the request request arrives, the rescue service center 1 advances the process to S33.

In S <b> 33, the rescue service center 1 selects all the rescue vehicles 2 whose status is free from all the rescue vehicles 2. The rescue vehicle 2 selected in S33 is referred to as “relief candidate group α”.
In S34, the rescue service center 1 confirms the number of rescue candidate groups α. If there are one or more rescue candidate groups α, the rescue service center 1 advances the process to S35. If there is no rescue candidate group α, the rescue service center 1 advances the process to S37.

In S35, the rescue service center 1 selects all the rescue vehicles 2 in which the remaining amount of the battery 9 exceeds the necessary power supply amount of the rescue target vehicle 14 from the rescue candidate group α. The rescue vehicle 2 selected in S35 is referred to as “relief candidate group β”.
In S36, the rescue service center 1 confirms the number of rescue candidate groups β. If there are one or more rescue candidate groups β, the rescue service center 1 advances the process to S38. When there is no rescue candidate group β, the rescue service center 1 advances the process to S37.

  In S37, the rescue service center 1 selects all the rescue vehicles 2 whose status is being rescued or charging the battery 9. The rescue vehicle 2 selected in S37 is referred to as a “relief candidate group γ”.

In S <b> 38, the rescue service center 1 (confluence point candidate selection unit) determines, for example, every 500 m from a route on which the rescue vehicle 14 travels within the range of the travelable distance of the rescue vehicle 14. Points (confluence point candidates) are extracted. The extracted point group is called “Rendezvous Point Candidate Group X”.
In S39, the rescue service center 1 (the rescue arrival schedule calculation unit) calculates the estimated arrival time to each point of the rendezvous point candidate group X in each rescue vehicle 2 of the rescue candidate group β or γ. In addition, in the case of the rescue vehicle 2 of the rescue candidate group γ, the rescue service center 1 calculates the estimated arrival time in consideration of the free time obtained in S31.
When the estimated arrival time to each point of the rendezvous point candidate group X in each rescue vehicle 2 is complete, the relief service center 1 (rescue device determination unit / confluence point determination unit) determines each point of the rendezvous point candidate group X in S40. One rescue vehicle 2 that arrives at the earliest expected arrival time is extracted, and one point is extracted.
In S41, the rescue service center 1 (rescue device determination unit) determines the rescue vehicle 2 extracted in S40 as the rescue vehicle 2 for the request received in S32. The rescue service center 1 (merging point determination unit) sets the point extracted in S40 as the rendezvous point (merging point) where the rescue vehicle 14 requested in S32 meets the rescue vehicle 2 extracted in S40. The rescue service center 1 sets an acceptance number for this request.

  In S42, the rescue service center 1 transmits a work instruction (rescue instruction information) to the rescue vehicle 2 determined in S41. Information that the rescue service center 1 transmits to the rescue vehicle 2 includes a reception number, a rendezvous point, a rescue vehicle ID, a number of the rescue vehicle 14, a power feeding method, destination route information of the rescue vehicle 14, and the like.

  In S43, the rescue service center 1 transmits a request response (request acceptance response) to the rescue target vehicle 14 that has requested. Information that the rescue service center 1 transmits to the rescue vehicle 14 includes a reception number, a rendezvous point, and a rescue vehicle ID. In addition, when the rescue vehicle 2 extracted in S41 is extracted from the rescue candidate group γ in S37, the rescue service center 1 transmits the free time obtained in S31 to the rescue vehicle 14 in S43. It may be a configuration.

FIG. 8 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
While the rescue service center 1 accepts the rescue request and the rescue vehicle 2 and the rescue vehicle 14 are heading to the rendezvous point, the rescue vehicle 2 and the rescue vehicle 14 each regularly communicate with the rescue service center 1. do.
The rescue vehicle 2 transmits information such as a reception number, a rescue vehicle ID, and a current position to the rescue service center 1 as regular communication.
The rescue vehicle 14 transmits information such as a reception number, a rescue vehicle ID, a current position, and a travelable distance to the rescue service center 1 as regular communication.
The rescue service center 1 transmits information such as the current position of the rescue vehicle 14 to the rescue vehicle 2 as regular communication. The rescue service center 1 transmits information such as the current position of the rescue vehicle 2 to the rescue target vehicle 14 as regular communication.

  FIG. 9 shows an example of the flow (S12, S13) of the operation of the rescue vehicle 2 until it receives a work instruction from the rescue service center 1 in this embodiment, moves to the rendezvous point, and performs authentication with the rescue target vehicle 14. FIG.

In S50, the rescue vehicle 2 (joining instruction receiving unit) waits to receive a work instruction from the rescue service center 1 in S42. When the work instruction arrives, the rescue vehicle 2 advances the process to S51.
In S <b> 51, the rescue vehicle 2 sets the rendezvous point included in the work instruction as the destination of the car navigation 5.
In S52, the car navigation 5 (merging / moving unit) starts route guidance.
In S53, the driver of the rescue vehicle 2 operates the rescue vehicle 2 according to the instruction of the car navigation 5, and starts moving to the rendezvous point. The rescue vehicle 2 may be configured not to go to the rendezvous point by the driver's operation but to go to the rendezvous point by automatic steering.

In S54, the rescue vehicle 2 transmits the reception number, the rescue vehicle ID, and the current position to the rescue service center 1 as regular communication. Moreover, the rescue vehicle 2 receives the position information of the rescue target vehicle 14 from the rescue service center 1 as regular communication. The car navigation 5 displays the position information of the rescue vehicle 14 on a map. As a result, the driver (driver) of the rescue vehicle 2 can confirm the travel position of the rescue vehicle 14. For example, arrival at the rendezvous point is shifted between the rescue vehicle 2 and the rescue vehicle 14 due to surrounding traffic conditions. Adjustments can be made. For example, the driver of the rescue vehicle 2 approaching the rendezvous point confirms the position of the rescue vehicle 14, and if the rescue vehicle 2 arrives a little early, the speed of the rescue vehicle 2 is decreased and the adjustment is made, for example, toward the rendezvous point. Can be achieved.
In S55, the rescue vehicle 2 determines whether or not it has arrived at the rendezvous point. If it is determined that the rendezvous point has not yet arrived, the rescue vehicle 2 returns the process to S54. When it determines with having arrived at the rendezvous point, the rescue vehicle 2 advances the process to S56.

  When the vehicle arrives at the rendezvous point, in S56, the rescue vehicle 2 (target search unit) searches for the rescue vehicle 14 that has requested relief from surrounding vehicles. For example, the rescue vehicle 2 performs the number reading process of surrounding vehicles from the video acquired by the camera 8. If the rescue vehicle 2 has the same number as the rescue vehicle 14 received in S42 in the read number, the process proceeds to S58.

In S <b> 58, the rescue vehicle 2 (authentication request transmission unit) transmits an authentication request to the rescue vehicle 14.
The rescue vehicle 14 that has received the authentication request transmits the authentication status 1 to the rescue vehicle 2.
In S <b> 59, the rescue vehicle 2 (authentication receiving unit) waits to receive the authentication status 1 from the rescue vehicle 14. When the authentication status 1 arrives from the rescue vehicle 14, the rescue vehicle 2 advances the process to S60.

  In S60, the rescue vehicle 2 (authentication unit) checks whether the reception number and rescue vehicle ID included in the received authentication status 1 match the reception number and rescue vehicle ID received in S42. If the reception number and rescue vehicle ID included in the authentication status 1 match the reception number and rescue vehicle ID received in S42, the rescue vehicle 2 advances the process to S61. If the reception number included in the authentication status 1 and the rescued vehicle ID do not match the reception number received in S42 and the rescued vehicle ID, the rescue vehicle 2 advances the process to S64.

In S <b> 61, the rescue vehicle 2 (authentication transmission unit) transmits the authentication status 2 to the rescue vehicle 14. The authentication status 2 includes a rescue vehicle ID.
The rescue vehicle 14 confirms the rescue vehicle ID, and if there is no problem, notifies the completion of authentication.
In S62, the rescue vehicle 2 waits to receive an authentication completion notification. If the authentication completion notification is received, the rescue vehicle 2 advances the process to S63.

  In S <b> 63, the rescue vehicle 2 (authentication completion notification unit) transmits an authentication completion notification to the rescue service center 1.

  In S <b> 64, the rescue vehicle 2 (authentication failure notification unit) transmits an authentication failure notification to the rescue service center 1.

FIG. 10 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 in this embodiment.
The rescue vehicle 2 transmits an authentication request to the rescue vehicle 14.
The rescue vehicle 14 transmits information such as a reception number and a rescue vehicle ID as the authentication status 1 to the rescue vehicle 2.
The rescue vehicle 2 transmits information such as a rescue vehicle ID as the authentication status 2 to the rescue vehicle 14.
The rescue vehicle 14 transmits an authentication completion to the rescue vehicle 2.
The rescue vehicle 2 transmits information such as a reception number, a rescue vehicle ID, and a current position to the rescue service center 1 as an authentication completion notification.
The rescue service center 1 transmits information such as a reception number to the rescue vehicle 14 as an authentication completion report.

  FIG. 11 shows an example of the flow of operations (S12, S13) of the rescue vehicle 14 until it receives a request response from the rescue service center 1 in this embodiment and moves to the rendezvous point and authenticates with the rescue vehicle 2. FIG.

In S <b> 70, the rescue target vehicle 14 (request response reception unit) waits until a request response is received from the rescue service center 1. When the request response arrives from the rescue service center 1, the rescue vehicle 14 advances the process to S71.
In S <b> 71, the rescue vehicle 14 (merging moving unit) sets the rendezvous point included in the request response as the destination of the car navigation system 17.
In S72, the car navigation system 17 starts route guidance.
In S <b> 73, the driver of the rescue vehicle 14 operates the rescue vehicle 14 according to the instruction from the car navigation system 17 and starts moving to the rendezvous point. In addition, the rescue vehicle 14 may be configured to go to the rendezvous point by autopilot instead of going to the rendezvous point by the operation of the driver.
In S74, the rescue vehicle 14 checks the battery 21 and calculates the remaining travelable distance.
In S75, the rescue vehicle 14 transmits information such as a reception number, a rescue vehicle ID, a current position, and a travelable distance as regular communication.
The rescue service center 1 receives the information transmitted by the rescue vehicle 14. The rescue service center 1 may be configured to change the rendezvous point when the rescue vehicle 14 cannot travel to the rendezvous point. For example, the rescue service center 1 determines whether the rescue vehicle 14 can travel to the rendezvous point based on information about the current position of the rescue vehicle 14 and the travelable distance included in the information received as regular communication. To do. When it is determined that the rescue vehicle 14 cannot travel to the rendezvous point, the rendezvous point is determined again within the range of the travelable distance of the rescue vehicle 14 based on the current positions of the rescue vehicle 2 and the rescue vehicle 14. . The rescue service center 1 notifies the rescue vehicle 2 and the rescue vehicle 14 of the updated rendezvous point.
The rescue vehicle 14 receives the regular communication transmitted by the rescue service center 1. The car navigation system 17 displays the position information of the rescue vehicle 2 included in the received regular communication on the map. Thereby, the driver (driver) of the rescue vehicle 14 can confirm the travel position of the rescue vehicle 2.
In S76, the rescue vehicle 14 determines whether or not it has arrived at the rendezvous point.
When the vehicle arrives at the rendezvous point, the rescue vehicle 14 proceeds to S77. When the rendezvous point has not yet arrived, the rescue vehicle 14 returns the process to S74.

After arriving at the rendezvous point, the rescue target vehicle 14 (authentication request receiving unit) waits to receive an authentication request from the rescue vehicle 2 in S77. When the authentication request from the rescue vehicle 2 arrives, the rescue vehicle 14 advances the process to S78.
In S <b> 78, the rescue vehicle 14 (authentication transmission unit) transmits the authentication status 1 to the rescue vehicle 2. The rescue vehicle 14 transmits, as the authentication status 1, information such as the reception number received in S43 and the rescue vehicle ID.
In S <b> 79, the rescue target vehicle 14 (authentication receiving unit) waits to receive the authentication status 2 from the rescue vehicle 2. When the authentication status 2 is received from the rescue vehicle 2, the rescue vehicle 14 advances the process to S80.
In S80, the rescue vehicle 14 (authentication unit) checks whether the rescue vehicle ID included in the received authentication status 2 matches the rescue vehicle ID received in S43. If the rescue vehicle ID included in the authentication status 2 matches the rescue vehicle ID received in S43, the rescue vehicle 14 proceeds to S81. If the rescue vehicle ID included in the authentication status 2 does not match the rescue vehicle ID received in S43, the rescue vehicle 14 advances the process to S82.

  In S <b> 81, the rescue vehicle 14 transmits an authentication completion notification to the rescue vehicle 2.

  In S <b> 82, the rescue vehicle 14 notifies the user (driver) that the authentication has failed, and transmits an authentication failure notification to the rescue service center 1.

  FIG. 12 is a flowchart showing an example of the flow (S14) of the operation of the rescue vehicle 2 that starts towing after completion of mutual authentication in this embodiment.

In S <b> 100, the rescue vehicle 2 (the tow request receiving unit) waits to receive a tow request from the rescue vehicle 14. When the tow request is received from the rescue vehicle 14, the rescue vehicle 2 advances the process to S101.
In S <b> 101, the rescue vehicle 2 (relative position measurement unit) acquires image information with the camera 8, and acquires inter-vehicle distance information with the inter-vehicle distance sensor 7.
In S102, the rescue vehicle 2 calculates the position of the rescue vehicle 14 based on the information acquired in S101.
In S103, the rescue vehicle 2 checks whether the calculated position of the rescue vehicle 14 is located at a predetermined position for towing. If not in the predetermined position, the rescue vehicle 2 advances the process to S104. If the rescue vehicle 14 is located at a predetermined position in S103, the rescue vehicle 2 advances the process to S106.

In S104, the rescue vehicle 2 (rescue moving unit) calculates vehicle control information for moving the rescue vehicle 14 to a predetermined position.
In S <b> 105, the rescue vehicle 2 (rescue movement unit) transmits the calculated vehicle control information to the rescue target vehicle 14. The rescue vehicle 2 returns the process to S101 and checks whether the rescue vehicle 14 is located at a predetermined position.

In S <b> 106, the rescue vehicle 2 (rescue movement unit) calculates vehicle control information for towing the rescue vehicle 14.
In S <b> 107, the rescue vehicle 2 (rescue moving unit) transmits vehicle information for towing to the rescue vehicle 14.
In S108, the rescue vehicle 2 (supply method determination unit) determines whether the rescue service requested by the rescue target vehicle 14 is power supply by wire or power supply by radio. If the rescue vehicle 14 is seeking wireless power supply, the rescue vehicle 2 proceeds to S111. If the rescue vehicle 14 is requesting power supply by wire, the rescue vehicle 2 proceeds to S109.
In S109, the rescue vehicle 2 (wired connection unit) starts the connection work of the connector 27 and the cable 28.
In S110, the rescue vehicle 2 determines whether the connection of the connector 27 and the cable 28 is completed. If the connection between the connector 27 and the cable 28 is not yet completed, the rescue vehicle 2 returns the process to S101. When the connection of the connector 27 and the cable 28 is completed, the rescue vehicle 2 advances the process to S111.
In S111, the rescue vehicle 2 notifies the rescue service center 1 of the start of power supply.
In S <b> 112, the rescue vehicle 2 (rescue supply unit) starts feeding the rescue vehicle 14.

FIG. 13 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
After the authentication is completed, the rescue vehicle 14 transmits a tow request to the rescue vehicle 2.
The rescue vehicle 2 transmits vehicle control information to the rescue vehicle 14 and controls the positional relationship with the rescue vehicle 14.
After the positioning (and connection) is completed, the rescue vehicle 2 transmits information such as a reception number, a rescue vehicle ID, and a current position to the rescue service center 1 as a power feeding start notification.
The rescue service center 1 transmits information such as a reception number to the rescue target vehicle 14 as a power feeding start notification.

  FIG. 14 is a flowchart showing an example of the flow (S14) of the operation of the rescue vehicle 14 for switching to the traction mode after the completion of mutual authentication in this embodiment.

After S81, in S120, the rescue vehicle 14 (convoy movement unit) displays the completion of the rendezvous with the rescue vehicle 2 using the monitor screen of the car navigation system 17 and displays a start button for switching to the traction mode.
In S121, the rescue vehicle 14 waits for the driver to touch the start button. When the driver touches the start button, the rescue vehicle 14 proceeds to S122.
In S <b> 122, the rescue target vehicle 14 (traction request transmission unit) transmits a tow request to the rescue vehicle 2.
In S123, the rescue vehicle 14 (maneuvering reception unit) waits to receive the vehicle control information transmitted from the rescue vehicle 2. If the vehicle control information is received, the process proceeds to S124.
In S124, the rescue vehicle 14 (convoy movement unit) changes the ECU 18 to the traction mode.
When the ECU 18 is switched to the traction mode, in S125, the rescue vehicle 14 displays that the vehicle is in the traction mode using the monitor screen of the car navigation system 17 or the like.
In S <b> 126, the rescue vehicle 14 (power supply start receiving unit) waits to receive a power supply start notification from the rescue service center 1. When the notification of power supply starts from the rescue service center 1, the rescue vehicle 14 advances the process to S127.
In S127, the rescue vehicle 14 displays the start of power supply using the monitor screen of the car navigation system 17 or the like.

FIG. 15 is a diagram showing an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
The rescue vehicle 2 transmits information such as a reception number, a rescue vehicle ID, a power transmission amount, and a current position to the rescue service center 1 as regular communication during power feeding to the rescue vehicle 14. The rescue vehicle 2 transmits vehicle control information to the rescue vehicle 14 and controls the positional relationship with the rescue vehicle 14.
While receiving power from the rescue vehicle 2, the rescue vehicle 14 transmits information such as a reception number, a rescue vehicle ID, and a received power amount to the rescue service center 1 as regular communication.

  FIG. 16 is a flowchart showing an example of the flow of operations (S15, S16) of the rescue vehicle 2 from the start of power feeding and traction in this embodiment to the end of power feeding.

