JP2017185954A - Automatic drive vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop an automatic drive vehicle with an automatic delivery function at a position suitable to a user in accordance with luggage carried with the user.SOLUTION: An automatic drive vehicle (1) with an automatic delivery function includes: imaging parts (13,14) for imaging surroundings; a first storage part (31) for storing user image information and luggage image information; a second storage part (32) for storing the luggage correlated with a luggage storage spot information; and control parts (11, 12) for identifying the luggage carried with the user on the basis of the imaged image, and the stored user image information and luggage image information, and determining a target stop position for the user carrying the luggage on the basis of the luggage information related to the identified luggage and luggage storage spot information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technical field of an autonomous driving vehicle having an automatic delivery function.

  As this type of vehicle, a technique for automatically leaving a vehicle by remote control using a mobile phone has been proposed (see Patent Document 1). According to this technique, the stop position of the vehicle is determined according to the positional relationship between the vehicle and the user.

JP 2013-177128 A

  However, according to the technique described in Patent Document 1, depending on whether or not the user has a baggage, or depending on the type of baggage that the user has, the stop position in automatic shipping is the optimal position for the user. There is a technical problem that is not limited.

  This invention is made | formed in view of the said problem, and makes it a subject to provide the automatic driving | running | working vehicle provided with the automatic leaving function which can improve a user's convenience.

  In order to solve the above-described problem, an automatic driving vehicle according to the present invention is an automatic driving vehicle having an automatic delivery function, and includes an imaging unit that images at least a part of the periphery of the automatic driving vehicle, A first storage unit that pre-stores user image information relating to a user and baggage image information relating to the user's luggage; luggage information identifying the luggage; and a luggage placement location indicating the placement location of the luggage within the autonomous driving vehicle A second storage unit that stores information and at least the luggage placement location information among the target stop position information indicating the target stop position of the autonomous driving vehicle, the captured image, and the stored user image Based on the information and the stored baggage image information, a baggage carried by the user is specified, and the baggage information related to the specified baggage and the stored Based on the load carrying location office information, and a control unit that determines the target stop position with respect to the user to carry the luggage.

  According to the self-driving vehicle of the present invention, at the time of automatic delivery, the control unit includes various types of luggage and images captured by the imaging unit of the user carrying the baggage, user image information and luggage stored in the first storage unit. The baggage carried by the user is specified based on the image information. Further, the control unit is stored in the second storage unit, and the user who carries the baggage based on the specified package information and the package placement location information stored in the second storage unit The target stop position is determined with respect to (that is, it is easy for a user carrying the specified luggage to place and store the luggage in the vehicle as much as possible). Specifically, the control unit determines the target stop position according to the package placement location information stored in association with or corresponding to the package information related to the specified package. Alternatively, the control unit determines the target stop position according to a past learned value of the package placement location information stored in association with or corresponding to the package information related to the specified package.

  As described above, according to the present invention, the target stop position in the automatic delivery function is determined so that the user can easily place and store the baggage according to the baggage carried by the user. Is improved.

  The effect | action and other gain of this invention are clarified from the form for implementing demonstrated below.

It is a block diagram which shows the structure of the autonomous driving vehicle which concerns on embodiment. It is a flowchart which shows the process which the automatic driving vehicle which concerns on embodiment performs. It is a table | surface which shows the presence or absence of a learning value, a luggage storage location, and how to approach a car according to the kind of baggage in embodiment. It is a flowchart which shows an example of the process performed by step S1 of FIG. It is a flowchart which shows the process which the automatic driving vehicle which concerns on other embodiment performs.

  An embodiment according to an autonomous driving vehicle of the present invention will be described with reference to FIGS. 1 to 4.

  First, in FIG. 1, a vehicle 1 constitutes an example of an “automatic driving vehicle having an automatic delivery function” according to the present invention. For example, various proposed existing technologies (for example, the above-mentioned Patent Document 1) are used. By using this, a basic automatic delivery function is provided. Further, as described below, the present embodiment has a unique configuration and is configured to exhibit unique operational effects.

