JP2018195158A - Autonomously travelling vehicle, parking position determination device, and parking position determination method - Google Patents

Abstract

To provide an autonomously traveling vehicle permitting a recipient to easily take out a baggage upon use of a parking lot as a baggage delivery place by the autonomously travelling vehicle.SOLUTION: An autonomously traveling vehicle 1 includes: an opening and closing door 19 opening and closing for baggage takeout by a recipient; a parking space recognition part 12 specifying an autonomously travelling vehicle parking area for the autonomously travelling vehicle 1 to park in a parking lot having a plurality of parking areas; an inter-adjacent-vehicle-distance measurement part 15 measuring a special distance between the autonomously traveling vehicle parking area and an object present in the parking area adjacent to the autonomously traveling vehicle parking area; a parking position determination part 16 and a door direction determination part 17 determining a parking position of the autonomously traveling vehicle and a direction of the opening and closing door 19 in the autonomously traveling vehicle parking area in a manner such that the special distance satisfies a permitted loading and unloading distance; and a parking control part 18 causing the autonomously traveling vehicle 1 to park at the determined parking position and direction of the opening and closing door 19 in the autonomously traveling vehicle parking area.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an autonomous traveling vehicle having an opening and closing portion that opens and closes in order for a recipient to store the luggage at a predetermined position in the vehicle and to take out the luggage, a parking position determination device that determines the parking position of the autonomous traveling vehicle, and parking The present invention relates to a position determination method.

  In recent years, technical development related to autonomous vehicles (autonomous vehicles) has been carried out, and concepts and practical experiments for delivering packages using such autonomous vehicles have been conducted.

  For example, in Patent Document 1, an autonomous vehicle receives destination information, moves to a destination based on the destination information, and a luggage fixing subsystem is attached to the autonomous vehicle, so that at least one security protection is possible. Each of the partitions having a partition and secured thereto has at least one load secured therein and associated with the partition access information, the access subsystem comprises at least one access information interface, and the partition access information It is disclosed to permit access to a partition associated with the received partition access information when received at the access information interface.

U.S. Pat. No. 9,256,852

  However, in the above-described prior art, no consideration has been given to the place of delivery of the luggage of the autonomous traveling vehicle, and the autonomous traveling vehicle having an opening / closing portion that opens and closes in order to take out the luggage is stored in a predetermined position in the vehicle. There was a need for further improvements in the method of determining the parking position.

  The present disclosure has been made in order to solve the above-described problem. When an autonomous vehicle uses a parking lot as a baggage delivery place, the autonomous vehicle and a parking position where a recipient can easily take out the baggage. An object of the present invention is to provide a determination device and a parking position determination method.

  An autonomous traveling vehicle according to one aspect of the present disclosure is an autonomous traveling vehicle in which luggage is stored in a vehicle, and an opening / closing portion that is opened and closed for a recipient to take out the luggage, and a parking lot having a plurality of parking areas In the above, a specifying unit that specifies a parking area for an autonomous traveling vehicle for parking the autonomous traveling vehicle, and an object existing in the parking area for the autonomous traveling vehicle and an adjacent parking area adjacent to the parking area for the autonomous traveling vehicle A distance measuring unit for measuring a spatial distance between the vehicle, and determining a parking position of the autonomous vehicle and a direction of the opening / closing unit in the autonomous vehicle parking area so that the spatial distance satisfies a predetermined unloading allowable distance. A determination unit; and a parking control unit that parks the autonomous vehicle in the parking area for the autonomous vehicle in the direction of the parking position and the opening / closing unit.

  According to the present disclosure, when an autonomous vehicle uses a parking lot as a package delivery location, the recipient can easily take out the package.

It is a block diagram showing an example of composition of an autonomous running vehicle in Embodiment 1 of this indication. It is a left view which shows an example of the external appearance of the autonomous vehicle shown in FIG. It is a figure which shows an example of a parking lot. It is a 1st schematic diagram for demonstrating the method to measure spatial distance by the adjacent vehicle distance measurement part shown in FIG. FIG. 10 is a second schematic diagram for explaining a method of measuring a spatial distance by the adjacent vehicle distance measuring unit shown in FIG. 1. FIG. 7 is a third schematic diagram for explaining a method of measuring a spatial distance by the adjacent vehicle distance measuring unit shown in FIG. 1. It is a flowchart which shows an example of the parking position determination process of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating the 1st parking pattern of the autonomous vehicle shown in FIG. It is a 2nd schematic diagram for demonstrating the 1st parking pattern of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating the 2nd parking pattern of the autonomous vehicle shown in FIG. It is a 2nd schematic diagram for demonstrating the 2nd parking pattern of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating the 3rd parking pattern of the autonomous vehicle shown in FIG. It is a 2nd schematic diagram for demonstrating the 3rd parking pattern of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating the 4th parking pattern of the autonomous vehicle shown in FIG. It is a 2nd schematic diagram for demonstrating the 4th parking pattern of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating the 5th parking pattern of the autonomous vehicle shown in FIG. It is a 2nd schematic diagram for demonstrating the 5th parking pattern of the autonomous vehicle shown in FIG. It is a 1st schematic diagram for demonstrating an example of the parking pattern of the autonomous vehicle which has an opening-and-closing door in the front. It is the 2nd schematic diagram for demonstrating an example of the parking pattern of the autonomous vehicle which has an opening-and-closing door in the front. It is a block diagram which shows an example of a structure of the autonomous vehicle in Embodiment 2 of this indication. It is the 1st schematic diagram for demonstrating an example of the parking pattern of the autonomous vehicle shown in FIG. It is the 2nd schematic diagram for demonstrating an example of the parking pattern of the autonomous vehicle shown in FIG.

(Knowledge that became the basis of this disclosure)
As mentioned above, the concept and practical application experiment of delivering luggage using autonomous vehicles are being conducted, but autonomous vehicles continue to park in front of the recipient's house for delivery of luggage, It may be annoying to other vehicles or passersby. For this reason, the use of a parking lot with few other vehicles, passers-by, etc. can be considered as a delivery place.

  However, when taking out the luggage in the parking lot, depending on the situation of surrounding vehicles, there may be a case where a sufficient space for the delivery of the luggage cannot be secured, and it may be difficult for the recipient to take out the luggage.

  In order to solve the above problems, it is necessary to grasp the parking situation of other vehicles in the parking lot and adjust the parking position when the autonomous vehicle is parked so that the recipient can easily take out the luggage. is there. Based on this knowledge, the inventors of the present application conducted an intensive study on how to determine the parking position of an autonomous vehicle when the autonomous vehicle having an opening / closing unit uses a parking lot as a baggage delivery location. As a result, the present disclosure has been completed.