After S112, in S130, the car navigation 5 sets a power supply facility to stop by as the destination, which is included in the destination route information received in S42.
In S131, the rescue vehicle 2 (relative position measurement unit) continues to acquire an image with the camera 8, and acquires inter-vehicle distance information with the inter-vehicle distance sensor 7.
In S132, the rescue vehicle 2 (relative position measurement unit) calculates the position of the rescue vehicle 14.
In S <b> 133, the rescue vehicle 2 (rescue movement unit) calculates vehicle control information for towing the rescue vehicle 14.
In S <b> 134, the rescue vehicle 2 (control transmission unit) transmits vehicle control information to the rescue vehicle 14.
In S135, the rescue vehicle 2 (state transmission unit) transmits information such as a reception number, a rescue vehicle ID, a power transmission amount, and a current position to the rescue service center 1 as regular communication.
In S <b> 136, the rescue vehicle 2 (completion request reception unit) determines whether a power supply completion request has been received from the rescue vehicle 14. If the power supply completion request has not been received from the rescue vehicle 14, the rescue vehicle 2 returns the process to S131. When the power supply completion request arrives from the rescue vehicle 14, the rescue vehicle 2 advances the process to S137.

In S <b> 137, the rescue vehicle 2 (completion notification transmission unit) transmits power supply and towing stop guidance notification to the rescue target vehicle 14.
Next, in S138, the rescue vehicle 2 determines whether the power supply is wired or wireless. In the case of wireless power feeding, the rescue vehicle 2 advances the process to S139. In the case of power supply by wire, the rescue vehicle 2 proceeds to S140.
In S139, the rescue vehicle 2 stops power feeding. The rescue vehicle 2 advances the process to S141.
In S140, the rescue vehicle 2 (wired connection release unit) removes the connector 27 and the cable 28, and stops power feeding.

In S <b> 141, the rescue vehicle 2 (relative position measurement unit) acquires an image by the camera 8 and acquires inter-vehicle distance information by the inter-vehicle distance sensor 7.
In S142, the rescue vehicle 2 (relative position measuring unit) calculates the position of the rescue vehicle 14.
In S <b> 143, the rescue vehicle 2 (rescue moving unit) calculates vehicle control information for towing the rescue vehicle 14.
In S <b> 144, the rescue vehicle 2 (control transmission unit) transmits vehicle control information to the rescue vehicle 14.
In S <b> 145, the rescue vehicle 2 determines whether or not the tow end preparation completion has been received from the rescue vehicle 14. If the information on completion of preparation for completion of towing from the rescue target vehicle 14 has not yet arrived, the rescue vehicle 2 returns the process to S141. When the completion of towing completion is received from the rescue vehicle 14, the rescue vehicle 2 advances the process to S146.

In S146, since preparations related to the driving of the driver of the rescue vehicle 14 are completed, the rescue vehicle 2 ends the calculation of the vehicle control information of the rescue vehicle 14 and the transmission of the information.
In S147, the rescue vehicle 2 notifies the rescue service center 1 of the service end including information such as the reception number, the amount of power transmission, and the current position.

FIG. 17 is a diagram illustrating an example of data exchanged in the inter-vehicle power supply / traction system 800 according to this embodiment.
The rescue vehicle 14 transmits a power supply completion request notification to the rescue vehicle 2 after receiving sufficient power supply.
The rescue vehicle 2 transmits power supply and vehicle control stop guidance notification to the rescue vehicle 14.
After the driver is ready, the rescue vehicle 14 transmits a tow end preparation completion notification to the rescue vehicle 2.
The rescue vehicle 2 transmits information such as the reception number, the amount of power transmission, and the current position to the rescue service center 1 as a service end report.
The rescue service center 1 transmits information such as a reception number and settlement information to the rescue vehicle 14 as a service completion report.

  FIG. 18 is a flowchart showing an example of the flow (S15, S16) of the rescue vehicle 14 from the start of power feeding and traction in this embodiment to the end of power feeding.

After S126, in S150, the rescued vehicle 14 that is being fed and towed transmits information such as a reception number, rescued vehicle ID, and amount of received power to the rescue service center 1 as regular communication.
In S151, the rescue vehicle 14 checks the charge amount of the battery 21 and calculates the travelable distance of the vehicle based on the charge amount.
In S152, the rescue vehicle 14 (completion determination unit) compares the travelable distance of the vehicle with the travel distance to the destination. If the travelable distance is less than the travel distance to the destination, or if the travel distance is greater than or equal to the travel distance to the destination and the difference is less than or equal to a predetermined threshold, the rescue vehicle 14 is still charged. If it is not sufficient, the process returns to S150. If it is determined that the vehicle can travel to the destination, the rescue vehicle 14 proceeds to S153.

In S153, the rescue target vehicle 14 (completion request transmission unit) transmits a power supply completion request notification to the rescue vehicle 2.
In S154, the rescue target vehicle 14 (completion notification receiving unit) waits to receive power supply and towing stop guidance from the rescue vehicle 2. When the power supply and towing stop guidance is received from the rescue vehicle 2, the rescue vehicle 14 proceeds to S155.
In S155, the rescue vehicle 14 displays the guidance for switching to the normal mode using the monitor screen of the car navigation system 17 or the like. The car navigation 17 displays a switching OK button for the driver so that the switching can be performed when the driver is ready to drive.
In S156, the rescue vehicle 14 waits for the driver to touch the switch OK button. If the driver touches the switch OK button, the rescue vehicle 14 proceeds to S157.
In S <b> 157, the rescue vehicle 14 transmits to the rescue vehicle 2 a notice of completion of preparation for towing.
In S158, the rescue vehicle 14 switches the ECU 18 to the normal mode. The normal mode is a mode in which the driver normally drives the rescue vehicle instead of controlling the rescue vehicle based on the vehicle control information received from the rescue vehicle as in the traction mode.
In S159, the rescue vehicle 14 waits for reception of a service end and settlement report from the rescue service center 1. When the service termination and settlement report arrives from the rescue service center 1, the rescue vehicle 14 proceeds to S160.
In S160, the rescue vehicle 14 displays the service end and payment information using the monitor screen of the car navigation system 17 or the like.

  The vehicle-to-vehicle power supply / traction system 800 in this embodiment includes a rescue service center 1, a rescue vehicle 2, and a rescued vehicle 14, and performs a procedure for requesting a rescue service and towing and settlement via wireless communication. A configuration, a configuration in which the rescue vehicle 2 and the rescue vehicle 14 meet at an optimum place by taking into account the destination of the rescue vehicle 14, a configuration in which power is supplied simultaneously while traveling, and a configuration in which the minimum necessary power supply is performed And have.

  According to the inter-vehicle power supply / traction system 800 in this embodiment, a series of procedures related to the rescue operation can be simplified by the request for the rescue service and the procedure of the traction and settlement. Furthermore, the rescue vehicle and the rescued vehicle meet at the optimal location, and while running, power is supplied at the same time, and the minimum necessary power supply is provided. Since it can be shortened, the service provision opportunity per 2 rescue vehicles can be improved. Moreover, for the side who enjoys the rescue service, it is possible to reduce the time lost due to the power supply and the travel to stop at the power supply facility.

  Since the inter-vehicle power supply / traction system 800 supplies power to the battery for the drive motor of the towed vehicle, it can respond to a request for power supply to the battery for the drive motor from a vehicle that cannot travel due to insufficient power. it can.

  In addition, when using the service, there is no need for manual procedures for relief procedures, various procedures such as confirmation of the target vehicle and target user, payment of expenses, and towing work, thereby reducing labor.

  Moreover, only the part which can drive | work to a destination, such as an electric power feeding facility, can be supplied with respect to a rescue vehicle, and it is not necessary to tow to an electric power feeding facility, and it is efficient for relief service.

In addition, since the destination of the rescue vehicle is grasped, the rescue service can be received at the place moved from the place where the rescue request is transmitted. Moreover, the side which provides a rescue service can dispatch a rescue vehicle appropriately.
If the rescued vehicle that requires assistance for power supply is still able to travel, and the rescue vehicle is located on the target route of the rescued vehicle, both vehicles face each other as long as the rescued vehicle can travel Since the vehicle travels, the time until the start of power supply can be shortened, and time is not wasted for both the rescue vehicle and the rescue vehicle.
In addition, when a plurality of rescue vehicles are located around the rescue vehicle, it is possible to shorten the time until the start of power supply by arranging the nearest rescue vehicle on the target route of the rescue vehicle.

  It is necessary for the rescue vehicle that the rescue vehicle and the rescue vehicle meet in the most suitable place, and the power supply and towing are performed at the same time. The amount of power can be supplied.

Embodiment 2. FIG.
The second embodiment will be described with reference to FIGS.
FIG. 33 is a system configuration diagram showing an example of the overall configuration of the vehicle-to-vehicle power supply / traction system 800 in this embodiment.
1 differs from FIG. 1 of the first embodiment only in a portion where the smartphone 41 and the ECU 18 are connected wirelessly instead of the car navigation system 17. Hereinafter, in this embodiment, only the difference will be described. Since others are the same as those of the first embodiment, description thereof is omitted.

The rescue vehicle 14 in this embodiment includes an inter-vehicle radio device 15, a power steering 19, a brake 20, a motor 23, an inverter 22, a battery 21, a power management unit 26, a connector 27, It has the rectifier 24, the coil part 25, and ECU18.
The smartphone 41 uses the navigation application 40 installed in the smartphone 41 to provide the driver of the rescue vehicle 14 with information such as the route to the destination of the rescue vehicle 14 and the nearest power supply facility. .
The ECU 18 in this embodiment manages and controls information on the vehicle-to-vehicle radio device 15, the power steering 19, the brake 20, the smartphone 41, the inverter 22, the power management unit 26, and the rectifier 24.
In this embodiment, the wide area radio apparatus 16 in the first embodiment is not provided in the rescue vehicle 14. In this embodiment, the smartphone 41 has the wide area wireless function.

Next, the configuration of the ECU 18 and the smartphone 41 in this embodiment will be described. FIG. 34 is a diagram showing the configuration of the smartphone 41 and the ECU 18 in the second embodiment.
The ECU 18 includes a vehicle information calculation function 64 that calculates a travelable distance and a power supply amount necessary to reach the power supply facility, a connection management function 61 that manages communication connection with the smartphone 41, and wireless communication that performs communication with the smartphone 41. It consists of function 63. The activation request unit 62 configured in the connection management function 61 will be described later separately.
The smartphone 41 includes a navigation application 40, a rescue service application 42, a connection management function 43 that manages communication connection with the ECU 18, a wireless communication function 45 that communicates with the ECU 18, a wide area communication function 46, a monitor 47, a speaker 48, and a GPS 49. Configure.
The navigation application 40 has functions provided in a general car navigation system, such as a current position display on map data, route guidance, and distance measurement using map data based on positioning information by the GPS 49.
The rescue service application 42 exchanges necessary information with the rescue service center 1, collects information from the navigation application 40 or the ECU 18, and routes based on the location information of the rescuer 2 received from the rescue service center 1 to the navigation application 40. Search and guide instructions.
The vehicle information holding means 44 will be described later. The wireless communication between the wireless communication function 63 of the ECU 18 and the wireless communication function 45 of the smartphone 41 uses wireless communication mainly used in a range of about 10 m, such as a wireless LAN, Bluetooth (registered trademark), and Zigbee (registered trademark). .
The distribution route of data from the on-vehicle calculation function 60 of the ECU 18 to the rescue service application 42 includes a vehicle information calculation function 64, a connection management function 61 of the ECU 18, a wireless communication function 63 of the ECU 18, a wireless communication function 45 of the smartphone 41, and a smartphone 41. Connection management function 43. Further, the data distribution route from the rescue service application 42 to the on-vehicle calculation function 60 of the ECU 18 is the opposite route.

  Therefore, in contrast to the first embodiment, in the second embodiment, the smartphone 41 performs the function of the car navigation system 17. In the first embodiment, data transmission / reception between the rescue service center 1 and the ECU 18 of the rescue target vehicle 14 performed by the wide area radio device 16 is performed from the ECU 18 in the second embodiment. Information transmitted to and received from the center 1 is transmitted and received via the smartphone 41. Similarly, regarding the transmission and reception of information performed between the smartphone 41 and the rescue service center 1 instead of the car navigation system 17, the smartphone 41 and the rescue service center 1 directly exchange information.

The operation using the configuration of the smartphone 41 and the ECU 18 will be described only with respect to the difference from FIGS. 5 to 18 of the first embodiment.
The operation using the car navigation system 17 in S20 and S21 of FIG. 5 is performed by the navigation application 40 under the instruction of the rescue service application 42 of the smartphone 41 in the present embodiment.
The calculation of the travelable distance in S22 of FIG. 5 is performed by the vehicle information calculation function 61 of the ECU 18. Further, in the comparison operation of S23, the rescue service application 42 receives the travelable distance calculated in S22 via the wireless communication function 63 of the ECU 18 and the wireless communication function 45 of the smartphone 41, and the rescue service application 42 instructs The navigation application 40 performs the comparison work.
5 is performed by the navigation application 40 under the instruction of the rescue service application 42. In S27, the rescue service application 42 requests a rescue request from the rescue service center 1 using the wide area communication function 46 of the smartphone 41.
In S70 to S72 and S76 in FIG. 11, the reception is performed by the smartphone 41, and when the request response arrives, the navigation application 40 sets the rendezvous point as the destination under the instruction of the rescue service application 42 in the smartphone 41. The route guidance is started, and it is determined whether or not the rendezvous point is reached.
In S74 and S75 in FIG. 11, the ECU 18 checks the battery 21 under the instruction of the rescue service application 42 and receives the calculated remaining travelable distance, and the rescue service application 42 periodically receives the rescue service center. 1 transmits information on regular communication.
In S150 to S152 in FIG. 18, the rescue service application 42 in the smartphone 41 checks the charge amount of the battery 21 with the ECU 18, calculates the travelable distance of the vehicle based on the charge amount, and receives the calculation result. The information such as the reception number, rescue vehicle ID, received power amount, etc. is transmitted to the rescue service center 1 as regular communication.
Further, in S159 and S160 in FIG. 18, when the rescue service application 42 in the smartphone 41 receives the service end and settlement report from the rescue service center 1, the service end and settlement information are displayed on the monitor 47.

  Therefore, in this embodiment, the same function as in the first embodiment can be performed using the smartphone 41. Next, a problem peculiar to the case where the smartphone 41 is used and its correspondence will be described.

  The smartphone 41 is a device carried by the user, and is brought into the vehicle or taken out of the vehicle together with the user. As described above, the smartphone 41 transmits information regarding the rescue vehicle 14 to the rescue service center 1. The information related to the rescue vehicle 14 includes, for example, current position information of the rescue vehicle 14. As the current position information, GPS 49 information that can be acquired by the smartphone 41 managed by the navigation application 40 of the smartphone 41 is used. Therefore, when the user takes the smartphone 41 out of the vehicle, the current position that the smartphone 41 transmits to the rescue service center 1 is different from the actual position of the rescue vehicle 14. If the current position of the rescue vehicle 14 cannot be accurately received at the rescue service center 1, the rescue vehicle 2 cannot go to the rescue vehicle 14 for rescue. Therefore, even when the smartphone 41 is away from the outside of the vehicle, a means for correctly transmitting the current position information of the rescue vehicle 14 to the rescue service center 1 is required. The vehicle information holding unit 44 of the smartphone 41 in FIG. 34 correctly transmits the current position information of the rescue target vehicle 14 to the rescue service center 1 even when the smartphone 41 is away from the outside of the vehicle. Details will be described later.

  In addition, it is desirable for the user to take out the smartphone 41 from the pocket or bag and activate the rescue service application 42 every time the user gets into the rescue vehicle 14. The rescue service application 42 does not necessarily have to be launched, but if it is not launched, it is necessary to launch it when the rescue vehicle 14 needs to be rescued. In general, the smartphone 41 has a short use time due to the relationship between power consumption and battery capacity, and it is desirable to avoid use in unnecessary and urgent applications. Therefore, a means for calling the rescue service application 42 of the smartphone 41 when the rescue vehicle 14 needs to be rescued is required. The activation request unit 62 in FIG. 34 can automatically call the rescue service application 42 of the smartphone 41. Details will be described later.

Next, the connection management function 61 in the ECU 18, the activation request unit 62 included in the connection management function 61, the connection management function 43 in the smartphone 41, and the vehicle information holding unit 44 included in the connection management function 43 will be described.
FIG. 35 is a flowchart showing a connection operation with the ECU 18 as viewed from the smartphone 41 in the second embodiment, and FIG. 36 is a flowchart showing a connection operation with the smartphone 41 as viewed from the ECU 18 in the second embodiment.

First, the operation of the ECU 18 will be described.
In S220 of FIG. 36, the ECU 18 first sets the connection status of the smartphone 41 to “disconnected”.
In step S <b> 221, the connection management function 61 of the ECU 18 checks whether a polling command has been received from the connection management function 43 of the smartphone 41. If the polling command is received from the connection management function 43 of the smartphone 41, the process proceeds to S222, and if the polling command is not received, the process proceeds to S226.
In S222, the connection management function 61 of the ECU 18 sets the connection status with the smartphone 41 to “connected”. Send. Here, the route information to the power supply facility is included in a polling command (S206) transmitted by the connection management function 43 of the smartphone 41 in FIG.
The vehicle information calculation function 64 has a function of calculating a travelable distance and a power supply amount necessary for going to the power supply facility when route information to the power supply facility is received. Therefore, in S224, the connection management function 61 obtains the travelable distance from the vehicle information calculation function 64 and the power supply amount necessary for going to the power supply facility.
In S225, a polling response is transmitted to the connection management function 43 of the smartphone 41 along with the travelable distance and the power supply amount necessary to reach the power supply facility.