  That is, the vehicle 1 receives a radio signal transmitted from the control PC 11, the recognition PC 12, the camera 13 that images the outside of the vehicle, the camera 14 that images the inside of the vehicle, the map database 15, and the electronic key 20 of the user 101. Parts 16a to 16d, a vehicle speed sensor 17, for example, an object detection sensor 18 such as Lidar (Light Detection and Ranging), and a database PC 30. The vehicle 1 may be a vehicle having only an engine as a drive source (a so-called conventional vehicle), a hybrid vehicle, an electric vehicle, a fuel cell vehicle, or the like.

  The camera 13 constitutes an example of the “imaging unit” according to the present invention. For example, the camera 13 is outside the vehicle 1 so that the baggage 102 can be discriminated (see steps S2, S3, etc. in FIG. 2 described later). The user 101 is configured to take an image of the baggage 102 being carried (that is, holding the baggage 102, holding it, placing it on the foot, rolling it, dragging it, etc.). Further, the camera 13 is configured to be able to capture the gesture of the user 101 so that the vehicle 1 can be called by the gesture of the user 101 during automatic delivery (see step S1 and the like in FIG. 2 described later). ).

  The camera 14 constitutes another example of the “imaging unit” according to the present invention. For example, the camera 14 is configured to take an image of how the baggage 102 is placed in the vehicle 1. In addition, the camera 14 has a vacant space in the vehicle (for example, the passenger seat and the rear seat are vacant, the trunk and the roof carrier are vacant, etc.) It is also possible to image the state of the vehicle such as the position shape, the presence or position shape of the shopping hook, the presence or position shape of the pet seat (see steps S4 and S5 in FIG. 2 described later).

  Each of the cameras 13 and 14 is not limited to one camera and may be composed of a plurality of cameras.

The database PC 30 includes a first storage unit 31 and a second storage unit 32 such as a hard disk and a nonvolatile memory.
For example, the first storage unit 31 stores in advance user image information indicating the appearance or appearance of the user 101 as an image and, for example, baggage image information indicating the appearance of the baggage 102 as an image. Such storage is performed by being captured and stored by the camera 13 or the camera 14 in the past automatic delivery operation, or separately captured and registered in advance by the user 101.

  The second storage unit 32 correlates the baggage information for identifying the baggage 102, the baggage placement location information indicating the placement location of the baggage 102 in the vehicle 1, and the target stop position information indicating the target stop position of the vehicle 1 with each other. Remember.

  The “package information” stored in the second storage unit 32 may identify the type or attribute of the baggage 102. That is, the package information may be treated as one package information, with the same type or the same attribute (for example, a large size or a small size) as the same type or belonging. Alternatively, the package information may identify individual packages from each other (that is, even if the packages are of the same type or belonging to each other, for example, as long as they are different items such as different owners, individual package information May be treated as).

  The baggage information typically includes information indicating the type of baggage and the size of the baggage. The baggage information is other information indicating the situation held by the user 101, in particular, whether it is held heavier or lighter by the user 101, or an algorithm or data based on when the control PC 11 determines the placement position Above (see steps S4 and S5 in FIG. 2 described later), information indicating whether or not the light baggage 102 is actually placed on the ground by the user 101 may be included. The baggage information indicates the probability that the position of the baggage 102 that fits the preference of the user 101 when the same baggage 102 is placed and accommodated in the vehicle 1 by the same user 101 next time. In order for the baggage 102 to be placed, information indicating the position at which the vehicle 1 is brought to the user's preference may be included.

  Further, the baggage information may include information indicating whether or not the baggage is a living thing (ie, “name” or “samurai”). The baggage information is information indicating a place where the baggage 102 is finally or actually placed by the user 101 (that is, whether it is a passenger seat, a right rear seat, a left rear seat, a trunk, or a roof carrier) Information). In addition, even if the baggage information is a relatively light baggage that is always placed in the passenger seat by the user 101, if the baggage information is held heavy by the user 101 or placed on the ground, the baggage information may be placed on the trunk by the specific user 101. If the tendency to be placed is strong, probability data as to whether or not the user 101 is more likely to be held may be included as one of the attributes of the package.