  An autonomous traveling vehicle according to one aspect of the present disclosure is an autonomous traveling vehicle in which luggage is stored in a vehicle, and an opening / closing portion that is opened and closed for a recipient to take out the luggage, and a parking lot having a plurality of parking areas In the above, a specifying unit that specifies a parking area for an autonomous traveling vehicle for parking the autonomous traveling vehicle, and an object existing in the parking area for the autonomous traveling vehicle and an adjacent parking area adjacent to the parking area for the autonomous traveling vehicle A distance measuring unit for measuring a spatial distance between the vehicle, and determining a parking position of the autonomous vehicle and a direction of the opening / closing unit in the autonomous vehicle parking area so that the spatial distance satisfies a predetermined unloading allowable distance. A determination unit; and a parking control unit that parks the autonomous vehicle in the parking area for the autonomous vehicle in the direction of the parking position and the opening / closing unit.

  An autonomous traveling vehicle having this configuration identifies an autonomous traveling vehicle parking area for parking an autonomous traveling vehicle in a parking lot having a plurality of parking areas, and the autonomous traveling vehicle parking area and the autonomous traveling vehicle parking area Measure the spatial distance between the objects in the adjacent parking area adjacent to the parking area of the autonomous traveling vehicle and the opening / closing part of the autonomous traveling vehicle so that the spatial distance satisfies the predetermined unloading allowable distance. Since the autonomous vehicle is parked in the parking area for the autonomous vehicle at the determined parking position and opening / closing part direction, it is possible to secure a wide space that can be loaded and unloaded in front of the opening / closing part. When an autonomous vehicle uses a parking lot as a package delivery location, the recipient can easily take out the package.

  The autonomous vehicle further includes a vehicle position acquisition unit that acquires vehicle position information indicating a current vehicle position of the autonomous vehicle, and the specifying unit is a parking lot that indicates a position and a shape of a parking area in the parking lot. The map information is acquired, the parking area for the autonomous traveling vehicle and the adjacent parking area are identified based on the vehicle position information and the parking lot map information, and the distance measuring unit is configured to detect the adjacent parking from the autonomous traveling vehicle. The distance to the object existing in the area is acquired, the distance to the object, the current vehicle position of the autonomous vehicle indicated by the vehicle position information, and the autonomous vehicle parking indicated by the parking lot map information The spatial distance may be measured based on the position and shape of the region.

  The autonomous traveling vehicle having this configuration acquires vehicle position information indicating the current vehicle position of the autonomous traveling vehicle, and parking map information indicating the position and shape of the parking area in the parking lot, and the acquired vehicle position information and Based on the parking map information, identify the parking area for the autonomous vehicle and the adjacent parking area, acquire the distance from the autonomous vehicle to the object existing in the adjacent parking area, and the distance to the acquired object and the vehicle position Since the spatial distance is measured based on the current vehicle position of the autonomous vehicle indicated by the information and the position and shape of the autonomous vehicle parking area indicated by the parking lot map information, the spatial distance is accurately measured. It is possible to ensure a wide space that satisfies the allowable distance of loading and unloading in front of the opening / closing part.

  The distance measurement unit includes a first spatial distance between the autonomous vehicle parking area and a first object existing in a first adjacent parking area adjacent to one side of the autonomous vehicle parking area. Measuring a second spatial distance between the autonomous vehicle parking area and a second object existing in a second adjacent parking area adjacent to the other side of the autonomous vehicle parking area; When the first spatial distance is longer than the second spatial distance, the determining unit is configured such that the opening / closing unit is positioned on the first adjacent parking area side, and the autonomous vehicle is in the second adjacent parking area. The parking position of the autonomous vehicle and the direction of the opening / closing part may be determined in the parking area for the autonomous vehicle so that the vehicle is parked.

  The autonomous traveling vehicle having this configuration is a first space between the autonomous traveling vehicle parking area and a first object existing in a first adjacent parking area adjacent to one side of the autonomous traveling vehicle parking area. Measuring the distance and the second spatial distance between the autonomous vehicle parking area and the second object existing in the second adjacent parking area adjacent to the other side of the autonomous vehicle parking area; When the first spatial distance is longer than the second spatial distance, the opening / closing part is positioned on the first adjacent parking area side, and the autonomous vehicle is parked close to the second adjacent parking area. By determining the parking position of the autonomous vehicle and the direction of the opening / closing part in the parking area for autonomous vehicles, even if there are objects on both sides, it can be unloaded in front of the opening / closing part in a limited space It is possible to ensure a wider space that satisfies the distance. .

  When the first object does not exist in the first adjacent parking area, the distance measuring unit displays empty information indicating that the first adjacent parking area is empty instead of the first spatial distance. Creating and opening the opening / closing when the vacancy information is created for the first adjacent parking area and the second spatial distance is measured for the second adjacent parking area. The autonomous vehicle is parked in the autonomous vehicle parking area so that the vehicle is positioned near the first adjacent parking area and the autonomous vehicle is parked near the second adjacent parking area. You may make it determine a position and the direction of the said opening-and-closing part.

  In the autonomous vehicle having this configuration, when there is no first object in the first adjacent parking area, empty information indicating that the first adjacent parking area is in an empty state is used instead of the first spatial distance. When the vacant information is created for the first adjacent parking area and the second spatial distance is measured for the second adjacent parking area, the opening / closing part is on the first adjacent parking area side. Since the parking position of the autonomous traveling vehicle and the direction of the opening and closing part are determined in the autonomous traveling vehicle parking area so that the autonomous traveling vehicle is parked near the second adjacent parking area, By utilizing the fact that no object is present in the parking area, it is possible to reliably secure a wider space that satisfies the allowable distance for loading and unloading in front of the opening and closing part.

  When the second adjacent parking area does not exist and a wall exists on the other side of the autonomous vehicle parking area, the distance measuring unit determines the autonomous vehicle parking as the second spatial distance. The distance between the area and the wall is measured, and when the first space distance is longer than the second space distance, the determination unit is positioned on the first adjacent parking area side. And the parking position of the autonomous vehicle and the direction of the opening / closing part in the parking area for the autonomous vehicle may be determined so that the autonomous vehicle is parked against the wall.

  In the autonomous traveling vehicle having this configuration, when the second adjacent parking region does not exist and the wall exists on the other side of the autonomous traveling vehicle parking region, the autonomous traveling vehicle parking region is used as the second spatial distance. If the first spatial distance is longer than the second spatial distance, the opening / closing part is located on the first adjacent parking area side, and the autonomous vehicle is parked against the wall As described above, since the parking position of the autonomous vehicle and the direction of the opening / closing part are determined in the autonomous vehicle parking area, even if there is a wall on the other side of the autonomous vehicle parking area, A wide space satisfying the allowable distance for unloading before can be ensured.

  The opening / closing unit includes a plurality of opening / closing units having different installation positions with respect to the autonomous traveling vehicle, and the autonomous traveling vehicle further includes a luggage information management unit that manages luggage position information indicating a position of the luggage in the vehicle. The determination unit determines a nearest opening / closing unit closest to the baggage from the plurality of opening / closing units based on the luggage position information, and the first spatial distance is greater than the second spatial distance. In the case of being long, the parking area for the autonomous vehicle such that the nearest opening / closing part is positioned on the first adjacent parking area side and the autonomous vehicle is parked close to the second adjacent parking area. The parking position of the autonomous vehicle and the direction of the opening / closing part may be determined.