In S226, when the polling command from the connection management function 43 of the smartphone 41 is not received, the connection status with the smartphone 41 is checked.
When the connection status with the smartphone 41 is “connected”, in S227, it is checked whether or not there is a disconnection request from the connection management function 43 of the smartphone 41.
If there is no disconnection request, the process returns to S221 to check again whether a polling command is received from the connection management function 43 of the smartphone 41.
When the disconnection request is received from the connection management function 43 of the smartphone 41, the connection status with the smartphone 41 is set to “disconnected” in S228.
Up to this point, a case where connection is actively made from the smartphone 41 is shown. In S226, when the connection status with the smartphone 41 is not “connected”, the smartphone 41 is not connected. When the ECU 18 is not connected to the smartphone 41, in S229, it is checked whether the EV system of the rescue vehicle 14 is activated.
Here, when the EV system is activated, processing related to the activation request unit 62 is executed. If the EV system is not activated, the process returns to S221.
When the EV system is activated, the activation request unit 62 acquires the travelable distance from the vehicle information calculation function 64 in S230.
In S231, the activation request unit 62 checks whether the travelable distance acquired from the vehicle information calculation function 60 satisfies a predetermined specified value. The predetermined specified value here indicates a travelable distance that the user wants to automatically activate the application of the rescue service. For example, when the user sets a specified value of 30 km, the activation request unit 62 checks whether the travelable distance acquired from the vehicle information calculation function 60 satisfies or does not satisfy 30 km. If the travelable distance exceeds the regulation, the process returns to the check of whether a polling command is received from the connection management function 43 of the smartphone 41 in S221 again.
If the travelable distance is less than the specified value, an activation request is issued from the activation request unit 62 to the connection management function 43 of the smartphone 41 in S232.
In S233, the activation request to the connection management function 43 of the smartphone 41 is performed until a polling command is received from the connection management function 43 of the smartphone 41. If a polling command is received from the connection management function 43 of the smartphone 41, S222 is executed, and if not received, the process is re-executed from S232.

Next, the connection operation of the smartphone 41 with the ECU 18 will be described with reference to FIG.
First, in S200, the connection management function 43 of the smartphone 41 checks whether the rescue service application 42 is activated by a user operation. If it is activated, the process proceeds to S202, and if not, the process proceeds to S201.
Next, in S201, it is checked whether or not there is an activation request from the ECU 18. If there is an activation request from the ECU 18, the process proceeds to S202. If there is no trajectory request, the process returns to S200.
Next, in S202, the connection management function 43 of the smartphone 41 polls the connection management function 61 of the ECU 18, and starts a polling timer. In S203, if the predetermined polling timer is not exceeded, the process proceeds to S215. If the predetermined polling timer is exceeded, the polling timer is cleared in S204, the polling response timer is cleared in S205, the timer is started, and a polling command is transmitted to the connection management function 61 of the ECU 18 in S206. . The route information to the power supply facility is attached to the polling command.
In S207, after the command transmission in S206, it is checked whether a polling response is received from the connection management function 61 of the ECU 18. If no polling response is received, the process proceeds to S210. If a polling response is received, it will progress to S208.
In S208, the necessary power supply amount attached to the response, the travelable distance, and information on the GPS 49 of the smartphone 41 are updated. The vehicle information holding unit 44 performs processing related to the update of the current position, the necessary power supply amount, and the travelable distance in S208.
In S209, the connection management function 43 sets the retry counter to 0, returns to S202, and executes it.
If the response from the connection management function 61 of the ECU 18 is not received in S207, it is checked in S210 whether there is a request for termination of the rescue service application 42 by the user, and if there is a request, the process proceeds to S216. If there is no termination request, it is checked in S211 if the polling response has timed out.
If the polling response has not timed out, the process returns to S207. If the polling response has not timed out, the process proceeds to S212.
In S212, the response reception retry counter is incremented. In S213, it is checked whether the retry counter exceeds a predetermined value. If the retry counter has not reached the specified value, the process returns to S205 and continues to wait for a response.
If the retry counter exceeds the specified value, it is determined in S214 that the user has left the rescue vehicle 14 or the EV system has stopped due to the battery running out, and communication with the ECU 18 has been disconnected from the user. And return to S200.
Even if the communication with the ECU 18 is cut off here, if S208 has already been executed, the vehicle information holding means 44 of the smartphone 41 holds information on the current position, the required power supply amount, and the travelable distance. Yes. That is, even if the battery of the EV system runs out or the user moves to a place away from the rescue vehicle 14, vehicle information can be transmitted to the rescue service center 1 and the service continues to be received. It is possible.
In addition, when there exists a termination request | requirement of a relief service application from a user at arbitrary timing like S215 and S210, a disconnection request | requirement is transmitted with respect to the connection management function 61 of ECU18 in S216, and it returns to the process of S200.

  In the rescue service application 42 of the smartphone 41, when S <b> 232 is performed and the connection management function 43 of the smartphone 41 receives an activation request, the information is received from the connection management function 43. When the rescue service application 42 receives the activation request, the relief service application 42 provides information related to activation to the user via the monitor 47 of the smartphone 41 or the speaker 48, for example. The rescue service application 42 receives route information from the navigation application 50 to the power feeding facility when executing S206 of FIG.

  Although not shown here, the connection management function 61 and the wireless communication function 63 may not be included in the ECU 18 but may be mounted on other external devices. For example, it may be used as a dedicated device for data transfer for data transmission / reception between the smartphone 41 and the ECU 18, or connected to an ITS on-board device used for VICS service or the like or a device that reads vehicle information by connecting to the OBD 2. 61 and a wireless communication function 63 may be installed. If these devices do not have a communication function for communicating with the ECU 18, for example, a communication function such as CAN is provided separately.

  Therefore, in this embodiment, even when the smartphone 41 is away from the outside of the vehicle, means for correctly transmitting the current position information of the rescue vehicle 14 to the rescue service center 1 and the rescue of the rescue vehicle 14 are required. When there is a means for calling the rescue service application 42 of the smartphone 41, correct position information can be transmitted to the rescue service center 1 when necessary.

Embodiment 3 FIG.
A third embodiment will be described.
Since the configuration of the inter-vehicle power supply / traction system 800 in this embodiment is the same as that in the first or second embodiment, the description thereof is omitted.

  The inter-vehicle power supply / traction system 800 according to the first or second embodiment performs power supply and traction while traveling through S10 to S16 in FIG. On the other hand, the inter-vehicle power supply / traction system 800 according to this embodiment performs steps S10 to S12, and stops the vehicle when the rescue vehicle 2 and the rescue target vehicle 14 are rendezvous at the rendezvous point. The worker boarding the rescue vehicle 2 and the driver of the rescue vehicle 14 confirm with each other that the rescue vehicle 14 is the requested vehicle via human hands. The worker boarding the rescue vehicle 2 supplies power by connecting the connector 27 and the cable 28 to the rescue vehicle 14.

  According to the inter-vehicle power supply / traction system 800 in this embodiment, it is possible to start work at a rendezvous point with respect to a rescued vehicle that cannot perform power supply and travel at the same time or does not support rescue vehicle towing.

Embodiment 4 FIG.
The fourth embodiment will be described with reference to FIGS.
In addition, about the part which is common in Embodiment 1 or 2, the same code is attached and description is abbreviate | omitted.

  The configuration of the inter-vehicle power supply / traction system 800 in this embodiment is the same as that in the first or second embodiment.

FIG. 19 is a block configuration diagram showing an example of the configuration of the rescue vehicle 2 in this embodiment.
The rescue vehicle 2 includes a power steering 60 in addition to the configuration described in the first or second embodiment. The power steering 60 is connected to the ECU 6. The direction of the coil unit 13 (radiation coil, radial direction variable device) can be changed by control from the ECU 6 (radial direction control unit).

  When the rescue vehicle 2 is wirelessly supplying power, the vehicle control of the rescue vehicle 14 and the rescue vehicle 2 are controlled based on the road shape information of the car navigation 5 and the steering angle information obtained from the power steering 60. By controlling the direction of the coil section 13, the efficiency of power feeding is ensured.

  FIG. 20 is a diagram illustrating an example of a positional relationship between the rescue vehicle 2 and the rescue target vehicle 14 in this embodiment.

By determining the position in S14, the rescue vehicle 2 and the rescue target vehicle 14 are in an optimal positional relationship for supplying power. Therefore, it is desirable to maintain this positional relationship while traveling.
It is assumed that the rescue vehicle 2 and the rescue target vehicle 14 are traveling on a travel lane on a two-lane road with a straight line as shown in this figure. The coil portion 13 of the rescue vehicle 2 is provided at the rear of the vehicle and radiates electromagnetic energy toward the rear of the rescue vehicle 2. Moreover, the coil part 25 of the rescue vehicle 14 is provided in the front part of the vehicle, and receives electromagnetic energy radiated from the front of the rescue vehicle 14. For this reason, the rescue vehicle 2 and the rescue vehicle 14 travel in a row where the rescue vehicle 2 is located in front and the rescue vehicle 14 is located behind.

  The rescue vehicle 2 acquires road shape information from the car navigation 5 and determines that the vehicle is traveling on a road with a straight line. In this case, it is determined that the rescue vehicle 2 can travel while maintaining the relative position of the rescue vehicle 2 and the rescue vehicle 14. The rescue vehicle 2 generates vehicle control information for controlling the rescue vehicle 14 so as to maintain this positional relationship. In addition, the rescue vehicle 2 directs the electromagnetic energy radiating direction of the coil portion 13 in the direction directly behind the rescue vehicle 2.

FIG. 21 is a diagram illustrating an example of the positional relationship between the rescue vehicle 2 and the rescue target vehicle 14 in this embodiment.
When the rescue vehicle 2 and the rescue target vehicle 14 change lanes on a two-lane road with a straight line as shown in this figure, the same positional relationship as in FIG. 20 can be maintained. For this reason, even if the steering angle information obtained from the power steering 60 changes, the rescue vehicle 2 does not change the relative positional relationship with the rescue vehicle 14 and directs the radial direction of the coil portion 13 to the rearward direction. To maintain.

FIG. 22 is a diagram showing an example of the positional relationship between the rescue vehicle 2 and the rescue target vehicle 14 in this embodiment.
As shown in this figure, when the rescue vehicle 2 and the rescue vehicle 14 are about to reach a corner, the rescue vehicle 2 and the rescue vehicle 14 maintain the same relative positional relationship as they are now. I can't drive.

FIG. 23 is a diagram showing an example of the positional relationship between the rescue vehicle 2 and the rescue target vehicle 14 in this embodiment.
As shown in this figure, when the rescue vehicle 2 is approaching a corner, if the radial direction of the coil portion 13 of the rescue vehicle 2 is directed rightward, an appropriate direction with respect to the coil portion 25 of the rescue vehicle 14 It cannot be said that it is facing.
The ECU 6 (radial direction control unit) of the rescue vehicle 2 calculates the relative direction of the rescue vehicle 14 using the steering angle information obtained from the power steering 60. The ECU 6 controls the direction of the coil unit 13 to direct the radial direction of the coil unit 13 in an appropriate direction with respect to the rescue vehicle 14.
For example, the ECU 6 calculates the radius of curvature of the travel path from the steering angle of the rescue vehicle 2. The ECU 6 calculates the angle difference between the direction of the rescue vehicle 2 and the direction of the rescue vehicle 14 based on the calculated radius of curvature and the distance between the rescue vehicle 2 and the rescue vehicle 14. The ECU 6 calculates the direction in which the coil unit 13 should be directed based on the calculated angle difference. The ECU 6 controls the coil unit 13 and directs it in the calculated direction.

FIG. 24 is a diagram illustrating an example of a positional relationship between the rescue vehicle 2 and the rescue target vehicle 14 in this embodiment.
This figure shows the state in which the coil portion 13 faces an appropriate direction when the rescue vehicle 2 is approaching a corner.

  The rescue vehicle 2 does not calculate the angle difference between the rescue vehicle 2 and the rescue vehicle 14 based on information obtained from the power steering 60, but uses the camera 8 in which the rescue vehicle 14 always enters the viewing angle. The configuration may be such that the position of the rescue vehicle 14 is specified and the direction of the coil portion 13 is controlled.

  According to the vehicle-to-vehicle power supply / traction system 800 in this embodiment, when the rescue vehicle 2 and the rescue target vehicle 14 travel on a straight line, the vehicle can travel while maintaining the optimum positional relationship for power supply, at a corner. Reduction in power supply efficiency can be suppressed.

Embodiment 5 FIG.
The fifth embodiment will be described with reference to FIGS.

FIG. 25 is a system configuration diagram showing an example of the overall configuration of the rescue system 801 in this embodiment.
The relief system 801 is a system that provides a relief service to the user vehicle 840 traveling in a predetermined service provision area 810.
The user vehicle 840 (target moving body) is, for example, an electric vehicle. The user vehicle 840 accumulates energy such as electric energy and moves using the accumulated energy.
There is a power supply facility 850 (energy supply facility) for supplying energy to the user vehicle 840 in and around the service providing area 810. The user vehicle 840 goes to the power supply facility 850 and accumulates energy by charging in the power supply facility 850.
When the energy stored in the user vehicle 840 is insufficient and the power supply facility 850 cannot be reached, the user vehicle 840 makes a rescue request to the rescue center 820.
In response to the rescue request from the user vehicle 840, the rescue center 820 directs the rescue vehicle 830 near the user vehicle 840 to the rescue.
The rescue vehicle 830 (rescue mobile body) joins with the user vehicle 840 in accordance with an instruction from the rescue center 820 and supplies energy to the user vehicle 840.

Note that the user vehicle 840 makes a rescue request before the accumulated energy is completely exhausted. For this reason, the user vehicle 840 can still travel. As a result, since it is possible to receive relief earlier than when a rescue request is made after the accumulated energy is completely exhausted, time loss can be reduced.
Even if the user vehicle 840 can reach the nearest power supply facility 850 with the stored energy, if the user vehicle 840 stops at the nearest power supply facility 850, the user vehicle 840 becomes a detour to go to the final destination. In some cases, a request for relief may be made without stopping at the nearest power supply facility 850.
Furthermore, some user vehicles 840 are equipped with a device that can receive energy while running. In that case, when the rescue vehicle 830 equipped with a device that can supply energy while traveling is heading for relief, the energy is delivered while traveling. Thereby, the time loss by relief can further be reduced.

FIG. 26 is a hardware configuration diagram showing an example of the configuration of the device group 400 mounted on the user vehicle 840 in this embodiment.
The device group 400 (target device) mounted on the user vehicle 840 includes, for example, a processing device 401, a storage device 402, a power receiving device 403, a power storage device 404, a moving device 405, a control device 406, and an operation. There are an input device 407, a notification device 408, a communication device 409, and a current position measurement device 412.
The processing device 401 (target processing device) processes the data and controls the device group 400 by executing a computer program. The processing device 401 is, for example, a computer.
The storage device 402 (target storage device) stores a computer program executed by the processing device 401, data processed by the processing device 401, and the like. The storage device 402 is, for example, a semiconductor memory such as a volatile memory or a nonvolatile memory, or an external storage device such as a magnetic disk device or an optical disk device.
The power receiving device 403 (acquisition device) takes in energy supplied from the outside of the user vehicle 840. The power receiving device 403 includes, for example, a coil (acquisition coil) and the like, and is configured not to be physically connected to an external device that supplies energy, but to receive energy by receiving an electromagnetic wave radiated from the external device (hereinafter referred to as an energy receiving device). It may be called “wireless acquisition method”. The power receiving device 403 includes a connector for connecting a cable, for example, and is physically connected to an external device that supplies energy to take in energy (hereinafter referred to as “wired acquisition method”). May be. Further, the power receiving device 403 may be configured to support both the wireless acquisition method and the wired acquisition method.
The power storage device 404 (storage device) stores the energy taken in by the power receiving device 403.
The power storage device 404 is a battery, for example. The power storage device 404 outputs a signal indicating the amount of accumulated energy. This signal is input by the processing device 401 and monitors the remaining amount of energy accumulated by the power storage device 404.
The moving device 405 (target moving device) moves the user vehicle 840 using the energy stored in the power storage device 404. The moving device 405 is transmitted by a propulsive force generating device that generates propulsive force such as an electric motor, a propulsive force transmitting device that transmits the propulsive force generated by the propulsive force generating device such as a gear or a shaft, or a propulsive force transmitting device such as a tire. The propulsion device that propels the user vehicle 840 with the propulsion force, the reduction device that decelerates the speed of the user vehicle 840 such as a regenerative brake, the steering device that controls the traveling direction of the user vehicle 840 such as power steering, and the user vehicle 840 such as a winker and a brake lamp. A signal device for informing the outside of the movement of the device.
The moving device 405 operates in accordance with instructions from the processing device 401 and the control device 406.
The control device 406 is a device that inputs a driving operation by a driver of the user vehicle 840 such as a steering wheel, a brake pedal, an accelerator pedal, and the like. The driving operation input by the control device 406 is transmitted to the moving device 405 via the processing device 401 or directly.
The operation input device 407 is a device that inputs an operation other than the driving operation by the driver or passenger of the user vehicle 840. The operation input device 407 is, for example, a car navigation touch panel, operation buttons, a voice recognition device, or the like.
The notification device 408 is a device that notifies the driver and passengers of the user vehicle 840 of information.
The notification device 408 is, for example, a car navigation display screen, a warning lamp, a voice synthesizer, or the like.
The communication device 409 (target transmission device / target reception device) is a device that communicates with the rescue center 820, the rescue vehicle 830, and the like. The communication device 409 communicates with a rescue vehicle 830 that has come near the user vehicle 840 to rescue the user vehicle 840, for example, by short-range wireless communication. Moreover, the communication apparatus 409 communicates with the rescue center 820 by long-distance wireless communication, for example. Note that the communication with the rescue center 820 may be performed via a wireless public communication line such as a mobile phone, or by communicating with other vehicles near the user vehicle 840 by short-range wireless communication. The configuration may be performed by ad hoc communication via another vehicle. Moreover, the structure for which the communication apparatus for communicating with the rescue vehicle 830 and the communication apparatus for communicating with the relief center 820 may exist separately, and one communication apparatus is the rescue vehicle 830 and the relief. The structure which communicates with both of the center 820 may be sufficient.
The current position measuring device 412 measures the current position of the user vehicle 840. Alternatively, the current position measurement device 412 collects information necessary for calculating the current position of the user vehicle 840, and the processing device 401 uses the information collected by the current position measurement device 412 to determine the current position of the user vehicle 840. May be configured to calculate. The current position measuring device 412 is, for example, a GPS (Global Positioning System) receiver, a vehicle speed sensor, a gyro sensor, or the like.