  The recognition PC 12 partially constitutes an example of a “control unit” according to the present invention, and an image of the baggage 102 and the user 101 carrying the baggage 102 taken by the camera 13 or the camera 14 at the time of automatic delivery, The baggage 102 is specified based on the user image information and the baggage image information stored in the first storage unit 31.

  The control PC 11 partially configures an example of the “control unit” according to the present invention, and performs the vehicle 1 based on a predetermined delivery program according to an instruction from the user 101 of the vehicle 1 (described later). (See FIG. 2 etc.) Specifically, the control PC 11 is a user who carries the baggage 102 based on the baggage information related to the baggage 102 specified by the recognition PC 12 and the baggage placement location information stored in the second storage unit 32. The target stop position with respect to 101 (that is, the stop position of the vehicle 1 that can be stored or placed as easily as possible for the user 101 carrying the specified baggage 102) is determined.

  More specifically, the control PC 11 determines the target stop position according to the baggage placement location information stored in association with or corresponding to the baggage information related to the specified baggage 102 in the second storage unit 32. To decide. Alternatively, the control PC 11 determines the target according to the learned value in the past of the baggage placement location information stored in association with or corresponding to the baggage information related to the specified baggage 102 in the second storage unit 32. Determine the stop position.

  At this time, the baggage information is information indicating a situation held by the user 101, specifically, information indicating whether the user 101 is held heavy or lightly by the user 101, in particular, the control PC 11 is placed. When the algorithm based on determining the position or the data includes information indicating that the light baggage 102 is actually placed on the ground by the user 101, the control PC 11 follows the predetermined algorithm. Based on these pieces of information, the baggage 102 placed in one place in the past may be configured to specify another place different from the past. Alternatively, even when there is a track record in which the same baggage 102 has been accommodated in the vehicle 1 by the same user 101 in the past during this automatic shipping, the baggage 102 included in the baggage information is placed at any position. Information indicating with probability that the user's 101 suits the user's preference, or the position where the vehicle 1 is brought to the user's 101 when the baggage 102 is accommodated / placed. Based on the information indicated by the probability, the control PC 11 may be configured to specify the same or different placement location for the same baggage 102 from the past.

  Further, the baggage information indicates whether the baggage 102 is finally or actually placed by the user 101 (that is, whether it is a passenger seat, a right rear seat, a left rear seat, a trunk, or a roof carrier). The control PC 11 may be configured to specify the same or different placement location from the past based on the information. In addition, even a relatively light baggage 102 that is always placed in the passenger seat by the user 101 is trunked by a specific user 101 if it is held heavy by the user 101 or placed on the ground. PC11 for control is the same as or different from the past, based on the probability data included in the package information indicating whether or not the user 101 is likely to carry the item more heavily, for example, May be configured to identify.

  On the other hand, when the control PC 11 cannot identify the baggage 102 by the recognition PC 12, a new optimal baggage placement location for the baggage 102 is determined based on the size and type of the baggage 102 according to a predetermined algorithm. The optimum target stop position may be determined for the user 101 carrying the baggage 102 based on the determination. At this time, the control PC 11 may store the target stop position information indicating the determined target stop position in the second storage unit 32 so as to be associated with the newly stored baggage information related to the baggage 102. Alternatively, in addition to or instead of this, the control PC 11 causes the second storage unit 32 to store the baggage placement location information as a result of the determination in association with the newly stored baggage information related to the baggage 102. Also good. Further, the control PC 11 causes the second storage unit 32 to store the baggage placement location information indicating the baggage placement location actually placed by the user in the form associated with the newly stored baggage information related to the baggage 102. May be.

  Specifically, in the case of the baggage 102 that has not been put on the vehicle 1 until now, since the baggage information or the baggage placement location information as the past learning value cannot be used, the camera 13 captures and recognizes this time at the time of automatic delivery. Based on the size and type recognized by the recognition PC 12 for the new baggage 102 recognized by the PC 12, the control PC 11 can easily stop the baggage 102 from being placed on the optimal placement location of the vehicle 1 by the user 101. May be specified, and the vehicle 1 may be brought to the stop position. That is, the control PC 11 may be configured to perform the target stop position determination method in the existing automatic delivery function (for example, see the above-mentioned Patent Document 1) as it is, selectively according to circumstances.