  An autonomous traveling vehicle having this configuration includes a plurality of opening / closing sections whose opening / closing sections are different in installation position from the autonomous traveling vehicle, and based on luggage position information indicating the position of the luggage in the vehicle. The nearest opening / closing part closest to the baggage is determined, and when the first spatial distance is longer than the second spatial distance, the nearest opening / closing part is located on the first adjacent parking area side and the autonomous vehicle is When the autonomous traveling vehicle has a plurality of opening / closing portions, since the parking position and the opening / closing direction of the autonomous traveling vehicle in the autonomous traveling vehicle parking region are determined so as to be parked near the adjacent parking region of 2 However, it is possible to reliably secure a wide space that satisfies the allowable distance of loading and unloading in front of the opening / closing part closest to the luggage, and the recipient can easily take out the luggage at the shortest distance from the opening / closing part.

  The determination unit may change the allowable loading / unloading distance according to a luggage parameter indicating at least one of a size and a weight of the luggage.

  Since the autonomous traveling vehicle having this configuration changes the allowable loading / unloading distance according to the load parameter indicating at least one of the size and weight of the load, it is wide suitable for the size and / or weight of the load. A space can be secured in front of the opening / closing part.

  The determination unit may determine the parking position of the autonomous vehicle and the direction of the opening / closing unit in the autonomous vehicle parking area so that the opening / closing unit faces the entrance / exit side of the parking lot.

  Since the autonomous vehicle having this configuration determines the parking position of the autonomous vehicle and the direction of the opening / closing part in the parking area for the autonomous vehicle so that the opening / closing part faces the entrance / exit side of the parking lot, the recipient is The opening / closing part can be easily visually recognized from the entrance / exit of the parking lot, and can be easily reached in front of the opening / closing part.

  The distance measurement unit measures the spatial distance again after the parking position of the autonomous vehicle and the direction of the opening / closing unit in the parking area for the autonomous vehicle are determined, and the determination unit is measured again. Based on the spatial distance, the parking position of the autonomous vehicle and the direction of the opening / closing part in the autonomous vehicle parking area may be determined again.

  The autonomous vehicle having this configuration is to measure the spatial distance again after the parking position of the autonomous vehicle in the autonomous vehicle parking area and the direction of the opening / closing part are determined, and based on the measured spatial distance again, Since the parking position of the autonomous vehicle in the autonomous vehicle parking area and the direction of the opening and closing part are determined again, in the situation where the parking position can be freely changed in the parking lot, when the arrangement of surrounding vehicles changes, It is possible to readjust the parking position and the direction of the opening / closing part more suitable for delivery of the luggage.

  Further, the present disclosure can be realized not only as an autonomous traveling vehicle having the above-described characteristic configuration but also as a configuration for determining the parking position of the autonomous traveling vehicle among the characteristic configurations provided in the autonomous traveling vehicle. It can also be realized as a parking position determination device provided, or as a parking position determination method for executing a characteristic process corresponding to a characteristic configuration provided in the parking position determination device. The characteristic processing included in such a position determination method can also be realized as a computer program that causes a computer including a processor and a memory to be executed. Needless to say, the above-described computer program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet.

  Therefore, also in the following other modes, the same effect as the above autonomous vehicle can be obtained.

  A parking position determination apparatus according to another aspect of the present disclosure is a parking position determination apparatus that determines a parking position of an autonomous vehicle that has an opening / closing unit that opens and closes in order for a recipient to take out the luggage when the luggage is stored in the vehicle. A parking unit having a plurality of parking areas, a specifying unit that specifies a parking area for the autonomous traveling vehicle for parking the autonomous traveling vehicle, the autonomous traveling vehicle parking area, and the autonomous traveling vehicle parking area. A distance measuring unit that measures a spatial distance between an object existing in an adjacent parking area adjacent to the vehicle and the autonomous traveling vehicle in the autonomous traveling vehicle parking area so that the spatial distance satisfies a predetermined unloading allowable distance A determination unit that determines a parking position and a direction of the opening / closing unit.

  In addition, the parking position determination method according to another aspect of the present disclosure includes a parking position for determining a parking position of an autonomous traveling vehicle in which luggage is stored in a vehicle and a recipient has an opening / closing portion that opens and closes to take out the luggage. In the determination method, an autonomous vehicle parking area for parking the autonomous vehicle in a parking lot having a plurality of parking areas is specified, and the autonomous vehicle parking area and the autonomous vehicle parking area are identified. Measure the spatial distance between objects in the adjacent adjacent parking area, and the parking position of the autonomous vehicle in the autonomous vehicle parking area and the spatial distance satisfy a predetermined loading and unloading distance Determine the direction of the opening and closing part.

  Note that each of the embodiments described below shows a specific example of the present disclosure. The shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements. In all the embodiments, the contents can be combined. Furthermore, the present disclosure also includes various modifications in which the embodiments of the present disclosure are modified within the scope conceived by those skilled in the art without departing from the gist of the present disclosure.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram illustrating an example of the configuration of the autonomous traveling vehicle according to the first embodiment of the present disclosure, and FIG. 2 is a left side view illustrating an example of the appearance of the autonomous traveling vehicle illustrated in FIG.

  An autonomous vehicle 1 shown in FIGS. 1 and 2 includes a vehicle position acquisition unit 11, a parking space recognition unit 12, a parking lot map storage unit 13, a sensing information acquisition unit 14, an adjacent vehicle distance measurement unit 15, and a parking position determination unit. 16, the door direction determination part 17, the parking control part 18, and the opening / closing door 19 are provided.

  In addition, let the vehicle position acquisition part 11 and the parking space recognition part 12 be an identification part, and let the parking position determination 16 and the door direction determination part 17 be a determination part.

  The autonomous traveling vehicle 1 is an unmanned delivery vehicle (automated driving vehicle) in which luggage is stored in a predetermined position in the vehicle, and is fully automatic traveling (all roads and roads) according to the definition of J3016 defined by the US SAE International. Carry out all dynamic driving tasks with the automated driving system under environmental conditions) and deliver the package unattended. The autonomous vehicle 1 uses a parking lot as a baggage delivery location, parks (stops) in one parking area (parking space) of the parking lot, and waits until the recipient takes out the baggage. Here, various parking lots can be used as the parking lot, for example, a parking lot in which a plurality of parking areas are clearly defined, a parking lot in which parking areas are not clearly defined, and the like.

  As shown in FIG. 2, the autonomous vehicle 1 has, for example, a sliding opening / closing door 19 on the left side as an opening / closing portion that opens and closes for the recipient to take out the luggage. 19 can be slid in the direction of the arrow in the figure to enter the autonomous vehicle 1. A plurality of lockers (not shown) are arranged in a lattice pattern on the four side surfaces (front, right side, left side, and rear side) of the autonomous vehicle 1. The stored locker is opened and the baggage is taken out. Thereafter, the user gets out of the autonomous vehicle 1 and closes the open / close door 19. The arrangement of the plurality of lockers is not limited to the above example. In addition, the recipient of the autonomous vehicle 1 can be used such that the luggage stored in the locker is transported to the opening / closing unit 19, or the locker is provided outside the autonomous vehicle 1 and the door of the locker also serves as the opening / closing unit 19. It may be configured such that the luggage can be taken out without entering the interior. Various methods can be used as a method for notifying the recipient of the scheduled time of arrival or arrival of the autonomous vehicle 1 at the baggage delivery location (parking lot). May be transmitted to the recipient's smartphone or the like.