FIG. 27 is a block configuration diagram showing an example of a functional block configuration of the device group 400 mounted on the user vehicle 840 in this embodiment.
The functional blocks described below are realized, for example, when the processing device 401 executes a computer program stored in the storage device 402.
The device group 400 (target device) includes, for example, a map storage unit 421, a final destination input unit 422, a final destination storage unit 423, a current position acquisition unit 424, a power supply facility storage unit 425, and a power supply facility search. Unit 426, remaining amount acquisition unit 427, traffic jam information acquisition unit 428, relief information acquisition unit 429, route calculation unit 430, policy input unit 431, policy storage unit 432, route selection unit 433, route A storage unit 434, a route notification unit 435, a necessary amount calculation unit 436, a request determination unit 437, a relief request transmission unit 438, a request response reception unit 441, a request information storage unit 442, and a merge movement unit 443 An authentication receiving unit 444, an authenticating unit 445, an authentication transmitting unit 446, an operation receiving unit 447, a convoy moving unit 448, an acquisition storage unit 449, a completion request transmitting unit 450, and a completion notification receiving unit 451. To.

The map storage unit 421 stores map data representing a map of an area where the user vehicle 840 travels using the storage device 402 in advance. The map data stored in the map storage unit 421 represents, for example, information including the start point, end point, distance, shape, slope, traffic regulation, toll, connecting road, and the like of roads existing in the area.
The final destination input unit 422 inputs the final destination aimed by the user vehicle 840 by inputting the operation of the driver or passenger of the user vehicle 840 using the operation input device 407.
The final destination storage unit 423 uses the storage device 402 to store final destination data representing the final destination input by the final destination input unit 422.
The current position acquisition unit 424 acquires the current position of the user vehicle 840 using the current position measurement device 412.
The power supply facility storage unit 425 stores power supply facility data representing the position, business hours, retail series, and the like of the power supply facility 850 existing in the area where the user vehicle 840 travels in advance using the storage device 402.
The power supply facility search unit 426 uses the processing device 401 to perform the processing for the user vehicle 840 based on the power supply facility data stored in the power supply facility storage unit 425 and the current position of the user vehicle 840 acquired by the current position acquisition unit 424. A power supply facility 850 that can supply power is searched. The range of the power supply facility 850 searched by the power supply facility search unit 426 is, for example, a range in which the distance from the current position of the user vehicle 840 is shorter than a predetermined distance, or a distance from the route from the current position of the user vehicle 840 to the final destination. Is a range shorter than a predetermined distance. The power supply facility search unit 426 may be configured to search only the power supply facility 850 that is open at the scheduled time when the user vehicle 840 arrives at the power supply facility 850 according to the distance from the user vehicle 840. In addition, the configuration may be such that only the power supply facility 850 belonging to the retail system preset by the driver of the user vehicle 840 or the like is searched.
The remaining amount acquisition unit 427 acquires the remaining amount of energy accumulated by the power storage device 404.
The traffic jam information acquisition unit 428 acquires the traffic jam information using the communication device 409. The traffic jam information acquired by the traffic jam information acquisition unit 428 represents, for example, the time required for passage and the cause of traffic jam on a road on which the user vehicle 840 may pass.
The relief information acquisition unit 429 acquires relief information using the communication device 409. The rescue information acquired by the rescue information acquisition unit 429 is, for example, a guideline for determining what kind of rescue service can be received at the time of a rescue request, such as the number and position of the rescue vehicle 830 near the user vehicle 840 and the operation status. Represents the information.

The route calculation unit 430 uses the processing device 401 to map data stored in the map storage unit 421, final destination data stored in the final destination storage unit 423, and user vehicle 840 acquired by the current position acquisition unit 424. Based on the current position, the route for the user vehicle 840 to go to the final destination is calculated.
The route calculation unit 430 calculates several candidates as routes for going to the final destination. The route calculated by the route calculation unit 430 includes a route that appropriately stops at the power supply facility 850 searched by the power supply facility search unit 426, a route that does not stop at the power supply facility 850, and the like. The power supply facility 850 that stops first in the route calculated by the route calculation unit 430 may be a power supply facility 850 that is farther than a distance that can be traveled by the remaining amount of energy acquired by the remaining amount acquisition unit 427. When adopting the route, the user vehicle 840 needs to receive relief.
Further, the route calculation unit 430 uses the processing device 401 for each calculated route to calculate the required time (or estimated arrival time) to the final destination based on the traffic information acquired by the traffic information acquisition unit 428. calculate. In the case of a route that stops at the power supply facility 850, the route calculation unit 430 uses the processing device 401 to calculate the time required for power supply at the power supply facility 850 and sets the time combined with the time required for movement as the required time. Further, in the case of a route that needs to receive relief, the route calculation unit 430 calculates the time required for receiving the relief based on the relief information acquired by the relief information acquisition unit 429 and matches the time required for movement. Time is the required time. The time required for receiving the relief includes, for example, a waiting time when the operation rate of the rescue vehicle 830 near the user vehicle 840 is high and there is a high possibility that it is necessary to wait for the rescue. Moreover, when receiving relief in the state of driving | running | working, since the user vehicle 840 moves while actually receiving relief, the route calculation part 430 rescues the time which is actually receiving relief, for example. It calculates as either one of the time it takes to receive or the travel time, and calculates the required time.
In addition, the route calculation unit 430 calculates, for each calculated route, the amount of energy necessary to travel along the route using the processing device 401. The route calculation unit 430 calculates the cost for traveling along the route based on the calculated energy amount. Expenses calculated by the route calculation unit 430 include, for example, energy purchase costs for consumed energy, tolls when passing through toll roads, and the like. Note that energy purchase costs may differ between when receiving power supply at the power supply facility 850 and when receiving power. Usually, the energy purchase costs are higher when receiving relief. In the case of a route that receives power supply at the power supply facility 850, the route calculation unit 430 calculates the energy purchase cost by multiplying the retail price of energy at the power supply facility 850 by the energy consumption. When receiving relief, the route calculation unit 430 calculates the energy purchase cost by multiplying the retail price of energy in the relief service by the necessary energy amount and adding the basic fee for using the relief service.

The policy input unit 431 inputs a route selection policy in advance by using the operation input device 407 to input the operation of the driver or passenger of the user vehicle 840. The route selection policy includes, for example, a time priority method that prioritizes routes that arrive early at the final destination, a “earth-friendly” method that prioritizes routes that consume less energy, and routes that require less cost. There are “wallet-friendly” methods, and “driving-friendly” methods that prioritize routes with few lane changes and right turns. Or the selection policy which combined several selection policies by weighting etc. may be sufficient. Moreover, the structure which can select whether a route is automatically selected based on a selection policy, or a candidate and a passenger of the user vehicle 840 select a candidate in order of priority, and may be selected may be sufficient.
The policy storage unit 432 uses the storage device 402 to store selection policy data representing the route selection policy input by the policy input unit 431.
The route selection unit 433 selects one route from the routes calculated by the route calculation unit 430 using the processing device 401 based on the selection policy represented by the selection policy data stored in the storage device 402. In the case of a selection policy that allows the driver or passenger of the user vehicle 840 to select a route, the route selection unit 433 uses the notification device 408 to select route candidates and the required time, energy consumption, cost, etc. of each candidate. Information necessary for the selection is displayed, and the operation input device 407 is used to input which route the driver or passenger of the user vehicle 840 has selected.
The route storage unit 434 stores selected route data representing the route selected by the route selection unit 433 using the storage device 402.
The route notification unit 435 uses the notification device 408 to notify the driver or passenger of the user vehicle 840 of the route represented by the selected route data stored in the route storage unit 434.

The required amount calculation unit 436 uses the processing device 401 based on the map data stored in the map storage unit 421 and the selected route data stored in the route storage unit 434 to first supply power supply facilities 850 on the selected route. (In the case of a route that does not stop at the power supply facility 850, the required amount of energy required for movement to the final destination) is calculated.
The request determination unit 437 uses the processing device 401 to determine whether to make a rescue request. For example, the request determination unit 437 compares the required amount of energy calculated by the required amount calculation unit 436 with the remaining amount of energy acquired by the remaining amount acquisition unit 427 and determines that the remaining amount is less than the required amount. It is determined that a rescue request is made.
When the request determination unit 437 determines that a rescue request is made, the rescue request transmission unit 438 transmits a rescue request signal to the rescue center 820 using the communication device 409. The rescue request signal includes, for example, information representing a user ID (target identifier), a current position of the user vehicle 840, a route, an energy rescue request amount, and the like. The user ID is an identifier for identifying the user vehicle 840, such as a registration number when the user vehicle 840 is registered in advance in the rescue service. When the user vehicle 840 is not registered in the rescue service in advance, the rescue request transmission unit 438 transmits a rescue request signal after acquiring the user ID by separately performing a registration procedure for the rescue service. It may be a configuration. In addition, the energy rescue request amount is the amount of energy desired to be rescued. For example, the request determination unit 437 calculates an energy rescue request amount by calculating a difference obtained by subtracting the remaining amount from the required amount of energy.

The request response receiver 441 uses the communication device 409 to receive a request response signal transmitted from the rescue center 820 to the user vehicle 840 as a response to the rescue request signal transmitted by the rescue request transmitter 438. The request response signal includes, for example, a reception number, rescue authentication information necessary for authentication of the rescue vehicle 830, such as an ID of the rescue vehicle 830 to be rescued, a confluence point where the rescue vehicle 830 joins the user vehicle 840, and a rescue toward the rescue Information indicating the current position of the vehicle 830 and the like is included.
Using the storage device 402, the request information storage unit 442 stores request information data representing information included in the request response signal received by the request response reception unit 441.

Using the notification device 408, the merging / moving unit 443 notifies the driver of the user vehicle 840 of information represented by the request information data stored in the request information storage unit 442. The driver of the user vehicle 840 operates the control device 406 based on the information notified by the route notification unit 435 and the merging / moving unit 443 and heads for the merging point. When the user vehicle 840 has an automatic driving function, the merging / moving unit 443 directly controls the moving device 405 based on the route represented by the route data stored in the route storage unit 434 without the driver's operation. The structure which goes to a confluence | merging point may be sufficient.
In addition, when the user vehicle 840 is likely to arrive at the joining point earlier than the time when the rescue vehicle 830 arrives at the joining point, the joining moving unit 443 reduces the speed of the user vehicle 840 so that the user vehicle 840 makes the rescue vehicle. The configuration may be such that the arrival point is reached later than 830. In that case, for example, the merging / moving unit 443 calculates a scheduled time when the user vehicle 840 arrives at the merging point using the processing device 401 based on the current position of the user vehicle 840. Based on the current position of the rescue vehicle 830, the merge moving unit 443 calculates a scheduled time when the rescue vehicle 830 arrives at the merge point using the processing device 401. The merging / moving unit 443 uses the processing device 401 to compare the calculated two scheduled times. When the estimated arrival time of the user vehicle 840 is earlier than the estimated arrival time of the rescue vehicle 830, the merging / moving unit 443 uses the notification device 408 to prompt the driver of the user vehicle 840 to reduce the speed. . Alternatively, the merging / moving unit 443 directly controls the moving device 405 to reduce the speed of the user vehicle 840.

The authentication receiving unit 444 receives the authentication signal transmitted from the rescue vehicle 830 using the communication device 409. The rescue vehicle 830 transmits an authentication signal when the rescue vehicle 830 approaches the user vehicle 840 at or near a junction. The authentication signal includes information necessary for authentication of the rescue vehicle 830, such as an acceptance number and an ID of the rescue vehicle 830, for example.
Based on the request information data stored in the request information storage unit 442 and the authentication signal received by the authentication receiving unit 444, the authentication unit 445 uses the processing device 401 to transmit the rescue vehicle 830 that has transmitted the authentication signal to the user vehicle. It is determined whether or not the vehicle is a rescue vehicle 830 that has come to rescue 840.
The authentication transmission unit 446 transmits an authentication signal to the rescue vehicle 830 using the communication device 409 based on the determination result of the authentication unit 445. When the authentication unit 445 determines that the rescue vehicle 830 is a rescue vehicle 830 that has come to rescue the user vehicle 840, the authentication transmission unit 446 indicates that the authentication is successful, and is necessary for authentication of the user vehicle 840 such as a user ID. An authentication signal including correct information is transmitted. When the authentication unit 445 determines that the rescue vehicle 830 is not the rescue vehicle 830 that has come to rescue the user vehicle 840, the authentication transmission unit 446 transmits an authentication signal indicating that the authentication has failed.

When the authentication unit 445 determines that the rescue vehicle 830 is a rescue vehicle 830 that has come to rescue the user vehicle 840, the control reception unit 447 receives the control signal transmitted by the rescue vehicle 830 using the communication device 409. . The rescue vehicle 830 transmits a steering signal to the user vehicle 840 when the authentication is successful based on the authentication signal transmitted by the authentication transmission unit 446. The steering signal is a signal for controlling the moving device 405 of the user vehicle 840 to cause the rescue vehicle 830 and the user vehicle 840 to run in a row while maintaining a predetermined positional relationship necessary for providing the rescue service. It is.
The convoy moving unit 448 controls the moving device 405 based on the control signal received by the control receiving unit 447, moves the user vehicle 840 to a position that is in a predetermined positional relationship with the rescue vehicle 830, and determines the positional relationship. Keep it in a row while maintaining it.
Note that the convoy moving unit 448 uses the notification device 408 to notify the driver of the user vehicle 840 that automatic steering is to be started in order to receive relief before starting automatic piloting. Further, the convoy moving unit 448 may be configured to input the approval by the driver of the user vehicle 840 using the operation input device 407. In that case, the platoon moving unit 448 starts the autopilot after inputting the approval by the driver of the user vehicle 840.

  The control signal transmitted by the rescue vehicle 830 may directly indicate the acceleration / deceleration or steering of the user vehicle 840, or may notify the user vehicle 840 of the acceleration / deceleration or steering of the rescue vehicle 830. Good. When the control signal directly instructs acceleration / deceleration and steering of the user vehicle 840, the platoon moving unit 448 controls the moving device 405 according to the instruction of the control signal received by the control receiving unit 447. When the steering signal is configured to notify the user vehicle 840 of the acceleration / deceleration and steering of the rescue vehicle 830, the platoon moving unit 448 performs acceleration / deceleration and steering of the rescue vehicle 830 represented by the steering signal received by the steering receiver 447 Based on the above, an acceleration / deceleration amount and a steering amount for moving the user vehicle 840 to a position having a predetermined positional relationship with the rescue vehicle 830 are calculated, and the moving device 405 is controlled.

  The acquisition storage unit 449 receives the energy supplied from the rescue vehicle 830 using the power receiving device 403 when the rescue vehicle 830 and the user vehicle 840 are in a predetermined positional relationship by automatic steering by the platoon moving unit 448, The power storage device 404 is used to store the received energy.

When the request determination unit 437 determines that the request for the rescue is requested, the request determination unit 437 determines that the request for the rescue is requested, and the rescue request transmission unit 438 transmits the rescue request. Using the communication device 409, a completion request signal for requesting completion of the rescue work is transmitted to the rescue vehicle 830.
When energy is stored in the power storage device 404 by the energy supplied from the rescue vehicle 830, the request determination unit 437 determines that it is no longer necessary to make a rescue request. The request determination unit 437 is configured to determine that the request for rescue is no longer necessary when the remaining amount of energy acquired by the remaining amount acquisition unit 427 exceeds the required amount calculated by the required amount calculation unit 436. If there is a margin and the quotient obtained by dividing the remaining amount of energy by the required amount exceeds a predetermined threshold value (for example, 1.2) greater than 1, it is determined that there is no need for a rescue request. It may be a configuration.
Note that, for example, when energy is accumulated in the power storage device 404 by regenerative braking, the request determination unit 437 may determine that the need for a rescue request is no longer required before the rescue vehicle 830 arrives. In that case, for example, the completion request transmission unit 450 transmits a rescue request withdrawal signal for retracting the rescue request to the rescue center 820 instead of transmitting a completion request signal to the rescue vehicle 830.

The completion notification receiving unit 451 uses the communication device 409 to receive a completion notification signal transmitted from the rescue vehicle 830 as a response to the completion request signal transmitted from the completion request transmission unit 450 to the rescue vehicle 830.
When the completion notification reception unit 451 receives the completion notification signal, the acquisition storage unit 449 stops using the power receiving device 403 to receive energy supplied from the rescue vehicle 830.
When the completion notification signal is received by the completion notification receiving unit 451, the convoy moving unit 448 stops the automatic maneuvering based on the steering signal from the rescue vehicle 830. In addition, when switching to control by the driver of the user vehicle 840 after ending automatic control, the platoon moving unit 448 uses the notification device 408 to notify the driver of the user vehicle 840 before ending automatic control. , Notify that the autopilot will be terminated. The platoon moving unit 448 may be configured to input the approval by the driver of the user vehicle 840 using the operation input device 407. In that case, the platoon moving unit 448 ends the automatic piloting after inputting the approval by the driver of the user vehicle 840. In addition, the convoy moving unit 448 may be configured to transmit an operation end signal indicating that automatic operation has ended to the rescue vehicle 830 using the communication device 409. Further, the convoy moving unit 448 may be configured to terminate the automatic maneuver after sufficiently separating the inter-vehicle distance from the rescue vehicle 830 by the automatic maneuver.