  The “stop position” or “target stop position” according to the present embodiment is a relative position of the vehicle 1 with respect to the user 101. For example, the position where the user 101 is in front of the trunk of the vehicle 1, the position in front of the left rear door, the position in front of the driver's seat door, and the like. However, in addition to or instead of such a relative position, an actual position or an absolute position on the road of the vehicle 1 (that is, with respect to the road) may be used. For example, the position of the vehicle 1 on the road near the home garage of the user 101 may be used. The target stop position information is stored in the second storage unit 32 as indicating such a relative position or an absolute position.

  Next, in addition to FIG. 1, referring to the flowcharts of FIG. 2 and FIG. 4 and the table of FIG. 3, a series of automatic shipping processes executed by the vehicle 1 configured as described above will be further detailed. It explains together.

  In FIG. 2, first, when the driver, that is, the user 101 in FIG. 1 calls the vehicle 1 (step S <b> 1), it is recognized by referring to the image captured by the camera 13 whether or not the driver has the baggage 102. This is determined by the OPC 12 for use (step S2).

  The calling in step S1 may be performed by the user 101 operating the electronic key 20, or the user 101 may call with his / her gesture as illustrated later, or the user 101 approaches the vehicle 1 It may be performed automatically (see FIG. 4 described later).

  If it is determined in step S2 that the baggage 102 is held (step S2: Yes), it is further determined whether or not the baggage 102 has been placed on the vehicle 1 until now by the driver (step S2: Yes). Step S3). In other words, it is determined whether or not the learned value of the baggage placement location information regarding the baggage 102 in the past exists in the second storage unit 32. At this time, even if it is the same type or the same baggage 102, the baggage placement location may change depending on the preference of the user 101. Therefore, the luggage storage location information corresponding to the baggage 102 from the second storage unit 32, that is, the luggage storage location information indicating the placement position when the baggage 102 has been stored and placed in the vehicle 1 in the past. The learned value is read out.

  If it is determined that the baggage 102 has been placed on the vehicle 1 (step S3: Yes), in other words, the learned value of the baggage placement location information related to the baggage 102 is stored in the second storage unit 32. If the vehicle is present in the vehicle, the stop position of the vehicle 1 that makes it easy to place and store the baggage 102 in the place where the driver has previously placed and stored is determined as the target stop position, and the stop Carriage to the position is executed (step S4).

  Specifically, for example, when the baggage 102 is “golf back” in step S4, for example, when the baggage 102 is “golf back”, it can be physically placed on the trunk or the rear seat of the vehicle 1, but the user 101 always plays golf. If it is indicated by the learned value of the baggage placement location information that the back is placed on the back seat, the vehicle 101 is moved to a stop position where the user 101 can easily place the golf back on the back seat.

  Or, for example, in the vehicle shifting process of step S4, for example, when the baggage 102 is a “shopping bag”, it can be physically placed in the passenger seat, trunk, or rear seat of the vehicle 1, but the user 101 always performs shopping. If it is indicated by the learned value of the baggage placement location information that the bag is placed on the rear seat, the vehicle 101 is moved to a stop position where the user 101 can easily place the shopping bag on the rear seat.

  Or, for example, in the vehicle shifting process in step S5, for example, when the baggage 102 is a “shopping bag”, the user 101 always hooks the shopping bag on the shopping hook provided on the side of the passenger seat or the rear seat. If it is indicated by the learned value of the luggage placement location information, here, the vehicle 101 is moved to a stop position where the user 101 can easily put the shopping bag on the shopping hook.

  On the other hand, if it is determined in step S3 that the baggage has not been placed on the vehicle 1 (that is, the baggage that is placed for the first time) (step S3: No), in other words, it is related to the baggage. If the learned value of the luggage storage location information does not exist in the second storage unit 32, the type, attribute, and size of the baggage recognized by the recognition PC 12 based on the image captured by the camera 13 From the above, the optimal load mounting position of the baggage, that is, the baggage placement / storage location is determined, and the stop position of the vehicle 1 that makes it easy to place the baggage at the determined baggage load position is determined as the target stop position. And the vehicle 1 is brought to that position (step S5).