  The configuration of the opening / closing section is not particularly limited to the above example, and a hinge-type opening / closing door that opens in a direction perpendicular to the body of the autonomous vehicle 1 is used, an automatic opening / closing door is used, or 2 Various modifications such as using more than one door can be made. In addition, various methods can be used for notifying the recipient of the locker in which the package is stored. For example, the locker number can be transmitted to the recipient's smartphone, etc., or the recipient's package can be stored. Only the locker that is in the open state may be unlocked. This is the same in other embodiments described later.

  The vehicle position acquisition unit 11 acquires vehicle position information indicating the current vehicle position of the autonomous vehicle 1 and outputs the acquired vehicle position information to the parking space recognition unit 12. Specifically, the vehicle position acquisition unit 11 has a GPS (Global Positioning System) function. For example, the vehicle position acquisition unit 11 acquires and acquires latitude information and longitude information of the current vehicle position of the autonomous vehicle 1 as vehicle position information. The vehicle position information is output to the parking space recognition unit 12.

  The sensing information acquisition unit 14 measures a distance to an object around the autonomous vehicle 1 and outputs the measured distance to the parking space recognition unit 12 and the adjacent inter-vehicle distance measurement unit 15. The sensing information acquisition unit 14 is composed of, for example, a LIDAR (Light Detection and Ranging) sensor, etc., and irradiates laser light (pulsed light or continuous light) to the measurement target range and analyzes the reflected light to Measure the distance to the object.

  Specifically, the sensing information acquisition unit 14 measures an empty vehicle area where no other vehicle is parked from a plurality of parking areas in the parking lot by measuring a distance to an object around the autonomous vehicle 1. Search and output the search result to the parking space recognition unit 12. Moreover, the sensing information acquisition part 14 measures the distance from the autonomous vehicle 1 to the vehicle parked in the adjacent parking area (the parking area adjacent to the autonomous vehicle parking area for the autonomous vehicle 1 to park). Then, the measured distance to the vehicle is output to the adjacent inter-vehicle distance measuring unit 15. On the other hand, when the vehicle is not parked in the adjacent parking area, the sensing information acquisition unit 14 creates and creates vacant information indicating that the adjacent parking area is empty instead of the spatial distance of the adjacent parking area. The vacant information is output to the adjacent vehicle distance measuring unit 15. Note that the configuration of the sensing information acquisition unit 14 is not particularly limited to the above example, and other types of distance measuring sensors or the like may be used.

  The parking lot map storage unit 13 stores, in advance, parking lot map information indicating the position and shape of the parking area in the parking lot for each of the plurality of parking lots serving as receiving places. FIG. 3 is a diagram illustrating an example of a parking lot. In the parking lot shown in FIG. 3, an entrance ET, an exit EX, and a plurality of parking areas PA are partitioned, and vehicles VE other than the autonomous vehicle 1 are parked in some areas of the plurality of parking areas PA. Yes. The autonomous vehicle 1 enters from the entrance ET, parks in the parking area PA where the vehicle VE is not parked (autonomous vehicle parking area), and exits from the exit EX after receiving the luggage. Head for delivery. As the parking lot map information, for example, the positions and shapes of the parking lot entrance ET, the exit EX, and the plurality of parking areas PA shown in FIG. 3 are converted into data and stored in the parking lot map storage unit 13.

  The parking space recognizing unit 12 acquires the parking lot map information of the parking lot that is the baggage receiving location from the parking lot map storage unit 13, and based on the search result of the sensing information acquiring unit 14, a plurality of parking lot map information indicates An empty vehicle area is identified from among the parking areas. The parking space recognition unit 12 specifies the above-described empty vehicle area as the autonomous traveling vehicle parking area based on the vehicle position information and the parking lot map information, and sets the parking area adjacent to the autonomous traveling vehicle parking area to the adjacent parking area. And the specified autonomous traveling vehicle parking area and the adjacent parking area are notified to the adjacent inter-vehicle distance measuring unit 15.

  In addition, the identification method of the parking area by the parking space recognition part 12 is not specifically limited to said example, For example, without using parking lot map information, the sensing information acquisition part 14 is the position of various objects in a parking lot, and The shape or the like may be detected, and the detection region may be used to specify the autonomous vehicle parking area and the adjacent parking area.

  The inter-adjacent vehicle distance measuring unit 15 measures the spatial distance between the autonomous vehicle parking area and an object existing in the adjacent parking area adjacent to the autonomous vehicle parking area. Specifically, the distance measuring unit 15 between adjacent vehicles acquires the distance from the autonomous vehicle 1 acquired from the sensing information acquisition unit 14 to the vehicle parked in the adjacent parking area, and the vehicle acquired from the vehicle position acquisition unit 11. The spatial distance is measured based on the current vehicle position of the autonomous vehicle 1 indicated by the position information and the position and shape of the parking area for the autonomous vehicle indicated by the parking map information acquired from the parking map storage unit 13. To do. The adjacent vehicle distance measuring unit 15 outputs the measured spatial distance to the parking position determining unit 16.

  4 to 6 are first to third schematic diagrams for explaining a method of measuring a spatial distance by the inter-vehicle distance measuring unit 15 shown in FIG. The autonomous vehicle 1 enters from the entrance ET of the parking lot shown in FIG. 3, and as shown in FIG. 4, there are parking areas A0 to A2 in front of the autonomous vehicle 1, and other vehicles are in the parking areas A1 and A2. A case will be described in which V1 and V2 are parked, but no other vehicle is parked in the parking area A0 and is an empty area.

  First, the vehicle position acquisition unit 11 acquires vehicle position information (for example, north latitude 34.6653856, east longitude 134.99399) of the current vehicle position P1 of the autonomous vehicle 1 by the GPS function. The parking space recognition unit 12 identifies the parking areas A0 to A2 that are close to the vehicle position P1 from the parking lot map information of the parking lot shown in FIG. 3, and determines the positional relationship between the current vehicle position P1 and the parking areas A0 to A2. To grasp. At this time, it is notified from the sensing information acquisition unit 14 that the parking area A0 is an empty vehicle area, and the parking space recognition unit 12 specifies the parking area A0 as a parking area for autonomous vehicles, and is adjacent to the parking area A0. Areas A1 and A2 are specified as adjacent parking areas.

  Next, as shown in FIG. 5, the sensing information acquisition unit 14 irradiates the vehicles V1 and V2 with laser light to measure the distances to the vehicles V1 and V2 located in the parking areas A1 and A2, and to the vehicle V1. Distance L1 (for example, 5750 mm) and a distance L2 to the vehicle V2 (for example, 5770 mm) are output to the adjacent inter-vehicle distance measuring unit 15.