FIG. 28 is a hardware configuration diagram showing an example of the configuration of the device group 300 mounted on the rescue vehicle 830 in this embodiment.
The device group 300 (rescue device) mounted on the rescue vehicle 830 includes, for example, a processing device 301, a storage device 302, a power receiving device 303, a power storage device 304, a moving device 305, a control device 306, and an operation. There are an input device 307, a notification device 308, a communication device 309, an identification device 310, a relative position measurement device 311, a current position measurement device 312, and a power feeding device 313.
The processing device 301 (rescue processing device) processes the data and controls the device group 300 by executing a computer program. The processing device 301 is a computer, for example.
The storage device 302 (relief storage device) stores a computer program executed by the processing device 301, data processed by the processing device 301, and the like. The storage device 302 is, for example, a semiconductor memory such as a volatile memory or a nonvolatile memory, or an external storage device such as a magnetic disk device or an optical disk device.
The power receiving device 303 (relief acquisition device) takes in energy supplied from the outside of the rescue vehicle 830. The power receiving device 303 may be a wired acquisition method, a wireless acquisition method, or a configuration that can handle both.
The power storage device 304 (rescue storage device) stores the energy taken in by the power receiving device 303. The power storage device 304 is a battery, for example. The power storage device 304 outputs a signal indicating the amount of stored energy. This signal is input by the processing device 301 and monitors the remaining amount of energy accumulated by the power storage device 304. Note that the power storage device 304 has a larger capacity than the power storage device 404 of the user vehicle 840, and can store at least several user vehicles 840 with energy that can fully charge the power storage device 404.
The power supply device 313 (supply device) supplies energy to the user vehicle 840. The power supply device 313 includes, for example, a coil (radiation coil) and the like, and is configured to supply energy to the user vehicle 840 by emitting electromagnetic waves without being physically connected to the user vehicle 840 (hereinafter referred to as “wireless supply method”). May be called.). The power feeding device 313 includes, for example, a connector, a cable connected to the connector, and a robot arm for connecting the cable to the connector of the user vehicle 840. May be configured (hereinafter referred to as “wired supply method”). In addition, the power supply apparatus 313 may be configured to support both the wireless supply method and the wired supply method.
The moving device 305 (rescue moving device) moves the rescue vehicle 830. Note that the mobile device 305 may be configured to use energy stored in the power storage device 304 or may be configured to use energy different from energy stored in the power storage device 304 such as gasoline or a fuel cell. The moving device 305 is, for example, a propulsive force generating device that generates a propulsive force such as an electric motor or an engine, a propulsive force transmitting device that transmits a propulsive force generated by a propulsive force generating device such as a gear or a shaft, or a propulsive force transmitting device such as a tire. The propulsion device that propels the rescue vehicle 830 with the propulsive force transmitted by the vehicle, the reduction device that decelerates the speed of the rescue vehicle 830 such as a regenerative brake, the steering device that controls the traveling direction of the rescue vehicle 830 such as power steering, and the rescue such as the winker and brake lamp This is a signal device that informs the outside of the movement of the vehicle 830. The moving device 305 operates in accordance with instructions from the processing device 301 and the control device 306.
The control device 306 is a device that inputs a driving operation by a driver of the rescue vehicle 830 such as a steering wheel, a brake pedal, an accelerator pedal, and the like. The driving operation input by the control device 306 is transmitted to the moving device 305 via the processing device 301 or directly.
The operation input device 307 is a device that inputs an operation other than the driving operation by the driver or the passenger of the rescue vehicle 830. The operation input device 307 is, for example, a car navigation touch panel, operation buttons, a voice recognition device, or the like.
The notification device 308 is a device that notifies the driver or passenger of the rescue vehicle 830 of information. The notification device 308 is, for example, a car navigation display screen, a warning lamp, a voice synthesizer, or the like.
The communication device 309 (relief transmission device / relief reception device) is a device that communicates with the rescue center 820, the user vehicle 840, and the like. The communication device 309 communicates with the user vehicle 840 that has joined to provide a rescue service, for example, by short-range wireless communication. Further, the communication device 309 communicates with the rescue center 820 by, for example, long-distance wireless communication. The communication with the rescue center 820 may be configured through a wireless public communication line such as a mobile phone, or by communicating with other vehicles near the rescue vehicle 830 by short-range wireless communication. The configuration may be performed by ad hoc communication via another vehicle. Moreover, the structure for which the communication apparatus for communicating with the user vehicle 840 and the communication apparatus for communicating with the relief center 820 may exist separately may be sufficient, and one communication apparatus is the user vehicle 840 and the relief. The structure which communicates with both of the center 820 may be sufficient.
The identification device 310 identifies the user vehicle 840 that exists in the vicinity of the rescue vehicle 830. Alternatively, the identification device 310 collects information necessary for identifying the user vehicle 840 that exists in the vicinity of the rescue vehicle 830, and the processing device 301 identifies the user vehicle 840 based on the information collected by the identification device 310. It may be configured to. The identification device 310 is, for example, a camera for photographing a license plate of the user vehicle 840.
The relative position measurement device 311 measures the relative positional relationship between the rescue vehicle 830 and the user vehicle 840. Alternatively, the relative position measurement device 311 collects information necessary for calculating the relative positional relationship between the rescue vehicle 830 and the user vehicle 840, and based on the information collected by the relative position measurement device 311, The processing device 301 may be configured to calculate the positional relationship. The relative position measuring device 311 is, for example, a laser type distance measuring device or a stereo camera. When the relative position measurement device 311 is a stereo camera, a configuration that also serves as the identification device 310 may be used.
The current position measuring device 312 measures the current position of the rescue vehicle 830. Alternatively, the current position measurement device 312 collects information necessary for calculating the current position of the rescue vehicle 830, and the processing device 301 uses the current position measurement device 312 to collect the current position of the rescue vehicle 830. May be configured to calculate. The current position measuring device 312 is, for example, a GPS (Global Positioning System) receiver, a vehicle speed sensor, a gyro sensor, or the like.

FIG. 29 is a block configuration diagram showing an example of a functional block configuration of the device group 300 mounted on the rescue vehicle 830 in this embodiment.
The functional blocks described below are realized, for example, when the processing device 301 executes a computer program stored in the storage device 302.
The device group 300 (rescue device) includes, for example, a map storage unit 321, a state storage unit 323, a current position acquisition unit 324, a power supply facility storage unit 325, a power supply facility search unit 326, and a remaining amount acquisition unit 327. A charging determination unit 328, a state transmission unit 329, a route calculation unit 330, a route storage unit 334, a route notification unit 335, a target search unit 336, an acceptance determination unit 337, a merge instruction reception unit 339, Instruction response transmission unit 340, merge movement unit 343, authentication reception unit 344, authentication unit 345, authentication transmission unit 346, relief movement unit 348, relief supply unit 349, completion request reception unit 350, and completion A notification transmission unit 351.

The state storage unit 323 stores state data representing the state of the rescue vehicle 830 using the storage device 302. The state of the rescue vehicle 830 includes, for example, a state where the user vehicle 840 is moving toward the junction to rescue the user vehicle 840. In this case, the state storage unit 323 includes, as the state data, information necessary for authentication of the user vehicle 840 such as being in a rescue movement, a reception number of a relief service to be provided, a vehicle number (number) of the user vehicle 840, a user ID, and the like. In addition, information necessary for providing a rescue service to the user vehicle 840, such as an energy acquisition method of the user vehicle 840, data indicating a junction point, a current position of the user vehicle 840, and the like are stored.
In addition, the state of the rescue vehicle 830 includes, for example, a state where a rescue service is provided by joining the user vehicle 840. In this case, the state storage unit 323 stores, as the state data, data indicating that the service is being provided, the reception number of the relief service being provided, and the like.
Also. The state of the rescue vehicle 830 includes, for example, a state where the rescue vehicle 830 is moving toward the power supply facility 850 because the remaining amount of energy accumulated in the power storage device 304 has decreased. In this case, the state storage unit 323 stores, as the state data, data representing that charging is being performed, the remaining amount of energy accumulated by the power storage device 304, the power supply facility 850 that is heading, and the like.
The rescue vehicle 830 is in a state where, for example, energy is supplied from the power supply facility 850 and energy is stored in the power storage device 304. In this case, state storage unit 323 stores, as state data, data indicating that charging is in progress and the remaining amount of energy accumulated in power storage device 304.
In addition, the state of the rescue vehicle 830 includes, for example, a state in which the rescue vehicle 830 can go to rescue at any time instead of any of the above states. In this case, the state storage unit 323 stores, as state data, data indicating that the apparatus is on standby, the remaining amount of energy accumulated in the power storage device 304, and the like.

The current position acquisition unit 324 acquires the current position of the rescue vehicle 830 using the current position measurement device 312.
The state transmission unit 329 periodically transmits a state signal representing the state of the rescue vehicle 830 to the rescue center 820 using the communication device 309. The state signal transmitted by the state transmission unit 329 includes information representing the state represented by the state data stored in the state storage unit 323 and the current position acquired by the current position acquisition unit 324.

The remaining amount acquisition unit 327 acquires the remaining amount of energy accumulated by the power storage device 304.
The charge determination unit 328 determines whether or not charging is necessary using the processing device 301 based on the remaining amount of energy acquired by the remaining amount acquisition unit 327. For example, the charge determination unit 328 uses the processing device 301 to compare the remaining amount of energy stored in the power storage device 304 with a predetermined threshold, and determines that charging is necessary when the remaining amount is less than the threshold. To do. The state storage unit 323 stores the determination result of the charge determination unit 328 and the remaining amount of energy accumulated in the power storage device 304.

The power supply facility storage unit 325 stores, in advance, power supply facility data representing the position of the power supply facility 850 in or near the service providing area 810 using the storage device 302. Note that the power supply facility data stored in the power supply facility storage unit 325 may represent only the power supply facility 850 with which the rescue system 801 is affiliated and the rescue vehicle 830 can charge.
The power supply facility search unit 326 uses the processing device 301 based on the power supply facility data stored in the power supply facility storage unit 325 and the current position of the rescue vehicle 830 acquired by the current position acquisition unit 324 to determine the rescue vehicle 830. A nearby power supply facility 850 is searched. Note that the power supply facility 850 searched by the power supply facility search unit 326 may be only the power supply facility 850 having the shortest distance or required time from the current position of the rescue vehicle 830.

The join instruction receiving unit 339 receives the join instruction signal transmitted by the rescue center 820 using the communication device 309. The rescue center 820 transmits a merge instruction signal to the rescue vehicle 830 that is directed to the rescue of the user vehicle 840. The merge instruction signal provides the rescue service to the user vehicle 840 such as the reception number of the rescue service, the vehicle number of the user vehicle 840, information necessary for authentication of the user vehicle 840 such as a user ID, and the energy acquisition method of the user vehicle 840. Information necessary for this purpose, a meeting point, and information indicating the current position of the user vehicle 840 are included.
When the join instruction receiving unit 339 receives the join instruction signal, the acceptance determination unit 337 uses the processing device 301 to accept the join instruction based on the state represented by the state data stored in the state storage unit 323. It is determined whether or not. For example, the acceptance determination unit 337 determines to accept the joining instruction when the rescue vehicle 830 is in a standby state. In addition, the acceptance determination unit 337 notifies the driver of the rescue vehicle 830 using the notification device 308 that the merge instruction has been received, and uses the operation input device 307 to operate the driver or the like. By inputting, the structure which inputs the driver | operator's judgment about whether a merge instruction | indication is accepted may be sufficient.
When it is determined that the join instruction is accepted, the acceptance determination unit 337 uses the processing device 301 to update the state data stored in the state storage unit 323 and store that the rescue movement is being performed.
The instruction response transmission unit 340 transmits an instruction response signal to the rescue center 820 using the communication device 309 based on the determination result of the acceptance determination unit 337. The instruction response signal transmitted by the instruction response transmitter 340 indicates whether or not to accept the merge instruction.

The route calculation unit 330 calculates a route to the destination based on the map data stored in the map storage unit 321 and the current position acquired by the current position acquisition unit 324. The destination of the rescue vehicle 830 includes a merge point when a merge instruction is received, a power supply facility 850 that charges the power storage device 304, and the like. For example, when the state represented by the state data stored in the state storage unit 323 is in a rescue movement, the route calculation unit 330 calculates a route to the joining point represented by the state data stored in the state storage unit 323. In addition, when the state represented by the state data stored in the state storage unit 323 is in charge transfer or standby, the route calculation unit 330 calculates a route to the power supply facility 850 searched by the power supply facility search unit 326.
The route storage unit 334 uses the storage device 302 to store route data representing the route calculated by the route calculation unit 330.
The route notification unit 335 uses the notification device 308 to notify the driver of the rescue vehicle 830 of the route represented by the route data stored in the route storage unit 334.
When the state represented by the state data stored in the state storage unit 323 is in the state of merging movement, the merging / moving unit 343 uses the notification device 408 to notify the driver of the rescue vehicle 830, etc. Based on the memorized state data, it is notified that a rescue move is in progress, a junction, the current position of the user vehicle 840, and the like. The driver of the rescue vehicle 830 operates the control device 306 based on the information notified by the route notification unit 335 and the merging / moving unit 343 and heads for the merging point. When the rescue vehicle 830 has an automatic driving function, the merging / moving unit 343 directly controls the moving device 305 on the basis of the route represented by the route data stored in the route storage unit 334 without the driver's operation. The structure which goes to a confluence | merging point may be sufficient.

When the state represented by the state data stored in the state storage unit 323 is in a rescue movement, the target search unit 336 uses the identification device 310 to help the user search unit 336 from among the user vehicles 840 that exist around the rescue vehicle 830. A search is made for a user vehicle 840 that is a partner to whom the service should be provided.
The authentication transmission unit 346 transmits an authentication signal using the communication device 309 when the target search unit 336 finds a user vehicle 840 that is a partner to whom the rescue service is to be provided. In addition, even if the target search unit 336 does not find the user vehicle 840 that is a partner to whom the rescue service is to be provided, the target search unit 336 sets the current position of the rescue vehicle 830 and the current position of the user vehicle 840. Based on this, it may be determined whether or not the user vehicle 840 that is a partner to which the rescue service is to be provided is close, and if it is determined that the user vehicle 840 is close, an authentication signal may be transmitted. In this case, the user vehicle 840 may be configured to transmit the current position to the rescue vehicle 830 so that the rescue vehicle 830 can find the user vehicle 840, or configured to signal the headlight blinking or the like. It may be. Alternatively, the user vehicle 840 may include an identification device such as a camera, and the user vehicle 840 may search for the rescue vehicle 830 on the contrary.

The authentication reception unit 344 receives the authentication signal transmitted from the user vehicle 840 as a response to the authentication signal transmitted from the authentication transmission unit 346 using the communication device 309.
Based on the authentication signal received by the authentication receiving unit 344, the authentication unit 345 uses the processing device 301 to determine whether the user vehicle 840 has succeeded or failed in the authentication of the rescue vehicle 830, and the user vehicle 840 is rescued. If it is determined that the vehicle 830 has been successfully authenticated, the user vehicle 840 is authenticated. When the authentication of the user vehicle 840 is successful, the authentication unit 345 uses the processing device 301 to update the state data stored in the state storage unit 323 and store that it is being rescued.

When the authentication unit 345 succeeds in authentication, the rescue moving unit 348 acquires the positional relationship with the user vehicle 840 using the relative position measurement device 311. The rescue moving unit 348 uses the processing device 301 to determine whether the rescue vehicle 830 and the user vehicle 840 have a predetermined positional relationship necessary for providing the rescue service based on the acquired positional relationship. judge. For example, in the case of the wired supply method / wired acquisition method, the rescue moving unit 348 provides the rescue service when the cable of the power feeding device 313 of the rescue vehicle 830 reaches the connector of the power receiving device 403 of the user vehicle 840. Is determined to be in a predetermined positional relationship necessary for providing Alternatively, in the case of the wireless supply method / wireless acquisition method, the rescue moving unit 348 is positioned such that the acquisition coil of the power receiving device 403 of the user vehicle 840 is radiated by the radiation coil of the power supply device 313 of the rescue vehicle 830. When the distance between the acquisition coil and the radiation coil is equal to or less than a predetermined threshold value, it is determined that the predetermined positional relationship is necessary for providing the rescue service.
When it is determined that the rescue vehicle 830 and the user vehicle 840 are in a predetermined positional relationship, the rescue moving unit 348 generates a control signal for maintaining the positional relationship. When it is determined that the rescue vehicle 830 and the user vehicle 840 are not in a predetermined positional relationship, the rescue moving unit 348 generates a steering signal that moves the user vehicle 840 to a predetermined position. The rescue moving unit 348 transmits the generated control signal to the user vehicle 840 using the communication device 309.

  The rescue supply unit 349 supplies energy to the user vehicle 840 using the power feeding device 313 when the rescue moving unit 348 determines that the rescue vehicle 830 and the user vehicle 840 are in a predetermined positional relationship. For example, when the energy acquisition method of the user vehicle 840 is a wireless acquisition method, the rescue supply unit 349 supplies energy by a wireless supply method. Further, when the energy acquisition method of the user vehicle 840 is a wired acquisition method, the rescue supply unit 349 physically connects the rescue vehicle 830 and the user vehicle 840 by connecting a cable or the like. Supply energy.

The completion request receiving unit 350 receives the completion request signal transmitted by the user vehicle 840 using the communication device 309.
The rescue supply unit 349 stops the supply of energy to the user vehicle 840 using the power supply device 313 when the completion request receiving unit 350 receives the completion request signal. For example, when the energy acquisition method of the user vehicle 840 is a wired acquisition method, the rescue supply unit 349 removes the cable that connects the rescue vehicle 830 and the user vehicle 840, and the like, and the rescue vehicle 830 and the user vehicle 840 Cut off the physical connection and stop the energy supply by the wired supply system.
When the completion request reception unit 350 receives the completion request signal, the completion notification transmission unit 351 transmits a completion notification signal to the user vehicle 840 using the communication device 309. The completion notification transmission unit 351 may be configured to transmit a completion notification signal as soon as the completion request reception unit 350 receives the completion request signal, or the completion notification after the removal of the cable by the rescue supply unit 349 is completed. The structure which transmits a signal may be sufficient.
When the completion request receiving unit 350 receives the completion request signal, the rescue moving unit 348 stops generating and transmitting the steering signal. The rescue moving unit 348 may be configured to stop the generation / transmission of the control signal after confirming that the user vehicle 840 has been switched to manual control. For example, the user vehicle 840 transmits a signal indicating that switching to manual control is performed, and the rescue moving unit 348 receives the signal transmitted by the user vehicle 840 using the communication device 309, whereby the user vehicle 840 is manually operated. The structure which determines with having switched to control may be sufficient. Alternatively, the rescue movement unit 348 uses the relative position measurement device 311 to acquire the positional relationship between the rescue vehicle 830 and the user vehicle 840, and when the movement of the user vehicle 840 is different from the movement instructed by the steering signal, the user The structure which determines with the vehicle 840 having switched to manual control may be sufficient.