  Specifically, for example, when the baggage 102 is “baby”, the child seat is determined as the optimum baggage placement location according to a predetermined algorithm for identifying the placement location from the baggage 102, for example, when the baggage 102 is “baby”. The vehicle 101 is moved to a stop position where the user 101 can easily put the baby on the child seat.

  Alternatively, for example, in the vehicle shifting process of step S5, when the baggage 102 is “pet”, for example, according to a predetermined algorithm for specifying the placement location from the baggage, the place where the pet seat cover is mounted is the optimal placement location. And the vehicle 101 is moved to a stop position where the user 101 can easily put the pet on the pet seat cover mounting place.

  Or, for example, in the vehicle shifting process in step S5, for example, when the baggage 102 is a “shopping bag” and the season is “summer”, the baggage information including handling attributes in the four seasons or in the summer / winter season is used. According to a predetermined algorithm for specifying the placement location, the rear seat that is not exposed to direct sunlight, which is a low-temperature place where organisms are difficult to rot, is determined as the optimum luggage placement location, and the user 101 is placed in a stop position where the user can easily place the shopping bag on the rear seat. Carriage is executed.

  Or, for example, in the vehicle shifting process in step S5, for example, when the baggage 102 is a shopping bag, and the season is “winter”, the placement location using the baggage information including the handling attribute in the four seasons or in the summer / winter season In accordance with a predetermined algorithm for identifying the vehicle, the trunk is determined as an optimal load placement place, which is a relatively low temperature place where organisms are not easily rotted, and the vehicle 101 is moved to a stop position where the user 101 can easily place the shopping bag on the trunk. The

  Or, for example, in the vehicle shifting process of step S5, if the baggage 102 is of a large size such as a “suitcase, cardboard case”, etc. and can only be physically placed only on the trunk, the trunk is simply the best It is determined that the baggage is placed on the baggage, and the vehicle 101 is moved to a stop position where the user 101 can easily place the large baggage 102 on the trunk.

  On the other hand, if it is determined in step S2 that the baggage 102 is not held, that is, if it is determined that the baggage 102 is not held (step S2: No), a place where the driver can easily get on the driver's seat The vehicle is moved to (step S6).

  Referring to FIG. 3, in the above-described processing of steps S4 and S5, how the vehicle 1 is determined with respect to the presence / absence of the learning value and the luggage storage location (that is, the luggage storage location) for each type of baggage 102. An explanation will be given as to whether or not to carry out the carriage. In FIG. 3, the “left-hand column” has a “baggage type”, a photograph in which the user carries a “golf bag” in the upper row, and a landscape photograph in which the user carries a relatively large “suitcase” in the middle row. In the lower part of the figure, landscape photographs in which the user carries a relatively small “briefcase or attache case” are shown. These photographs are also examples of photographs taken by the camera 13 at the time of automatic delivery. is there.

  In the upper part of the table in FIG. 3, the user carries “golf back” as baggage, and in this example, the learning value is “Yes”, that is, in the past, the same user has the baggage as baggage. One of the specific examples in the case where there is experience of placement and storage and the placement place or the luggage storage place is “rear seat” is shown. In this case, the second storage unit 32 has learned values in the past of the baggage information and the baggage placement location information that the user 101 always puts the golf bag on the rear seat. Therefore, the vehicle is moved in such a way that the left rear door comes in front of the driver (that is, the user).

  In the middle of the table in FIG. 3, when the user carries a “suitcase” as baggage, in this example, the learning value is “none”, but from the size of the suitcase, It is practically impossible to load luggage in the rear seat. Therefore, as a method of approaching the vehicle, the vehicle is brought so that the trunk comes in front of the driver (that is, the user).

  In the lower part of the table in FIG. 3, when the user carries “Attach case” as baggage, in this example, the learning value is “None”. It is determined that it is not necessary or necessary not to perform the vehicle approach. Therefore, as a method of approaching the vehicle, the driver (that is, the user) approaches the driver's seat so that the driver can easily get in the same manner as when there is no baggage.