  Next, as shown in FIG. 6, the adjacent vehicle distance measuring unit 15 stores in advance the positional relationship between the vehicle position P <b> 1 and the sensing information acquisition unit 14 in the autonomous vehicle 1, and the vehicle position P <b> 1 and the sensing information are stored. Using the distance between the acquisition unit 14 and the distance L1 to the vehicle V1 and the distance L2 to the vehicle V2, the distance L1a from the vehicle position P1 to the vehicle V1 existing in the adjacent parking area A1 and the adjacent parking area A2 The distance L2a to the vehicle V2 existing in is calculated.

  The inter-adjacent vehicle distance measuring unit 15 includes a distance L1a from the vehicle position P1 to the vehicle V1 existing in the adjacent parking area A1, the current vehicle position P1, and the autonomous vehicle parking area A0 indicated by the parking lot map information. Based on the position and shape, a spatial distance S1 from the upper side of the autonomous vehicle parking area A0 to the vehicle V1 is calculated. Further, the inter-adjacent vehicle distance measuring unit 15 includes a distance L2a from the vehicle position P1 to the vehicle V2 existing in the adjacent parking area A2, a current vehicle position P1, and a parking area for autonomous traveling vehicles indicated by the parking lot map information. Based on the position and shape of A0, the spatial distance S2 from the lower side of the autonomous vehicle parking area A0 to the vehicle V2 is calculated. In FIG. 6, the spatial distance S1 and the spatial distance S2 indicate the distance between the vehicle side central portion on the autonomous vehicle parking area A0 side and the autonomous vehicle parking area A0 in the vehicle V1 and the vehicle V2, respectively. However, the spatial distance only needs to indicate the spatial distance between each vehicle side surface and the autonomous traveling vehicle parking area, and may be calculated, for example, as the shortest distance or the average distance in the entire vehicle side surface.

  The parking position determination unit 16 stores in advance a distance from the open / close door 19 that is set so that the recipient can load and unload to an adjacent object (hereinafter referred to as an allowable loading / unloading distance) in consideration of the size of the luggage and the person. In addition, it is determined whether at least one of the plurality of spatial distances measured by the adjacent vehicle distance measuring unit 15 satisfies the loading / unloading allowable distance, that is, whether or not it is equal to or greater than the loading / unloading allowable distance. When at least one spatial distance satisfies the allowable loading / unloading distance, the parking position determination unit 16 determines whether the autonomous parking in the autonomous vehicle parking area widens so that the adjacent parking area side where the maximum spatial distance satisfying the unloading allowable distance is measured is widened. The parking position of the traveling vehicle is determined and notified to the door direction determination unit 17.

  The door direction determination unit 17 determines the direction of the open / close door 19 so that the open / close door 19 is located on the side of the adjacent parking area where the maximum spatial distance that satisfies the loading / unloading distance is measured from the parking position of the autonomous vehicle 1. The parking control unit 18 is notified of the parking position of the autonomous vehicle 1 and the direction of the opening / closing door 19. In addition, the door direction here is a surface in which the door exists in an autonomous vehicle.

  Specifically, when the spatial distance of one adjacent parking area is longer than the spatial distance of the other adjacent parking area, the parking position determination unit 16 seems to park the autonomous traveling vehicle 1 close to the other adjacent parking area. Next, the parking position of the autonomous traveling vehicle 1 in the autonomous traveling vehicle parking area is determined, and the door direction determination unit 17 determines that the open / close door 19 is positioned on one adjacent parking area side in the autonomous traveling vehicle parking area. The direction of the opening / closing door 19 of the autonomous vehicle 1 is determined.

  The parking control unit 18 controls the drive system components of the autonomous vehicle 1 including the engine, steering wheel, accelerator, brake, and the like (not shown) of the autonomous vehicle 1, and is autonomous in the determined parking position and the opening / closing door 19 direction. The autonomous traveling vehicle 1 is parked in the traveling vehicle parking area.

  Next, the parking position determination process of the autonomous vehicle 1 configured as described above will be described. FIG. 7 is a flowchart showing an example of the parking position determination process of the autonomous vehicle 1 shown in FIG.

  First, after traveling to the parking lot where the autonomous vehicle 1 becomes a delivery place and entering the parking lot, the sensing information acquisition unit 14 measures the distance to the objects around the autonomous vehicle 1 to determine whether the vehicle is within the parking lot. An empty vehicle area where no other vehicle is parked is searched from among the plurality of parking areas (step S1).

  Next, the parking space recognition unit 12 identifies the above-described empty vehicle area as the autonomous traveling vehicle parking area based on the vehicle position information and the parking lot map information, and the parking area adjacent to the autonomous traveling vehicle parking area. By identifying as an adjacent parking area, the parking space is recognized (step S2).

  Next, the inter-adjacent vehicle distance measuring unit 15 measures the spatial distance between the autonomous vehicle parking area and an object existing in the adjacent parking area adjacent to the autonomous vehicle parking area (step S3).

  Next, the parking position determination unit 16 determines whether or not at least one of the plurality of spatial distances measured by the adjacent inter-vehicle distance measurement unit 15 satisfies the allowable distance (step S4), and the spatial distance decreases. If the allowable distance is not satisfied (NO in step S4), the process returns to step S1, searches for a new empty vehicle area, and the subsequent processing is continued. When the empty vehicle area in the parking lot that has entered does not satisfy the allowable loading / unloading distance, the allowable loading / unloading distance may be newly set. As a result, it is possible to prevent a situation in which the recipient cannot receive the package, which is caused by the fact that the autonomous vehicle 1 cannot be parked.

  On the other hand, when at least one spatial distance satisfies the loading and unloading distance (YES in step S4), the parking position determination unit 16 determines the parking position of the autonomous vehicle in the autonomous vehicle parking area, and the door direction determination unit 17 Determines the direction of the door 19 from the parking position of the autonomous vehicle 1.

  Next, the parking control unit 18 parks the autonomous traveling vehicle 1 in the autonomous vehicle parking area in the determined direction of the opening / closing door 19, so that the opening / closing door 19 extends in the direction in which the interval becomes wider (the side with the longer spatial distance). The door direction change control for moving the autonomous vehicle 1 so as to face is performed (step S5).

  Finally, the parking control unit 18 performs the approach parking control in which the autonomous traveling vehicle 1 is parked near the position where the interval is narrowed (the side where the spatial distance is short) in order to park the autonomous traveling vehicle 1 at the determined parking position. It performs (step S6).

  With the above processing, in the present embodiment, the autonomous vehicle 1 identifies the autonomous vehicle parking area for parking in the parking lot having a plurality of parking areas, and the autonomous vehicle parking area and the autonomous vehicle An autonomous vehicle in the autonomous vehicle parking area is measured so that a spatial distance between an object such as a vehicle existing in the adjacent parking area adjacent to the vehicle parking area is measured and the spatial distance satisfies a predetermined loading and unloading distance. The autonomous traveling vehicle 1 is parked in the autonomous traveling vehicle parking area at the determined parking position and the opening / closing door 19 direction. Therefore, the autonomous vehicle 1 can secure a wide space that can be loaded and unloaded in front of the open / close door 19 to satisfy the allowable distance. When the unmanned autonomous vehicle 1 uses a parking lot as a baggage delivery place, the recipient Can easily take out luggage with space.