FIG. 30 is a hardware configuration diagram illustrating an example of the configuration of the device group 200 included in the rescue center 820 in this embodiment.
The device group 200 (rescue instruction device) included in the rescue center 820 includes, for example, a processing device 201, a storage device 202, an operation input device 207, a notification device 208, and a communication device 209.
The processing device 301 (instruction processing device) processes the data and controls the device group 200 by executing a computer program. The processing device 201 is a computer, for example.
The storage device 202 (instruction storage device) stores a computer program executed by the processing device 201, data processed by the processing device 201, and the like. The storage device 202 is, for example, a semiconductor memory such as a volatile memory or a nonvolatile memory, or an external storage device such as a magnetic disk device or an optical disk device.
The operation input device 207 is a device for inputting an operation by an operator of the rescue center 820 or the like. The operation input device 207 is, for example, a keyboard, operation buttons, a mouse, a voice recognition device, or the like.
The notification device 208 is a device that notifies the operator of the rescue center 820 of information. The notification device 208 is, for example, an image display device such as a liquid crystal panel, a warning lamp, a voice synthesizer, or the like.
The communication device 209 (instruction transmission device / instruction reception device) is a device that communicates with the rescue vehicle 830, the user vehicle 840, and the like. The communication device 309 communicates with the rescue vehicle 830 and the user vehicle 840 by long-distance wireless communication, for example.

FIG. 31 is a block configuration diagram illustrating an example of a functional block configuration of the device group 200 included in the rescue center 820 in this embodiment.
The functional blocks described below are realized by the processing device 201 executing a computer program stored in the storage device 202, for example.
The device group 200 (rescue instruction device) includes, for example, a map storage unit 221, a state storage unit 223, a registration information acquisition unit 224, a state reception unit 229, a target route calculation unit 230, and a meeting point candidate selection unit 231. The rescue route calculation unit 232, the target arrival schedule calculation unit 233, the rescue arrival schedule calculation unit 234, the rescue device determination unit 235, the merge point determination unit 236, the rescue request reception unit 238, and the merge instruction transmission unit 239 And an instruction response receiving unit 240 and a request response transmitting unit 241.

The map storage unit 221 stores map data representing the service providing area 810 and its surrounding map in advance using the storage device 202.
The state receiving unit 229 receives a state signal transmitted from each rescue vehicle 830 using the communication device 209.
Using the storage device 202, the state storage unit 223 stores data representing the current state and current position of each rescue vehicle 830 represented by the state signal received by the state reception unit 229. Since the rescue vehicle 830 periodically transmits a status signal, the status storage unit 223 updates the stored data every time the status reception unit 229 receives the status signal, and always maintains the latest status.

The rescue request receiving unit 238 receives the rescue request signal transmitted by any of the user vehicles 840 using the communication device 209.
The registration information acquisition unit 224 stores registration information data representing information about the user vehicle 840 registered in the rescue service using the storage device 202 in advance. The registration information acquisition unit 224 stores, for example, data representing the user ID of the user vehicle 840, the vehicle number, the installed energy acquisition method, the debit account number for payment, the credit card number, and the like as the registration information data. ing. The registration information acquisition unit 224 acquires a user ID from the rescue request signal received by the rescue request reception unit 238, searches the stored registration information data, and acquires information about the user vehicle 840.
When the relief request receiving unit 238 receives the relief request signal, the target route calculating unit 230 calculates the route of the user vehicle 840 that has transmitted the relief request signal using the processing device 201. For example, the target route calculation unit 230 uses the processing device 201 based on the map data stored in the map storage unit 221 and information representing the current position and route of the user vehicle 840 included in the rescue request signal. The route of the vehicle 840 is calculated. The target route calculation unit 230 can use the processing device 201 to determine how far the user vehicle 840 can reach without being charged based on the information indicating the remaining amount of energy included in the rescue request signal. The route up to this point is the route of the user vehicle 840.
The merge point candidate selection unit 231 uses the processing device 201 to select a point that is a candidate for a merge point from the points on the route of the user vehicle 840 calculated by the target route calculation unit 230 (hereinafter, “merge point candidate”). Multiple times). For example, the merging point candidate selection unit 231 uses the processing device 201 to select one point as a merging point candidate every time a predetermined distance on the route of the user vehicle 840 travels. Alternatively, the merging point candidate selection unit 231 may be configured to use the processing device 201 to extract a merging point such as an intersection existing on the route of the user vehicle 840 to be a merging point candidate.
The target arrival schedule calculation unit 233 uses the processing device 201 for each of the plurality of merge point candidates selected by the merge point candidate selection unit 231, based on the route calculated by the target route calculation unit 230. Calculate the estimated time of arrival at the meeting point candidate. Note that the target arrival schedule calculation unit 233 does not calculate the estimated arrival time when the user vehicle 840 arrives at the junction point candidate, but instead calculates the estimated arrival time having a certain range in consideration of the prediction error factor. The structure to calculate may be sufficient. For example, the target arrival schedule calculation unit 233 calculates the earliest arrival schedule time and the latest arrival schedule time. In this case, the target arrival schedule calculation unit 233 determines that the probability that the arrival time of the user vehicle 840 falls between the earliest arrival schedule time and the latest arrival schedule time is equal to or higher than a predetermined probability (for example, 90%). The earliest scheduled arrival time and the latest scheduled arrival time are calculated.

The rescue route calculation unit 232 calculates, for each of a plurality of merge point candidates selected by the merge point candidate selection unit 231, a route for each rescue vehicle 830 toward the merge point candidate.
When the rescue vehicle 830 is on standby or charging, the rescue route calculation unit 232 calculates a route using the current position of the rescue vehicle 830 as a departure point.
When the rescue vehicle 830 is charging and moving, the rescue route calculation unit 232 calculates a route using the power supply facility 850 toward which the rescue vehicle 830 is heading as a departure point.
When the rescue vehicle 830 is being rescued or being rescued, the rescue route calculation unit 232 uses the processing device 201 to join the rescue service provided by the rescue vehicle 830, the destination of the user vehicle 840, and the user vehicle 840. On the basis of the requested amount of energy rescue, a point where the rescue service is predicted to be completed is calculated, and a route is calculated using the calculated point as a departure point.

The rescue arrival schedule calculation unit 234 uses the processing device 201 for each of the plurality of merge point candidates selected by the merge point candidate selection unit 231, and based on the route calculated by the rescue route calculation unit 232, each rescue vehicle 830. Calculates the estimated time of arrival at the junction point candidate.
When the rescue vehicle 830 is on standby, the rescue arrival schedule calculation unit 234 calculates the estimated arrival time using the current time as the departure time. Alternatively, in consideration of the time taken to transmit the merge instruction to the rescue vehicle 830, the rescue arrival schedule calculation unit 234 calculates the estimated arrival time using the time when a predetermined time has elapsed from the current time as the departure time. There may be.
When the rescue vehicle 830 is charging or moving, the rescue arrival schedule calculation unit 234 uses the processing device 201 to store the energy stored in the power storage device 304 of the rescue vehicle 830 from the data stored in the state storage unit 223. Is obtained, the time when charging is predicted to end is calculated, and the estimated arrival time is calculated using the calculated time as the departure time. In addition, the relief arrival schedule calculation unit 234 calculates the charging end time by setting the state where the power storage device 304 of the relief vehicle 830 is charged until the energy required by the user vehicle 840 can be supplied to the user vehicle 840 as the end of charging. Alternatively, the charging end time may be calculated with the state where the power storage device 304 is fully charged as the end of charging.
When the rescue vehicle 830 is being rescued or being rescued, the rescue arrival schedule calculation unit 234 uses the processing device 201 to arrive at the confluence point / rescue vehicle 830 and the user vehicle 840 of the rescue service provided by the rescue vehicle 830. Based on the scheduled time and the amount of requested energy rescue of the user vehicle 840, a time predicted to complete the rescue service is calculated, and the estimated arrival time is calculated using the calculated time as the departure time.
In addition, the rescue arrival schedule calculation unit 234 does not calculate the estimated arrival time when the rescue vehicle 830 arrives at the junction point candidate, but instead calculates the estimated arrival time having a certain range in consideration of the prediction error factor. The structure to calculate may be sufficient.

The rescue device determination unit 235 determines the processing device 201 based on the estimated arrival time of the user vehicle 840 calculated by the target arrival schedule calculation unit 233 and the estimated arrival time of the rescue vehicle 830 calculated by the rescue arrival schedule calculation unit 234. It uses and determines the rescue vehicle 830 which goes to the rescue of the user vehicle 840.
The rescue device determination unit 235 uses the processing device 201 based on the information acquired by the registration information acquisition unit 224 to use the power supply device 313 of an energy supply method corresponding to the energy acquisition method of the power receiving device 403 of the user vehicle 840. The rescue vehicle 830 is determined from among the rescue vehicles 830 heading for the rescue of the user vehicle 840. For example, when the power receiving device 403 of the user vehicle 840 is a wired acquisition method, the rescue device determination unit 235 determines the rescue vehicle 830 from among the rescue vehicles 830 including the wired power supply device 313.
When the power receiving device 403 of the user vehicle 840 is a wireless acquisition method, the rescue device determination unit 235 determines the rescue vehicle 830 from among the rescue vehicles 830 including the wireless power supply device 313. When the power receiving device 403 of the user vehicle 840 can support both the wired acquisition method and the wireless acquisition method, the rescue device determination unit 235 includes the power supply device 313 of either the wired supply method or the wireless supply method. To determine the rescue vehicle 830.

  The junction point determination unit 236 determines the processing device 201 based on the estimated arrival time of the user vehicle 840 calculated by the target arrival schedule calculation unit 233 and the estimated arrival time of the rescue vehicle 830 calculated by the relief arrival schedule calculation unit 234. It uses and determines the confluence | merging point where the rescue vehicle 830 merges with the user vehicle 840. FIG.

  For example, the rescue device determination unit 235 and the merge point determination unit 236 determine the rescue vehicle 830 and the merge point as follows.

The rescue device determination unit 235 uses the processing device 201 for each of the multiple merge point candidates selected by the merge point candidate selection unit 231. When the rescue vehicle 830 merges with the user vehicle 840 at the merge point candidate, A rescue vehicle 830 that can efficiently provide a rescue service is selected.
The rescue service can be provided most efficiently when the rescue vehicle 830 and the user vehicle 840 arrive at the junction at almost the same time. From the user vehicle 840 side, it is not necessary to wait for the rescue vehicle 830 to arrive, so that the user can arrive at the final destination early. Further, when viewed from the rescue vehicle 830 side, it is not necessary to wait for the arrival of the user vehicle 840, so that the operation efficiency can be increased.
When the operation rate of the rescue vehicle 830 is low, the operation efficiency of the rescue vehicle 830 is not so important. The rescue device determination unit 235 gives priority to not waiting the user vehicle 840, and uses the processing device 201 to select the rescue vehicle 830 from among the rescue vehicles 830 whose estimated arrival time is earlier than the estimated arrival time of the user vehicle 840. Select. For example, the rescue device determination unit 235 uses the processing device 201 to select the rescue vehicle 830 having the earliest scheduled arrival time. However, if the rescue vehicle 830 with the earliest scheduled arrival time is selected, the waiting time until the user vehicle 840 arrives increases, so the operating efficiency of the rescue vehicle 830 decreases. When it is necessary to consider the operational efficiency of the rescue vehicle 830 to some extent, the rescue device determination unit 235 determines the estimated arrival time from among the rescue vehicles 830 whose estimated arrival time is earlier than the estimated arrival time of the user vehicle 840, for example. The slowest rescue vehicle 830 is selected. Alternatively, in consideration of the prediction error of the estimated arrival time, the rescue device determination unit 235 may, for example, set the arrival time of the user vehicle 840 so that the arrival of the rescue vehicle 830 is surely earlier than the arrival of the user vehicle 840. The configuration may be such that the rescue vehicle 830 with the latest estimated arrival time is selected from the rescue vehicles 830 that are earlier than the scheduled time and that have a difference from the estimated arrival time of the user vehicle 840 that is greater than a predetermined value.
Conversely, when the operation rate of the rescue vehicle 830 is high, when the rescue vehicle 830 is determined so that the rescue vehicle 830 arrives first with priority given to not allowing the user vehicle 840 to wait, the time to wait for the arrival of the user vehicle 840 Is wasted. As a result, if there is no rescue vehicle 830 on standby, there is a possibility that the user vehicle 840 that has made the next rescue request will have to wait. For this reason, it is preferable that the time for which the rescue vehicle 830 waits for the user vehicle 840 is as short as possible. For this reason, the rescue device determination unit 235 uses the processing device 201 as a reference, for example, a rescue vehicle whose estimated arrival time is later than the reference time based on a time that is a predetermined time later than the estimated arrival time of the user vehicle 840. The rescue vehicle 830 having the earliest scheduled arrival time is selected from among 830.
In addition, in order to calculate the operation rate of the rescue vehicle 830, for example, the rescue device determination unit 235 uses the processing device 201 based on the data stored in the state storage unit 223, and the number of all rescue vehicles 830, Count the number of rescue vehicles 830 on standby. The rescue device determination unit 235 uses the processing device 201 to calculate a quotient obtained by dividing the number of standby rescue vehicles 830 by the number of all rescue vehicles 830. The rescue device determining unit 235 uses the processing device 201 to compare the calculated quotient with a predetermined threshold, and determines that the operation rate is high when the quotient is greater than the threshold, and the operation rate when the quotient is less than the threshold. Is determined to be low.

The merge point determination unit 236 uses the processing device 201 to select the rescue vehicle 830 selected by the rescue device determination unit 235 for each of the multiple merge point candidates selected by the merge point candidate selection unit 231 as the merge point candidate and the user vehicle 840. When a merger candidate is selected and the merger point candidate that can provide the rescue service most efficiently is selected from the merger point candidates selected by the merge point candidate selection unit 231, the selected merged point is selected. The candidate is determined as a meeting point.
For example, the joining point determination unit 236 uses the processing device 201 for each of the plurality of joining point candidates selected by the joining point candidate selection unit 231, and the rescue vehicle 830 selected by the rescue device determination unit 235 in the joining point candidate. Calculates the waiting time for waiting for the arrival of the user vehicle 840. For example, the joining point determination unit 236 uses the processing device 201 to calculate the estimated arrival time of the rescue vehicle 830 calculated by the rescue arrival schedule calculation unit 234 from the estimated arrival time of the user vehicle 840 calculated by the target arrival schedule calculation unit 233. The difference obtained by subtracting is calculated as the waiting time. The waiting time is positive if the rescue vehicle 830 is scheduled to arrive first, and negative if the user vehicle 840 is scheduled to arrive earlier. As described above, the operation efficiency of the rescue vehicle 830 is higher when the waiting time is smaller, but when the waiting time is negative, the user vehicle 840 is caused to wait. For this reason, the merging point determination unit 236 uses the processing device 201 to extract a merging point candidate whose calculated waiting time is greater than a predetermined threshold from among a plurality of merging point candidates selected by the merging point candidate selection unit 231. To do. The joining point determination unit 236 uses the processing device 201 to select a joining point candidate with the smallest calculated waiting time from the extracted joining point candidates and set it as a joining point. In addition, when there is no junction point candidate whose calculated waiting time is greater than a predetermined threshold among the plurality of junction point candidates selected by the junction point candidate selection unit 231, the junction point determination unit 236 uses the processing device 201. Thus, a merge point candidate with the longest calculated waiting time is selected from among a plurality of merge point candidates selected by the merge point candidate selection unit 231 and set as a merge point.

  The rescue device determination unit 235 uses the processing device 201 to determine the rescue vehicle 830 selected for the merge point determined by the merge point determination unit 236 as the rescue vehicle 830.

The joining instruction transmitting unit 239 uses the communication device 409 to join the user vehicle 840 at the joining point determined by the joining point determining unit 236 with respect to the rescue vehicle 830 determined by the rescue device determining unit 235 and provide the rescue service. A merging instruction signal instructing provision is transmitted.
The instruction response receiver 240 receives the instruction response signal transmitted from the rescue vehicle 830 as a response to the merge instruction signal transmitted from the merge instruction transmitter 239 using the communication device 409.
If the rescue vehicle 830 does not accept the merge instruction based on the instruction response signal received by the instruction response receiver 240, the rescue device determination unit 235 determines the rescue vehicle 830 by excluding the rescue vehicle 830. cure. Similarly, the junction point determination unit 236 determines the junction point again.

  If the rescue vehicle 830 accepts the join instruction based on the instruction response signal received by the instruction response receiver 240, the request response transmitter 241 determines the rescue device for the user vehicle 840 using the communication device 209. The request response signal informing the rescue vehicle 830 determined by the unit 235 and the junction determined by the junction determination unit 236 is transmitted.

FIG. 32 is a flowchart showing an example of the flow of the rescue instruction process S600 in this embodiment.
In the rescue instruction process S600, the device group 200 of the rescue center 820 receives a rescue request from the user vehicle 840, and determines a rescue vehicle 830 heading for rescue and a junction where the rescue vehicle 830 joins the user vehicle 840.
The rescue instruction process S600 includes, for example, a rescue request reception process S610, a status reception process S611, a registration information acquisition process S612, a target route calculation process S613, a merge point candidate selection process S614, and a target arrival schedule calculation process S615. , Rescue device candidate selection step S616, rescue route calculation step S617, rescue arrival schedule calculation step S618, wait time calculation step S619, rescue device selection step S620, junction point determination step S621, and rescue device determination step S622 And a join instruction transmission step S623, an instruction response reception step S624, and a request response transmission step S625.

  In the relief request receiving step S610, the relief request receiving unit 238 waits to receive the relief request signal transmitted by the user vehicle 840 using the communication device 209. When the rescue request signal is received, the rescue request receiver 238 advances the process to the registration information acquisition step S612. If the rescue request signal has not been received, the process proceeds to state reception step S611.