  Here, an example of the power-on process of the vehicle 1 executed in the process (step S1) for calling the vehicle 1 in FIG. 2 will be described with reference to the flowchart of FIG. This process is a process executed by the control PC 11 when the vehicle 1 is parked in the parking space. As an initial state, it is assumed that minute electric power is supplied to the control PC 11 and the receiving units 16a to 16d from a battery (not shown) even when the vehicle 1 is parked (that is, when the ignition is off).

  In FIG. 4, the control PC 11 detects the approach of the user 101 of the vehicle 1 (here, the person holding the electronic key 20) (step S101). Specifically, the control PC 11 estimates the distance between the vehicle 1 and the user 101 based on the reception intensity of the radio wave signal transmitted from the electronic key 20 in at least one of the reception units 16a to 16d. . The control PC 11 determines that the approach of the user 101 has been detected when the estimated distance is within a predetermined distance.

  If the approach of the user 101 is not detected in the process of step S101 (step S101: No), the control PC 11 once ends the process, and executes the process of step S101 again after a predetermined time.

  On the other hand, when the approach of the user 101 is detected in the process of step S101 (step S101: Yes), the control PC 11 1 determines the user 101 based on the temporal change in the reception intensity of the radio signal transmitted from the electronic key 20. Is determined, and it is determined whether or not the determined moving speed is equal to or higher than a certain speed (step S102).

  As a result of the determination in step S102, when it is determined that the determined moving speed is equal to or higher than a certain speed (step S102: Yes), the control PC 11 once ends the process, and after a predetermined time, performs the process in step S101 again. Run. This is because the user 101 is likely to pass around the vehicle 1.

  On the other hand, as a result of the determination in step S102, when it is determined that the obtained moving speed is less than the constant speed (step S102: No), the control PC 11 turns on the power of the vehicle 1 (that is, the main power). (Step S103). As a result of the processing in step S103, power is supplied to the recognition PC 12, the cameras 13 and 14, and the like.

  Here, “turning on the power” means a state in which main electrical components can be started and the engine can be started in a so-called conventional vehicle, and in a hybrid vehicle or an electric vehicle, the vehicle can be driven. (So-called ready state).

  As shown in FIG. 4, when the main power supply of the vehicle 1 is turned on, the cameras 13 and 14, the recognition PC 12, the database PC 30 and the like are driven. Then, the user 101 automatically moves the vehicle 1 to the target stop position (ie, automatically to the target stop position) by an existing remote operation using the key 20 or a portable terminal (not shown) (see, for example, the above-mentioned Patent Document 1). It is possible to instruct the vehicle 1 to make an exit position).

  Alternatively, the user 101 can give an instruction for automatic delivery to the vehicle 1 by remote operation using a gesture or the like, for example. For example, when a gesture of the user 101 outside the vehicle 1 (typically, an arm or hand movement preliminarily defined as an automatic leaving command) is photographed by the camera 13 and recognized by the recognition PC 12. , A predetermined range (for example, several meters to several tens of meters) may be automatically movable. By issuing an instruction to the vehicle 1 in this way, in any case, the process of automatically moving the vehicle 1 to the optimum target stop position corresponding to the baggage 102 (that is, the process after step S2 in FIG. 2). Can be executed.

  In addition, about the movement course to the target stop position in step S4-S6 shown in FIG. 2, it is determined by utilizing the existing technique (for example, refer patent document 1 mentioned above) as follows, for example. That is, first, based on the reception intensity of the radio signal transmitted from the electronic key 20 received by each of the receiving units 16a to 16d, the position of the electronic key 20 (for example, the direction centered on the vehicle 1, the direction from the vehicle 1). The current position of the user 101 is specified by the relative position of the user 101 with respect to the camera 13 captured by the camera 13 according to or in addition to or instead of the distance. Further, for example, based on the position of the vehicle 1 recognized by the GPS (not shown), the map database 15, and the detection results of the obstacles around the vehicle 1 by the camera 13 and the object detection sensor 18, the movement path to this current position is determined. Identified. In this embodiment, in particular, in any case, the moving route is a route from the parking position to the target stop position determined in consideration of the presence of the baggage 102.

  As described above with reference to FIG. 2 to FIG. 4, by performing any one of steps S4 to S6 according to the baggage 102 of the user 101, a series of vehicle shifting processes according to the present embodiment, That is, the automatic delivery process is completed.