  In addition, the parking position determination process of the autonomous vehicle 1 is not specifically limited to said example, A various change is possible. For example, the inter-adjacent vehicle distance measuring unit 15 measures the spatial distance again after the parking position of the autonomous vehicle 1 and the direction of the open / close door 19 are determined in the autonomous vehicle parking area, and the spatial distance measured again is determined. The parking position determination unit 16 determines again the parking position of the autonomous vehicle 1 in the autonomous vehicle parking area, and the door direction determination unit 17 determines the direction of the open / close door 19 from the parking position of the autonomous vehicle 1. May be determined again.

  In this case, after the parking position of the autonomous vehicle 1 in the autonomous vehicle parking area and the direction of the open / close door 19 are determined, the inter-adjacent vehicle distance measurement unit 15 measures the spatial distance again, and the measured space is measured again. Based on the distance, the door direction determination unit 17 and the parking position determination unit 16 re-determine the parking position of the autonomous vehicle 1 and the direction of the open / close door 19 in the autonomous vehicle parking area. In a situation where the parking position can be freely changed in the parking lot, when the arrangement of surrounding vehicles changes, the autonomous vehicle 1 can readjust to the parking position and the direction of the open / close door 19 that are more suitable for delivery of luggage. .

  Next, various parking patterns executed by the parking position determination process will be specifically described. 8 and 9 are first and second schematic diagrams for explaining the first parking pattern of the autonomous vehicle 1 shown in FIG.

  As shown in FIG. 8, the first parking pattern is a spatial distance S1 in which the vehicles V1 and V2 are parked in the adjacent parking areas A1 and A2 adjacent to the autonomous vehicle parking area A0 and satisfy the allowable loading and unloading distance. It is a parking pattern in the case of being longer than S2. In this case, the inter-adjacent vehicle distance measuring unit 15 includes the spatial distance S1 between the autonomous traveling vehicle parking area A0 and the vehicle V1 parked in the adjacent parking area A1, and the autonomous traveling vehicle parking area A0. The spatial distance S2 between the vehicle V2 parked in the area A2 is measured.

  Here, since the spatial distance S1 is longer than the spatial distance S2, the parking position determination unit 16 parks the autonomous vehicle 1 in the autonomous vehicle parking area A0 so as to be parked in the direction of the adjacent parking area A2. The position is determined, and the door direction determination unit 17 determines the direction of the opening / closing door 19 so that the opening / closing door 19 is positioned on the adjacent parking area A1 side.

  In this case, since the current open / close door 19 exists in the determined direction of the open / close door 19, as shown in FIG. 9, the parking control unit 18 advances the autonomous vehicle 1 as it is and moves to the adjacent parking area A <b> 2. The autonomous vehicle 1 is parked in the direction of. As a result, it is possible to secure a wider space that satisfies the allowable loading / unloading distance in front of the opening / closing door 19.

  10 and 11 are first and second schematic diagrams for explaining the second parking pattern of the autonomous vehicle 1 shown in FIG.

  As shown in FIG. 10, the second parking pattern is a spatial distance S2 in which the vehicles V1 and V2 are parked in the adjacent parking areas A1 and A2 adjacent to the autonomous vehicle parking area A0 and satisfy the allowable loading and unloading distance. It is a parking pattern in the case of being longer than S1. In this case, the inter-adjacent vehicle distance measuring unit 15 includes the spatial distance S1 between the autonomous traveling vehicle parking area A0 and the vehicle V1 parked in the adjacent parking area A1, and the autonomous traveling vehicle parking area A0. The spatial distance S2 between the vehicle V2 parked in the area A2 is measured.

  Here, since the spatial distance S2 is longer than the spatial distance S1, the parking position determination unit 16 parks the autonomous vehicle 1 in the autonomous vehicle parking area A0 so as to be parked in the direction of the adjacent parking area A1. The position is determined, and the door direction determination unit 17 determines the direction of the opening / closing door 19 so that the opening / closing door 19 is positioned on the adjacent parking area A2 side.

  In this case, since the current opening / closing door 19 exists in the direction opposite to the determined direction of the opening / closing door 19, as shown in FIG. The autonomous vehicle 1 is parked in the direction of the parking area A1. Even in this example, it is possible to secure a wider space that satisfies the allowable distance of loading and unloading in front of the opening / closing door 19.

  12 and 13 are first and second schematic diagrams for explaining the third parking pattern of the autonomous vehicle 1 shown in FIG.

  As shown in FIG. 12, the third parking pattern is a parking pattern when the vehicle V2 is parked in the adjacent parking area A2 adjacent to the autonomous vehicle parking area A0 and the adjacent parking area A1 is an empty vehicle area. . In this case, the inter-adjacent vehicle distance measuring unit 15 measures the spatial distance S2 between the autonomous vehicle parking area A0 and the vehicle V2 parked in the adjacent parking area A2, but the adjacent parking area A1 is an empty area. Therefore, the vacant information indicating that the adjacent parking area A1 is in an empty state is created instead of the spatial distance S1 on the adjacent parking area A1 side.

  Here, when the vacant information indicating that the adjacent parking area A1 is in an empty state is created, the adjacent parking area A1 is an empty vehicle area, so that there is a sufficiently large space on the adjacent parking area A1 side to satisfy the allowable distance for loading and unloading. Will exist. Therefore, the parking position determination unit 16 determines the parking position of the autonomous traveling vehicle 1 in the autonomous traveling vehicle parking area A0 so as to be parked in the direction of the adjacent parking area A2, and the door direction determination unit 17 The direction of the opening / closing door 19 is determined so that the opening / closing door 19 is positioned on the adjacent parking area A1 side.

  In this case, since the current opening / closing door 19 exists in the determined direction of the opening / closing door 19, as shown in FIG. 13, the parking control unit 18 advances the autonomous vehicle 1 as it is, and moves to the adjacent parking area A2. The autonomous vehicle 1 is parked in the direction of. As a result, it is possible to secure a sufficiently wide space that satisfies the allowable distance for loading and unloading in front of the open / close door 19.

  14 and 15 are first and second schematic diagrams for explaining a fourth parking pattern of the autonomous vehicle 1 shown in FIG.

  As shown in FIG. 14, in the fourth parking pattern, it is predicted that the vehicle V2 is parked in the adjacent parking area A2 adjacent to the autonomous vehicle parking area A0 and does not move for a predetermined period, and the adjacent parking area A1 is empty. Although it is an area | region, it is a parking pattern in case it is estimated that the vehicle V1 may be parked. In this case, the adjacent vehicle distance measuring unit 15 measures the spatial distance S2 between the autonomous vehicle parking area A0 and the vehicle V2 parked in the adjacent parking area A2, but the current adjacent parking area A1 is Since it is an empty vehicle area, the vacant information indicating that the adjacent parking area A1 is in an empty state is created instead of the spatial distance S1 on the adjacent parking area A1 side.