  In the state receiving step S611, the state receiving unit 229 receives the state signal transmitted by the rescue vehicle 830 using the communication device 209. The state storage unit 223 updates the stored data using the processing device 201 based on the state signal received by the state reception unit 229, and stores the updated data using the storage device 202. The state storage unit 223 returns the process to the rescue request receiving step S610 and waits for the rescue request receiving unit 238 to receive a rescue request signal.

  In the registration information acquisition step S612, the registration information acquisition unit 224 acquires information registered for the user ID included in the rescue request signal received by the rescue request reception unit 238 in the rescue request reception step S610.

  In the target route calculation step S613, the target route calculation unit 230 uses the processing device 201 to calculate the route of the user vehicle 840 based on the relief request signal received by the relief request reception unit 238 in the relief request reception step S611. .

  In the merge point candidate selection step S614, the merge point candidate selection unit 231 uses the processing device 201 to select one merge point candidate from the points on the route calculated by the target route calculation unit 230 in the target route calculation step S613. To do. When all the merge point candidates have been selected and there is no merge point candidate to be selected, the merge point candidate selecting unit 231 advances the process to the merge point determining step S621. When the merge point candidate is selected, the merge point candidate selection unit 231 advances the process to the target arrival schedule calculation step S615.

  In the target arrival schedule calculation step S615, the target arrival schedule calculation unit 233 uses the processing device 201, and based on the route calculated by the target route calculation unit 230 in the target route calculation step S613, the user vehicle 840 The scheduled time to arrive at the junction candidate selected by the junction point candidate selection unit 231 in the selection step S614 is calculated.

  In the rescue device candidate selection step S616, the rescue route calculation unit 232 uses the processing device 201 based on the information acquired by the registration information acquisition unit 224 in the registration information acquisition step S612, and the energy of the power receiving device 403 of the user vehicle 840. One rescue vehicle 830 is selected from among all the rescue vehicles 830 including the power supply device 313 of the energy supply method corresponding to the acquisition method. When all the rescue vehicles 830 that can support the energy acquisition method of the user vehicle 840 are selected and there is no rescue vehicle 830 to be selected, the rescue route calculation unit 232 advances the process to the rescue device selection step S620. When the rescue vehicle 830 is selected, the rescue route calculation unit 232 advances the process to the rescue route calculation step S617.

In the rescue route calculation step S617, the rescue route calculation unit 232 uses the processing device 201, and the rescue vehicle 830 selected in the rescue device candidate selection step S616 is based on the data stored in the state storage unit 223. A route toward the junction point candidate selected by the junction point candidate selection unit 231 in the selection step S614 is calculated.
In the rescue arrival schedule calculation step S618, the rescue arrival schedule calculation unit 234 uses the processing device 201 to rescue in the rescue device candidate selection step S616 based on the route calculated by the rescue route calculation unit 232 in the relief route calculation step S617. The rescue vehicle 830 selected by the route calculation unit 232 calculates the scheduled time of arrival at the junction point candidate selected by the junction point candidate selection unit 231 in the junction point candidate selection step S614.

  In the waiting time calculation step S619, the rescue device determination unit 235 uses the processing device 201 to calculate the estimated arrival time of the user vehicle 840 calculated by the target arrival schedule calculation unit 233 in the target arrival schedule calculation step S615, and the rescue arrival schedule calculation. Based on the estimated arrival time of the rescue vehicle 830 calculated by the rescue route calculation unit 232 in step S618, a waiting time for the rescue vehicle 830 to wait for the user vehicle 840 is calculated. The rescue device determination unit 235 uses the storage device 202 to store the calculated waiting time in association with the rescue vehicle 830 selected by the rescue route calculation unit 232 in the rescue device candidate selection step S616. The rescue device determination unit 235 returns the process to the rescue device candidate selection step S616, and the rescue route calculation unit 232 selects the next rescue vehicle 830.

  In the rescue device selection step S620, the rescue device determination unit 235 uses the processing device 201 to select a junction point candidate selection step S614 from among all the rescue vehicles 830 based on the wait time calculated in the wait time calculation step S619. Then, the rescue vehicle 830 is selected when the merge point candidate selected by the merge point candidate selection unit 231 is the merge point. The rescue device determination unit 235 uses the storage device 202 to select the selected rescue vehicle 830 and the wait time calculated in the wait time calculation step S619 for the selected rescue vehicle 830 in the merge point candidate selection step S614. The merging point candidates selected by the selection unit 231 are stored in association with each other. The rescue device determination unit 235 returns the process to the merge point candidate selection step S614, and the merge point candidate selection unit 231 selects the next merge point candidate.

In the merging point determination step S621, the merging point determination unit 236 uses the processing device 201, based on the waiting time stored by the rescue device determination unit 235 in the rescue device selection step S620, from all the merge point candidates. The merge point where the rescue vehicle 830 merges with the user vehicle 840 is determined.
In the rescue device determination step S622, the rescue device determination unit 235 uses the processing device 201, based on the merge point determined by the merge point determination unit 236 in the merge point determination step S621, the rescue device selection step S620 for the merge point. The rescue vehicle 830 stored in the above is determined to be the rescue vehicle 830 heading for the rescue of the user vehicle 840.

  In the merge instruction transmission step S623, the merge instruction transmission unit 239 transmits a merge instruction signal to the rescue vehicle 830 determined by the rescue device determination unit 235 in the rescue device determination step S622 using the communication device 209.

  In the instruction response reception step S624, the instruction response reception unit 240 uses the communication device 209 to determine the rescue device in the rescue device determination step S622 as a response to the merge instruction signal transmitted by the merge instruction transmission unit 239 in the merge instruction transmission step S623. The instruction response signal transmitted by the rescue vehicle 830 determined by the unit 235 is received. When the received instruction response signal indicates instruction acceptance, the instruction response receiver 240 proceeds to the request response transmission step S625. When the received instruction response signal indicates instruction rejection, the instruction response receiving unit 240 returns the process to the junction point candidate selection step S614 and redoes the processing from the junction point candidate selection step S614 to the rescue device selection step S620. In this case, in the rescue device candidate selection step S616, the rescue route calculation unit 232 selects the rescue vehicle 830 from among the rescue vehicles 830 other than the rescue vehicle 830 that has rejected the instruction.

  In the request response transmission step S625, the request response transmission unit 241 transmits a request response signal to the user vehicle 840 that has transmitted the relief request signal received in the relief request reception step S611 using the communication device 209. The request response transmission unit 241 returns the process to the rescue request reception step S610 and waits for the rescue request reception unit 238 to receive a rescue request signal from another user vehicle 840.

  The configuration described above is an example, and the present invention is not limited to this. For example, the configuration described in different embodiments may be combined, or the configuration of an unimportant portion may be replaced with another configuration.

The relief system (801; inter-vehicle power supply / traction system 800) described above includes a plurality of target devices (device group 400; rescue vehicle 14), a rescue instruction device (device group 200; relief service center 1), and a plurality of devices. A rescue device (device group 300; rescue vehicle 2).
Each of the plurality of target devices includes a storage device that stores energy (power storage device 404; battery 21) and a target moving device that moves the target moving body using the energy stored in the storage device (moving device 405; Motor 23), target processing device for processing data (processing device 401; ECU 18), target transmission device for transmitting signals (communication device 409; inter-vehicle wireless device 15, wide-area wireless device 16), and externally An acquisition device (power receiving device 403; rectifier 24, coil unit 25, connector 27), a required amount calculation unit (436), a rescue request transmission unit (438), a convoy movement unit (448) that captures the supplied energy And an accumulating storage unit (449; power management unit 26), and mounted on the target moving body (user vehicle 840; rescue vehicle 14).
The rescue instruction device includes an instruction reception device (communication device 209) that receives a signal, an instruction processing device (processing device 201) that processes data, an instruction transmission device (communication device 209) that receives a signal, and a relief request. A receiving unit (238), a meeting point candidate selecting unit (231), a target arrival schedule calculating unit (233), a rescue arrival schedule calculating unit (234), a rescue device determining unit (235), and a meeting point determining unit (236) and a merging instruction transmission unit (239).
Each of the plurality of rescue devices includes a rescue receiving device (communication device 309; wide area wireless device 3, inter-vehicle wireless device 4) that receives a signal, and a rescue moving device (moving device 305) that moves the rescue moving body. And a supply device (power supply device 313; connector 11, cable 28, high-frequency power output device 12, coil unit 13) that supplies energy to the target device and a target device that exists around the rescue mobile body Identification device (310; camera 8), merging instruction receiving unit (339), merging / moving unit (343), object searching unit (336), relief moving unit (348), and relief supply unit (349) And mounted on a rescue vehicle (rescue vehicle 830; rescue vehicle 2).
The required amount calculation unit calculates the energy required for movement to the destination using the target processing device.
The rescue request transmission unit requests a replenishment of energy using the target transmission device when the energy stored in the storage device is insufficient for the energy calculated by the necessary amount calculation unit. A signal is transmitted to the rescue instruction device.
The rescue request receiving unit receives the rescue request signal transmitted by the target device using the instruction receiving device.
The junction point candidate selection unit is configured to use a plurality of the target devices that have transmitted the rescue request signal received by the rescue request reception unit, from among points located on the movement path of the target device, using the instruction processing device. Are selected as junction point candidates.
The target arrival schedule calculation unit calculates, for each of the junction point candidates selected by the junction point candidate selection unit, the scheduled time when the target device arrives at the junction point candidate using the instruction processing device.
The rescue arrival schedule calculation unit calculates, for each of the junction point candidates selected by the junction point candidate selection unit, the scheduled time at which each of the plurality of relief devices arrives at the junction point candidate using the instruction processing device. .
The rescue device determining unit replenishes energy to the target device based on the scheduled time calculated by the target arrival schedule calculation unit and the rescue arrival schedule calculation unit using the instruction processing device. Is determined from among the plurality of relief devices.
The said junction point determination part is a relief apparatus which replenishes energy with respect to the said target apparatus based on the schedule time which the said target arrival schedule calculation part and the said relief arrival schedule calculation part calculated using the said instruction | indication processing apparatus Is determined from among a plurality of merge point candidates selected by the merge point candidate selection unit.
The said merging instruction | indication transmission part instruct | indicates using the said instruction | indication transmission apparatus to join the said target apparatus with the merging point which the said merging point determination part determined with respect to the rescue apparatus which the said rescue apparatus deciding part determined. A join instruction signal is transmitted.
The said joining instruction | indication receiving part receives the joining instruction | indication signal which the said rescue instruction | indication apparatus transmitted using the said relief receiving apparatus.
The merging / moving unit moves the rescue moving body toward the merging point indicated by the merging instruction signal received by the merging instruction receiving unit using the rescue moving device.
The target search unit uses the identification device to search for a target device that has transmitted the rescue request signal from among target devices existing around the rescue mobile body.
When the target search unit discovers the target device that has transmitted the rescue request signal, the rescue movement unit combines the target device that has transmitted the rescue request signal with the convoy using the rescue mobile device, and the rescue The said rescue moving body is moved toward the destination of the target apparatus which transmitted the request signal.
The said relief supply part supplies energy with respect to the object apparatus which assembled the said relief moving body and the formation using the said supply apparatus.
The platoon moving unit uses the target moving device to assemble the rescue device and the platoon and move the target moving body toward the destination.
The acquisition storage unit uses the acquisition device to take in energy from a rescue device that forms a formation with the target moving body, and stores the acquired energy in the storage device.

  As a result, the efficiency of the rescue service can be improved, so that the cost of providing the service can be suppressed for the side providing the rescue service, and the time loss associated with the use of the service can be reduced for the side receiving the rescue service. Spending can be reduced.

The rescue device determination unit uses the instruction processing device for each of the merge point candidates selected by the merge point candidate selection unit, and selects the rescue device with the earliest scheduled time to arrive at the merge point candidate. The rescue device selected from among the devices and selected for the merge point determined by the merge point determination unit is a rescue device that supplies energy to the target device.
The said junction point determination part uses the said instruction | indication processing apparatus, and the rescue apparatus which the said rescue apparatus determination part selected among the several junction point candidates which the said junction point candidate selection part selected arrives at the said junction point candidate. A junction point candidate having a waiting time from the scheduled time to the scheduled time at which the target device arrives at the junction point candidate is larger than a predetermined threshold and has the smallest waiting time is defined as the junction point.

  Thereby, the time which a relief apparatus waits for an object apparatus can be suppressed to the minimum, and the operating efficiency of a relief apparatus can be improved.

  The said junction point determination part uses the said instruction | indication processing apparatus as a said junction point with the said longest waiting time using the said instruction | indication processing apparatus, when the said waiting time has a larger than said threshold value.

  Thereby, the time for which the target device waits for the rescue device can be minimized.

Each of the plurality of target devices further includes a completion request transmission unit (450).
Each of the plurality of relief devices further includes a completion request receiving unit (350).
The completion request transmission unit is configured such that when the acquisition storage unit stores energy in the storage device and the energy stored in the storage device exceeds the energy calculated by the necessary amount calculation unit, the target request transmission unit Using the transmitting device, a completion request signal for requesting completion of energy supply is transmitted to the relief device that forms a formation with the target moving body.
The completion request receiving unit receives a completion request signal transmitted from a target device that forms a formation with the rescue moving body using the rescue receiving device.
The rescue supply unit completes the supply of energy to the target device when the completion request reception unit receives the completion request signal.

  As a result, the target device can replenish as much energy as necessary.

Each of the plurality of target devices further includes a target receiving device (communication device 409; vehicle-to-vehicle wireless device 15, wide-area wireless device 16) that receives signals, and a steering receiving unit (447).
Each of the plurality of rescue devices further includes a rescue transmission device (communication device 309; wide area wireless device 3, inter-vehicle wireless device 4) that transmits a signal.
The rescue moving unit moves to the position where the rescue mobile body and the convoy are formed with respect to the target device that has transmitted the rescue request signal using the rescue transmission device, and maintains the convoy with the rescue mobile body The control signal for controlling the movement of the target device is transmitted.
The said steering receiving part receives the steering signal which the said rescue apparatus transmitted using the said target receiver.
The platoon moving unit moves the target moving body using the target moving device based on the control signal received by the control receiving unit.

  As a result, in the case of the wireless supply method / wireless acquisition method, the energy supply efficiency can be increased. It is possible to prevent excessive force from being applied.

The supply device includes a radiation coil (coil portion 13) that radiates electromagnetic energy as energy supplied to the target device.
The storage device stores electrical energy.
The acquisition device has an acquisition coil (coil portion 25) that takes in electromagnetic energy radiated by the rescue device.
The rescue moving unit controls the positional relationship between the rescue moving body and the target device so that the radiation coil radiates electromagnetic energy toward the position where the acquisition coil exists in the target device.
The platoon moving unit controls the positional relationship between the target moving body and the rescue device so that the acquisition coil acquires electromagnetic energy radiated from the position where the radiation coil exists in the rescue device.

  Thereby, energy can be supplied efficiently, without connecting a relief apparatus and an object apparatus physically.

The supply device includes a radiation direction variable device (coil unit 13) that changes a direction in which the radiation coil radiates electromagnetic energy, and a radiation direction control unit (ECU 6).
The radiation coil radiates electromagnetic energy toward the rear of the rescue moving body.
The acquisition coil takes in electromagnetic energy radiated from the front of the target moving body.
The rescue moving unit moves the rescue moving body so that the rescue moving body is positioned in front of the target device.
The row moving unit moves the target moving body so that the target moving body is located behind the relief device.
When the rescue moving body turns leftward, the radiation direction control unit changes the direction in which the radiation coil emits electromagnetic energy to the left rear using the radiation direction variable device, and the rescue mobile body Is turned rightward, the direction in which the radiation coil radiates electromagnetic energy is changed to the right rear using the radiation direction changing device.

  Accordingly, it is possible to prevent the energy supply efficiency from being lowered when a row of the rescue mobile body on which the rescue device is mounted and the target mobile body on which the target device is mounted approaches a curve or a corner.

  The rescue instruction device, the rescue device, and the target device can be realized by a computer executing a computer program that causes the computer to function as the rescue instruction device, the rescue device, or the target device.

1 relief service center,
2 rescue car,
3,16 Wide area wireless device,
4,15 Inter-vehicle wireless device,
5,17 Car navigation system,
6,18 ECU,
7 Inter-vehicle distance sensor,
8 Camera,
9,21 battery,
10, 26 Power management unit,
11, 27 connectors,
12 high frequency power output device,
13, 25 coil part,
14 Relief vehicle,
19, 60 Power steering,
20 brakes,
22 inverter,
23 motor,
24 rectifier,
28 cables,
40 Navigation application 41 Smartphone 42 Relief service application 43 Connection management function 44 Vehicle information holding means 45 Wireless communication function 46 Wide area communication function 47 Monitor 48 Speaker 49 GPS
61 connection management function 62 start request means 63 wireless communication function 64 vehicle information calculation function 50, 51, 850
200, 300, 400 device group,
201, 301, 401 processing device,
202, 302, 402 storage device,
207, 307, 407 operation input device,
208, 308, 408 notification device,
209, 309, 409 communication device,
221, 321, 421 Map storage unit,
223, 323 state storage unit,
224 registration information acquisition unit,
229 status receiving unit,
230 Target route calculation unit,
231 Junction point candidate selection unit,
232 relief route calculation unit,
233 Target arrival schedule calculation unit,
234 relief arrival schedule calculation part,
235 relief device determination unit,
236 Junction point determination unit,
238 Relief request receiver,
239 merge instruction transmission unit,
240 an instruction response receiver,
241 request response transmission unit,
303, 403 power receiving device,
304, 404 power storage device,
305, 405 mobile device,
306,406 flight control device,
310 identification device,
311 relative position measuring device,
312,412 Current position measuring device,
313 power supply device,
324, 424 Current position acquisition unit,
325, 425 power supply facility storage unit,
326,426 Power Supply Facility Search Department,
327, 427 remaining amount acquisition unit,
328 charge determination unit,
329 status transmission unit,
334, 434 route storage unit,
335, 435 route notification unit,
336 target search unit,
337 acceptance determination unit,
339 Join instruction receiving unit,
340 instruction response transmission unit,
343, 443 confluence moving part,
344,444 authentication receiver,
345, 445 authentication unit,
346, 446 authentication transmission unit,
348 relief movement,
349 relief supply department,
350 completion request receiver,
351 Completion notification transmitter,
422 Final destination input part,
423 Final destination storage unit,
428 Traffic jam information acquisition unit,
429 relief information acquisition unit,
330, 430 route calculation unit,
431 Policy input part,
432 Policy storage unit,
433 route selection unit,
436 required amount calculation unit,
437 request determination unit,
438 Relief Request Transmitter,
441 request response receiver,
442 request information storage unit,
447 Control receiver,
448 Convoy Movement Department,
449 acquisition storage unit,
450 completion request transmitter,
451 completion notification receiver,
800 Inter-vehicle power supply and traction system,
801 relief system,
810 service provision area,
820 relief center,
830 rescue vehicle,
840 User vehicle.