  As a modification of the above-described embodiment, the second storage unit 32 stores the package information and the target stop position information in association with each other, and the control PC 11 stores the package information stored in the second storage unit 32. And the target stop position information associated with or corresponding to the target stop position information may be determined. Typically, the control PC 11 determines the target stop position indicated by the target stop position information associated with the specified baggage 102 in the second storage unit 32 as the optimum target stop position here. It may be configured to. If the baggage is to be operated under the rules that the place where the baggage is placed is fixed with respect to the baggage 102 (for example, a rule that a large baggage is placed in the trunk and a small baggage is carried by the user as it is) The advantage that corresponding convenience can be improved by simpler processing without using the mounting location information is obtained.

  As described above, according to the present invention, the target stop position in the automatic delivery function is determined according to the baggage 102 carried by the user 101 so that the user 101 can easily store the baggage 102. The convenience for the user is improved. In particular, regardless of the presence or absence of the baggage 102, the vehicle 1 approach is centered on humans (that is, after stopping, the user 101 stops at the optimal position for sitting in the driver's seat). The approach can be made closer to the optimum. In addition, compared to the case where the operation of the mobile phone is required when starting automatic delivery (see, for example, the above-mentioned Patent Document 1), the user 101 has to take out the mobile phone or operate the mobile phone. It doesn't give a sense. There is a possibility that the user 101 may load a huge suitcase or a cardboard box on the vehicle 1, and in such a case, a large deviation from the optimal stop position of the target stop position (occurring when the human center is used) Considering that it can be eliminated or reduced, and that the labor required for loading can be greatly reduced, it can be seen that the profit in this embodiment is very large.

  Next, another embodiment according to the present invention will be described with reference to FIG. According to the other embodiment, without using the learning value, the actual information can be obtained from the baggage placement location information associated / associated with the baggage or the baggage information as a place suitable for placing the baggage in advance. In the automatic delivery, the vehicle 1 corresponding to the recognized baggage 102 is read, and the vehicle 1 is brought to the target stop position according to the baggage placement location information. FIG. 5 is a flowchart of the other embodiment. In FIG. 5, the same steps as those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted as appropriate. The basic configuration of the other embodiment is the same as the configuration of the embodiment shown in FIG. 1, and the processing performed by the control PC 11 shown in FIG. 2 is different as follows.

  In FIG. 5, the processes of steps S1 and S2 are executed in the same manner as in the embodiment of FIG. In the other embodiment, in particular, when the driver has baggage as a result of the determination in step S2 (step S2: Yes), the control PC 11 reads the baggage placement location information from the second storage unit 32. (Step S23) Based on this, an optimal stop position is determined by the same method as the process of Step S5 of FIG. 2, and the vehicle is brought close (Step S25). On the other hand, if the determination result of step S2 is that the driver does not have baggage (step S2: No), the process of step S6 is executed as in the embodiment of FIG.

  As described above, according to the other embodiment, the vehicle is simply brought to the stop position suitable for the load placement place associated with the load without using the learning value, so that the processing and the apparatus can be simplified.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. Is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 11 ... Control PC, 12 ... Recognition PC, 13, 14 ... Camera, 30 ... Database PC, 31 ... First storage unit, 32 ... Second storage unit, 101 ... User, 102 ... Baggage

Claims (1)

An autonomous driving vehicle having an automatic delivery function,
An imaging unit for imaging at least a part of the periphery of the autonomous driving vehicle;
A first storage unit that stores in advance user image information relating to a user of the autonomous driving vehicle and baggage image information relating to the user's luggage;
At least the luggage placement location among the luggage information for identifying the luggage, the luggage placement location information indicating the placement location of the luggage in the autonomous driving vehicle, and the target stop position information indicating the target stop position of the autonomous driving vehicle. A second storage unit that stores information in association with each other;
Based on the captured image, the stored user image information, and the stored baggage image information, a baggage carried by the user is specified, and the baggage information related to the specified baggage is stored with the stored baggage information. And a control unit for determining the target stop position for the user carrying the luggage based on the information on the luggage placement location.