  Here, in addition to the parking lot map information, the parking lot map storage unit 13 stores in advance usage status information indicating the past usage status of each parking area of the parking lot, and the parking position determination unit 16 recognizes the parking space. Usage status information is acquired via the unit 12. The parking position determination unit 16 estimates from the usage status information that the vehicle V2 is parked in the adjacent parking area A2 and does not move for a predetermined period, and that the vehicle V1 may be parked in the adjacent parking area A1. In this case, it is determined whether or not the spatial distance S2 satisfies the loading and unloading allowable distance. When the spatial distance S2 satisfies the loading and unloading allowable distance, the parking position determination unit 16 determines the parking position of the autonomous vehicle 1 in the autonomous vehicle parking area A0 so as to be parked in the direction of the adjacent parking area A1. And the door direction determination part 17 determines the direction of the opening / closing door 19 so that the opening / closing door 19 may be located in the adjacent parking area | region A2 side.

  In this case, since the current opening / closing door 19 exists in the direction opposite to the determined direction of the opening / closing door 19, as shown in FIG. The autonomous vehicle 1 is parked in the direction of the parking area A1. As a result, even if one adjacent parking area is an empty car area, when it is predicted that the other vehicle is parked and it is not possible to secure a space satisfying the loading / unloading distance, the spatial distance satisfying the loading / unloading distance is measured. The opening / closing door 19 is directed toward the other adjacent parking area, and a space satisfying the allowable distance can be secured by loading / unloading in front of the opening / closing door 19.

  16 and 17 are first and second schematic views for explaining a fifth parking pattern of the autonomous vehicle 1 shown in FIG.

  As shown in FIG. 16, in the fifth parking pattern, the vehicle V1 is parked in the adjacent parking area A1 adjacent to one side of the autonomous vehicle parking area A0, and on the other side of the autonomous vehicle parking area A0. This is a parking pattern when the adjacent parking area does not exist, the wall WA exists, and the spatial distance S1 satisfying the loading and unloading distance is longer than the spatial distance S2. In this case, the inter-adjacent vehicle distance measuring unit 15 measures the spatial distance S1 between the autonomous vehicle parking area A0 and the vehicle V1 parked in the adjacent parking area A1, and sets the spatial distance S2 as the autonomous vehicle. The distance between the parking area A0 and the wall is measured.

  Here, since the spatial distance S1 is longer than the spatial distance S2, the parking position determination unit 16 determines the parking position of the autonomous traveling vehicle 1 in the autonomous traveling vehicle parking area A0 so as to be parked in the direction of the wall WA. The door direction determination unit 17 determines the direction of the opening / closing door 19 so that the opening / closing door 19 is positioned on the adjacent parking area A1 side.

  In this case, since the current open / close door 19 exists in the determined direction of the open / close door 19, as shown in FIG. 17, the parking control unit 18 moves the autonomous vehicle 1 forward as it is in the direction of the wall. At the same time, the autonomous vehicle 1 is parked. As a result, even if there is no adjacent parking area on the other side of the autonomous vehicle parking area A0 and there is a wall WA, it is possible to secure a wider space that satisfies the allowable distance for loading and unloading in front of the open / close door 19. it can. In the above example, the distance to the wall WA was measured. However, the distance to the wall WA is not particularly limited to this example, and there is no adjacent parking area on one side or the other side of the autonomous traveling vehicle parking area A0. If there is another obstacle, the distance to the obstacle may be measured and the vehicle may be parked in the same manner as described above.

  Each of the parking patterns has been described with reference to the parking pattern of the autonomous vehicle 1 having the opening / closing door 19 on the left side. However, the position of the opening / closing part that the recipient opens and closes to take out the luggage is particularly limited to the above example. Instead, it may be installed on the front or rear surface of the autonomous vehicle 1. 18 and 19 are first and second schematic views for explaining an example of a parking pattern of the autonomous vehicle 1 having an opening / closing door on the front surface.

  Since the autonomous vehicle 1a shown in FIGS. 18 and 19 is configured in the same manner as the autonomous vehicle 1 shown in FIG. 1 except that it has an opening / closing door 19a on the front surface, illustration and detailed description of each part are omitted. This will be described using the reference numerals of the respective parts shown in FIG.

  The autonomous vehicle 1a is an unmanned delivery vehicle (automated driving vehicle) in which a baggage is stored at a predetermined position in the vehicle. The autonomous vehicle 1a performs fully automatic driving at SAE level 5 and delivers the baggage in an unmanned state. The autonomous vehicle 1a uses a parking lot as a baggage delivery place, parks in one parking area of the parking lot, and waits until the recipient takes out the baggage.

  As shown in FIG. 18, the autonomous vehicle 1 a has, for example, a slide-type opening / closing door 19 a on the front as an opening / closing portion that opens and closes for the recipient to take out the luggage. Can be slid to enter the autonomous vehicle 1a. A plurality of lockers are arranged in a lattice pattern on the four side surfaces (front surface, right side surface, left side surface, and rear surface) inside the autonomous vehicle 1a, and the recipient stores the luggage to be taken out by the recipient. The locker is opened and the luggage is taken out. Thereafter, the user gets out of the autonomous vehicle 1a and closes the open / close door 19a. In addition, the structure of an opening / closing part is not specifically limited to said example, Various changes, such as providing in the back surface of the autonomous vehicle 1a, are possible.

  As shown in FIG. 18, the parking pattern of the autonomous vehicle 1a is a parking pattern when the open / close door 19a is provided on the front surface, and the vehicle is placed in the parking areas A1 to A5 adjacent to the autonomous vehicle parking area A0. V1 to V5 are parked, and the vehicles V6 to V8 are parked in the parking areas A6 to A8 which are partitioned at a predetermined distance from the autonomous vehicle parking area A0 and the parking areas A1 to A5. The parking pattern in case.

  In this case, the sensing information acquisition unit 14 searches for an empty vehicle area in which no other vehicle is parked from the parking area in the parking lot, and the parking space recognition unit 12 is based on the vehicle position information and the parking lot map information. The empty vehicle area is specified as the autonomous vehicle parking area A0. Moreover, the parking space recognition part 12 specifies the parking area located in front of the autonomous traveling vehicle parking area A0 and the parking area located behind the autonomous traveling vehicle parking area A0 as the adjacent parking areas A7, A4. . The inter-adjacent vehicle distance measuring unit 15 includes a spatial distance S1 between the autonomous vehicle parking area A0 and the vehicle V7 parked in the adjacent parking area A7, and the autonomous vehicle parking area A0 and the adjacent parking area A4. The spatial distance S2 with the parked vehicle V4 is measured.

  Here, since the spatial distance S1 satisfies the allowable loading and unloading distance and is longer than the spatial distance S2, the parking position determination unit 16 is parked in the direction of the adjacent parking area A4 so that the parking area A0 is for autonomous vehicles. The door position determination unit 17 determines the direction of the opening / closing door 19a so that the opening / closing door 19a is positioned on the adjacent parking area A7 side.