Claims (24)

A storage device for storing energy; a target mobile device for moving a target mobile body using the energy stored in the storage device; a target processing device for processing data; a target transmission device for transmitting signals; A plurality of target devices each including an acquisition device that captures supplied energy, a required amount calculation unit, a rescue request transmission unit, a platoon movement unit, and an acquisition storage unit;
An instruction receiving device that receives a signal, an instruction processing device that processes data, an instruction transmitting device that transmits a signal, a rescue request receiving unit, a junction point candidate selecting unit, a target arrival schedule calculating unit, and a rescue arrival schedule A rescue instruction device having a calculation unit, a rescue device determination unit, a merge point determination unit, and a merge command transmission unit;
A rescue receiving device that receives a signal, a rescue mobile device that moves a rescue mobile body, a supply device that supplies energy to the target device, and an identification device that identifies a target device that exists around the rescue mobile body A merging instruction receiving unit, a merging moving unit, a target searching unit, a rescue moving unit, and a rescue supplying unit, and a plurality of rescue devices respectively mounted on a plurality of rescue moving bodies,
The required amount calculation unit calculates the energy required to move to the destination using the target processing device,
The rescue request transmission unit requests a replenishment of energy using the target transmission device when the energy stored in the storage device is insufficient for the energy calculated by the necessary amount calculation unit. A signal is sent to the rescue instruction device,
The rescue request receiving unit receives the rescue request signal transmitted by the target device using the instruction receiving device,
The junction point candidate selection unit is configured to use a plurality of the target devices that have transmitted the rescue request signal received by the rescue request reception unit, from among points located on the movement path of the target device, using the instruction processing device. And select a point as a merge point candidate,
The target arrival schedule calculation unit calculates a scheduled time for the target device to arrive at the junction point candidate using the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit,
The rescue arrival schedule calculation unit calculates a scheduled time at which each of the plurality of rescue devices arrives at the junction point candidate using the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit. ,
The rescue device determining unit replenishes energy to the target device based on the scheduled time calculated by the target arrival schedule calculation unit and the rescue arrival schedule calculation unit using the instruction processing device. Is determined from among the plurality of rescue devices,
The said junction point determination part is a relief apparatus which replenishes energy with respect to the said target apparatus based on the schedule time which the said target arrival schedule calculation part and the said relief arrival schedule calculation part calculated using the said instruction | indication processing apparatus Is determined from among a plurality of merging point candidates selected by the merging point candidate selection unit,
The said merging instruction | indication transmission part instruct | indicates using the said instruction | indication transmission apparatus to join the said target apparatus with the merging point which the said merging point determination part determined with respect to the rescue apparatus which the said rescue apparatus deciding part determined. Send a join instruction signal,
The merging instruction receiving unit receives the merging instruction signal transmitted by the rescue instruction device, using the rescue receiver.
The merging moving unit moves the rescue moving body toward the merging point indicated by the merging instruction signal received by the merging instruction receiving unit using the rescue moving device,
The target search unit uses the identification device to search for a target device that has transmitted the rescue request signal from among target devices existing around the rescue mobile body,
When the target search unit finds a target device that has transmitted the rescue request signal, the rescue movement unit combines the target device that has transmitted the rescue request signal with the convoy using the rescue mobile device, and the rescue Move the rescue vehicle to the destination of the target device that sent the request signal,
The relief supply unit supplies energy to the target device that forms a formation with the rescue moving body using the supply device,
The corps movement unit uses the target moving device to assemble the rescue device and the platoon, move the target moving body toward the destination,
The said acquisition accumulation | storage part takes in energy from the relief apparatus which assembled the said target moving body and the formation using the said acquisition apparatus, and accumulate | stores the acquired energy in the said accumulation | storage apparatus. Among the target devices according to claim 1, a mobile terminal including a target processing device, a necessary amount calculation unit, and a rescue request transmission unit is connected to other parts of the target device by wireless communication. And
When the amount of movement based on the energy stored in the storage device according to claim 1 is less than or equal to a predetermined amount, another part of the target device makes an activation request to the mobile terminal. The rescue system according to claim 1.   The target processing device of the mobile terminal according to claim 2 includes vehicle information holding means, and the vehicle information is only connected to the other part of the target device according to claim 2 by wireless communication. The rescue system according to claim 2, wherein the holding means updates information on the current position, the required amount of energy, and the travelable distance. The rescue device determination unit uses the instruction processing device for each of the merge point candidates selected by the merge point candidate selection unit, and selects the rescue device with the earliest scheduled time to arrive at the merge point candidate. Select from among the devices, the rescue device selected for the merge point determined by the merge point determination unit is a rescue device that replenishes energy to the target device,
The said junction point determination part uses the said instruction | indication processing apparatus, and the rescue apparatus which the said rescue apparatus determination part selected among the several junction point candidates which the said junction point candidate selection part selected arrives at the said junction point candidate. A joining point candidate having a waiting time from a scheduled time to a scheduled time at which the target device arrives at the joining point candidate is larger than a predetermined threshold and has the smallest waiting time is defined as the joining point. The rescue system according to claim 1. Each of the plurality of target devices further includes a completion request transmission unit,
Each of the plurality of relief devices further includes a completion request receiving unit,
The completion request transmission unit is configured such that when the acquisition storage unit stores energy in the storage device and the energy stored in the storage device exceeds the energy calculated by the necessary amount calculation unit, the target request transmission unit Using a transmitting device, a completion request signal for requesting completion of energy supply is transmitted to the rescue device that forms a formation with the target moving body,
The completion request receiving unit receives the completion request signal transmitted by the target device that forms the formation with the rescue moving body using the relief receiving device,
The rescue system according to any one of claims 1 to 4, wherein the rescue supply unit completes the supply of energy to the target device when the completion request reception unit receives a completion request signal. Each of the plurality of target devices further includes a target receiving device that receives a signal, and a steering receiving unit,
Each of the plurality of relief devices further includes a relief transmission device that transmits a signal,
The rescue moving unit moves to a position where the rescue mobile body and the convoy are formed with respect to the target device that has transmitted the rescue request signal using the rescue transmission device, and maintains the convoy with the rescue mobile body So as to transmit a control signal for controlling the movement of the target device,
The steering receiving unit receives the steering signal transmitted by the rescue device using the target receiving device,
The said platoon moving part moves the said target moving body using the said target moving apparatus based on the control signal which the said control receiving part received, The Claim 1 thru | or 5 characterized by the above-mentioned. Relief system. The supply device has a radiation coil that radiates electromagnetic energy as energy supplied to the target device,
The storage device stores electrical energy,
The acquisition device has an acquisition coil that takes in electromagnetic energy emitted by the rescue device,
The rescue moving unit controls the positional relationship between the rescue moving body and the target device so that the radiation coil radiates electromagnetic energy toward the position where the acquisition coil exists in the target device.
The convoy moving unit controls a positional relationship between the target moving body and the rescue device so that the acquisition coil acquires electromagnetic energy radiated from a position where the radiation coil exists in the rescue device. The relief system according to any one of claims 1 to 6. The supply device includes a radiation direction variable device that changes a direction in which the radiation coil radiates electromagnetic energy, and a radiation direction control unit.
The radiation coil radiates electromagnetic energy toward the rear of the rescue moving body,
The acquisition coil takes in electromagnetic energy radiated from the front of the target moving body, and the rescue moving unit moves the rescue moving body so that the rescue moving body is located in front of the target device,
The platoon moving unit moves the target moving body so that the target moving body is located behind the relief device,
When the rescue moving body turns leftward, the radiation direction control unit changes the direction in which the radiation coil emits electromagnetic energy to the left rear using the radiation direction variable device, and the rescue mobile body The rescue system according to claim 7, wherein when the robot turns rightward, the direction in which the radiation coil radiates electromagnetic energy is changed to the right rear using the radiation direction changing device. An instruction receiving device for receiving a signal, an instruction processing device for processing data, an instruction transmitting device for receiving a signal, a rescue request receiving unit, a merge point candidate selecting unit, a target arrival schedule calculating unit, and a rescue arrival schedule A calculation unit, a rescue device determination unit, a merge point determination unit, and a merge instruction transmission unit;
The rescue request receiving unit receives a rescue request signal for requesting replenishment of the energy from a target device that moves using the stored energy using the instruction receiving device,
The route calculation unit uses the instruction processing device to move the target device based on the current position and the destination of the target device that has transmitted the rescue request signal received by the rescue request reception unit. Calculate the route,
The junction point candidate selection unit uses the instruction processing device to select a plurality of points from the points on the movement route of the target device calculated by the route calculation unit, and set them as junction point candidates. ,
The target arrival schedule calculation unit calculates a scheduled time for the target device to arrive at the junction point candidate using the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit,
The rescue arrival schedule calculation unit uses the instruction processing device for each of the junction point candidates selected by the junction point candidate selection unit, and each of the plurality of relief devices that supply energy to the target device includes the junction point. Calculate the estimated time of arrival at the candidate,
The rescue device determining unit replenishes energy to the target device based on the scheduled time calculated by the target arrival schedule calculation unit and the rescue arrival schedule calculation unit using the instruction processing device. Is determined from among the plurality of rescue devices,
The said junction point determination part is a relief apparatus which replenishes energy with respect to the said target apparatus based on the schedule time which the said target arrival schedule calculation part and the said relief arrival schedule calculation part calculated using the said instruction | indication processing apparatus Is determined from among a plurality of merging point candidates selected by the merging point candidate selection unit,
The said merging instruction | indication transmission part instruct | indicates using the said instruction | indication transmission apparatus to join the said target apparatus with the merging point which the said merging point determination part determined with respect to the rescue apparatus which the said rescue apparatus deciding part determined. A rescue instruction device characterized by transmitting a join instruction signal. The rescue device determination unit uses the instruction processing device for each of the merge point candidates selected by the merge point candidate selection unit, and selects the rescue device with the earliest scheduled time to arrive at the merge point candidate. Select from among the devices, the rescue device selected for the merge point determined by the merge point determination unit is a rescue device that replenishes energy to the target device,
The said junction point determination part uses the said instruction | indication processing apparatus, and the rescue apparatus which the said rescue apparatus determination part selected among the several junction point candidates which the said junction point candidate selection part selected arrives at the said junction point candidate. A joining point candidate having a waiting time from a scheduled time to a scheduled time at which the target device arrives at the joining point candidate is larger than a predetermined threshold and has the smallest waiting time is defined as the joining point. The rescue instruction device according to claim 9. A relief receiving device that receives a signal, a rescue moving device that moves the rescue moving body, a supply device that supplies energy to the target device that moves using the accumulated energy, and the surrounding of the rescue moving body An identification device for identifying a target device, a join instruction receiving unit, a join moving unit, a target searching unit, a rescue moving unit, and a rescue supply unit, and mounted on the rescue moving body,
The merging instruction receiving unit receives a merging instruction signal instructing a merging point with the target apparatus that has requested the replenishment of energy, using the rescue receiving apparatus,
The merging moving unit moves the rescue moving body toward the merging point indicated by the merging instruction signal received by the merging instruction receiving unit using the rescue moving device,
The target search unit uses the identification device to search for target devices that have requested replenishment of energy from among target devices that exist around the rescue moving body,
When the target search unit discovers a target device that has requested replenishment of energy, the rescue movement unit uses the rescue mobile device to form a group with the target device, toward the destination of the target device. Move the rescue vehicle,
The said relief supply part supplies energy with respect to the object apparatus which assembled the said relief moving body and the formation using the said supply apparatus, The relief apparatus characterized by the above-mentioned. The rescue device further includes a completion request receiving unit,
The completion request receiving unit receives a completion request signal for requesting completion of energy supply from the target device that forms a formation with the rescue moving body using the relief receiving device,
The rescue device according to claim 11, wherein the rescue supply unit completes the supply of energy to the target device when the completion request reception unit receives a completion request signal. The rescue device further includes a rescue transmission device that transmits a signal,
The rescue moving unit moves to the position where the rescue mobile unit forms a platoon with respect to the target device that requested the replenishment of energy using the rescue transmission device, and maintains the platoon with the rescue mobile body. The rescue device according to claim 10 or 12, wherein a control signal for controlling movement of the target device is transmitted. The supply device has a radiation coil that radiates electromagnetic energy as energy supplied to the target device,
The rescue moving unit and the target device are arranged such that the radiation coil radiates electromagnetic energy toward a position where an acquisition coil that takes in electromagnetic energy radiated by the radiation coil exists in the target device. The rescue apparatus according to claim 11, wherein the positional relationship is controlled. The supply device includes a radiation direction variable device that changes a direction in which the radiation coil radiates electromagnetic energy, and a radiation direction control unit.
The radiation coil radiates electromagnetic energy toward the rear of the rescue moving body,
The rescue moving unit moves the rescue moving body so that the rescue moving body is located in front of the target device,
When the rescue moving body turns leftward, the radiation direction control unit changes the direction in which the radiation coil emits electromagnetic energy to the left rear using the radiation direction variable device, and the rescue mobile body The rescue device according to claim 14, wherein when the robot turns to the right, the radiation direction changing device is used to change the direction in which the radiation coil emits electromagnetic energy to the right rear. A storage device for storing energy; a target mobile device for moving a target mobile body using the energy stored in the storage device; a target processing device for processing data; a target transmission device for transmitting signals; An acquisition device that captures supplied energy, a necessary amount calculation unit, a rescue request transmission unit, a platoon movement unit, and an acquisition accumulation unit are mounted on the target mobile body, and the necessary amount calculation unit is Using the target processing device, calculate the energy required to move to the destination,
The rescue request transmission unit requests a replenishment of energy using the target transmission device when the energy stored in the storage device is insufficient for the energy calculated by the necessary amount calculation unit. Send a signal,
The convoy movement unit uses the target moving device to form a convoy with a rescue device that supplies energy based on a request by the rescue request signal transmitted by the rescue request transmission unit, and moves the target toward the destination. Move the body,
The acquisition apparatus, wherein the acquisition storage unit uses the acquisition apparatus to take in energy from a rescue apparatus that forms a group with the target moving body, and stores the acquired energy in the storage apparatus. Among the target devices according to claim 16, a mobile terminal including a target processing device, a necessary amount calculation unit, and a rescue request transmission unit is connected to another part of the target device by wireless communication. And
When the movement amount based on the energy stored in the storage device according to claim 16 is less than or equal to a predetermined amount, another part of the target device makes a startup request to the mobile terminal. The target device according to claim 16.   The target processing device of the mobile terminal according to claim 17 includes vehicle information holding means, and the vehicle information is only connected to the other part of the target device according to claim 2 by wireless communication. The target device according to claim 17, wherein the holding unit updates information on a current position, a required amount of energy, and a travelable distance. The target device further includes a completion request transmission unit,
The completion request transmission unit is configured such that when the acquisition storage unit stores energy in the storage device and the energy stored in the storage device exceeds the energy calculated by the necessary amount calculation unit, the target request transmission unit 19. The target device according to claim 16, wherein a transmission device is used to transmit a completion request signal for requesting completion of energy replenishment to a rescue device that forms a group with the target mobile body. The target device further includes a target receiving device that receives a signal, and a steering receiving unit,
The steering receiving unit receives a steering signal for controlling movement of the target moving body using the target receiving device,
20. The target according to claim 16, wherein the platoon moving unit moves the target moving body using the target moving device based on a control signal received by the control receiving unit. apparatus. The storage device stores electrical energy,
The acquisition device has an acquisition coil that takes in electromagnetic energy emitted by the rescue device,
The convoy moving unit controls the positional relationship between the target moving body and the rescue device so that the acquisition coil acquires electromagnetic energy radiated from a position where a radiation coil that radiates electromagnetic energy exists in the rescue device. 21. The target device according to claim 16, wherein the target device is a device.   The acquisition coil takes in electromagnetic energy radiated from the front of the target moving body, and the platoon moving unit moves the target moving body so that the target moving body is located behind the relief device. The target device according to claim 21, characterized in that:   When executed by a computer, the computer is made to support the rescue instruction device according to claim 9 or claim 10, the rescue device according to any of claims 11 to 15, or any of claims 16 to 22. A computer program that causes the device to function as the above-described target device. A rescue instruction device having an instruction reception device that receives a signal, an instruction processing device that processes data, and an instruction transmission device that receives a signal is stored for a rescue device determined from among a plurality of rescue devices. In the rescue instruction method for instructing the rescue of the target device that moves using energy,
The instruction receiving device receives a rescue request signal for requesting the replenishment of energy from the target device,
For the target device that has transmitted the received rescue request signal, the instruction processing device calculates the movement path of the target device based on the current position and destination of the target device,
The instruction processing device selects a plurality of candidate points from the points located on the calculated movement route of the target device, and sets them as merge point candidates.
For each selected merge point candidate, the instruction processing device calculates a scheduled time when the target device arrives at the merge point candidate,
For each selected merge point candidate, the instruction processing device calculates a scheduled time at which each of the plurality of rescue devices arrives at the merge point candidate,
The instruction processing device determines a rescue device for supplying energy to the target device from the plurality of rescue devices based on the calculated scheduled time,
Based on the calculated scheduled time, the instruction processing device determines a joining point where a rescue device that supplies energy to the target device joins the target device from the selected plurality of joining point candidates,
The rescue instruction method, wherein the instruction transmission device transmits a join instruction signal that instructs the determined rescue device to join the target device at the determined join point.

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