  In this case, since the current direction of the opening / closing door 19a is the determined direction of the opening / closing door 19a, as shown in FIG. The autonomous vehicle 1a is parked in the direction of A4. As a result, it is possible to secure a sufficiently large space that satisfies the allowable distance of loading and unloading in front of the opening / closing door 19a.

  In this example, the parking position of the autonomous vehicle 1a and the direction of the open / close door 19a in the autonomous vehicle parking area are determined so that the open / close door 19a faces the entrance / exit side of the parking lot. The opening / closing door 19a can be easily seen from the entrance / exit of the parking lot, and can be easily reached in front of the opening / closing door 19a, and other vehicles are not parked at the entrance / exit side of the parking lot. Thus, a wide space can be ensured in front of the open / close door 19a.

  The parking pattern is not particularly limited to the above example, and the parking position of the autonomous vehicle in the autonomous vehicle parking area and the open / close door face the entrance / exit side of the parking lot without measuring the spatial distance. The direction of the opening / closing door may be determined. In this case, the same effect as described above can be obtained.

  Moreover, in this Embodiment, the autonomous vehicle 1 and 1a are provided with the parking space recognition part 12, the parking lot map memory | storage part 13, the adjacent vehicle distance measurement part 15, the parking position determination part 16, and the door direction determination part 17. Although it provided, it is not specifically limited to this example, The autonomous vehicle 1 and 1a provided with the vehicle position acquisition part 11, the sensing information acquisition part 14, the parking control part 18, and the opening-and-closing doors 19 and 19a, and the parking space recognition part 12 The parking position map storage unit 13, the adjacent vehicle distance measuring unit 15, the parking position determination unit 16, and the parking position determination device including the door direction determination unit 17 may be separately configured.

  In this case, the parking position determination device is configured by a server or the like including a processor, a memory, an external storage device, a communication device, and the like, and the autonomous traveling vehicle 1 via a predetermined wired or wireless network such as the Internet or a dedicated line The communication unit is communicably connected. The vehicle position acquisition unit 11 and the sensing information acquisition unit 14 of the autonomous traveling vehicle transmit vehicle position information, distances to objects around the autonomous traveling vehicle, and the like using the communication unit. The parking space recognition unit 12, the parking lot map storage unit 13, the adjacent vehicle distance measurement unit 15, the parking position determination unit 16, and the door direction determination unit 17 of the parking position determination device The processing such as steps S2 to S4 of the parking position determination process shown in FIG. 7 is executed using the distance to the object, etc., and the parking position of the autonomous vehicle 1 and the opening / closing doors 19 and 19a in the autonomous vehicle parking area are determined. The direction is determined, and the parking position and the direction of the open / close doors 19, 19 a are transmitted to the autonomous vehicle 1. The parking control unit 18 of the autonomous vehicle 1 opens and closes the doors 19 and 19a in the direction in which the interval is wide (the side with the longer spatial distance) according to the parking position received using the communication unit and the directions of the doors 19 and 19a. Door direction change control and approach parking control for bringing the autonomous vehicle 1 to park at a position where the interval is narrow (the side where the spatial distance is short). Also in this case, the same effect as this embodiment can be obtained. This is the same in other embodiments described later.

  Note that although the SAE level 5 fully autonomous driving vehicle has been described so far, the embodiment of the present disclosure may be applied to an autonomous vehicle having a different SAE level, and this point will be described later in other embodiments. The form is also the same.

  The recipient is a person or an object that performs the operation of taking out the package. For example, in addition to the person who finally receives the package, the recipient, the delivery agent (administrator, concierge, etc.), or their functions It can also be applied to a robot that performs the above.

(Embodiment 2)
FIG. 20 is a block diagram illustrating an example of a configuration of an autonomous traveling vehicle according to the second embodiment of the present disclosure. The autonomous vehicle 1b shown in FIG. 20 is different from the autonomous vehicle 1 shown in FIG. 1 in that two open / close doors 19b and 19c are provided in place of the single open / close door 19, and the recipient information acquisition unit 20 and the baggage information management unit 21 are added, and the other points are the same as those of the autonomous vehicle 1 shown in FIG. 1, and thus the same parts are denoted by the same reference numerals and detailed description thereof is omitted. .

  The autonomous vehicle 1b is an unmanned delivery vehicle in which luggage is stored at a predetermined position in the vehicle, and performs fully automatic traveling at SAE level 5 to deliver the luggage in an unmanned state. The autonomous vehicle 1b uses a parking lot as a baggage delivery place, parks in one parking area of the parking lot, and waits until the recipient takes out the baggage. The autonomous vehicle 1b has a plurality of open / close doors 19b and 19c having different installation positions with respect to the autonomous vehicle 1b, for example, two open / close doors 19b and 19c, which are opened and closed for the recipient to take out the luggage. It has on the left side and the right side. The recipient can enter the inside of the autonomous vehicle 1b by sliding one of the two open / close doors 19b and 19c. A plurality of lockers are arranged in a lattice pattern on the four side surfaces (front surface, right side surface, left side surface, and rear surface) inside the autonomous vehicle 1b, and the recipient stores luggage to be taken out by the recipient. The locker is opened and the luggage is taken out. Thereafter, the user gets out of the autonomous vehicle 1b and closes the open / close door.

  The recipient information acquisition unit 20 acquires recipient information (for example, package identification information for identifying a package) for identifying the package from a predetermined terminal device, and sends the acquired recipient information to the package information management unit 21. Output. For example, the recipient information acquisition unit 20 acquires the recipient information from a portable terminal (not shown) used by the person in charge of loading the luggage on the autonomous vehicle 1b. The method for acquiring the recipient information is not particularly limited to the above example, and various changes such as acquisition from other management devices are possible.

  The package information management unit 21 includes, for each package loaded in the vehicle, package parameter information including at least one of the package position information indicating the position of the package in the vehicle (for example, the position of the locker) and the size or weight of the package. Are stored and managed in advance in association with recipient information. The parcel information management unit 21 uses the recipient information from the recipient information acquisition unit 20 to identify the recipient's parcel, and determines the parcel position information and parcel parameters of the identified parcel from the parking position determination unit 16 and the door direction determination. To the unit 17.

  The parking position determination unit 16 changes the allowable loading / unloading distance according to the luggage parameter, and sets the allowable loading / unloading distance suitable for the size and / or weight of the luggage. For example, when the baggage parameter indicates the size of the baggage, the parking position determination unit 16 changes the allowable loading / unloading distance so that the allowable loading / unloading distance increases as the size of the baggage increases. In this case, the loading / unloading distance is changed so that the loading / unloading distance increases as the weight of the load increases.

  In addition, the parking position determination unit 16 determines whether at least one of the plurality of spatial distances measured by the adjacent vehicle distance measurement unit 15 satisfies the changed allowable loading / unloading distance. The parking position determination unit 16 determines the nearest opening / closing door closest to the luggage from the plurality of opening / closing doors 19b and 19c based on the luggage position information when at least one space distance satisfies the allowable loading / unloading distance. The determination unit 17 is notified. The parking position determination unit 16 determines the parking position of the autonomous vehicle 1b in the autonomous vehicle parking area so that the adjacent parking area side where the spatial distance satisfying the allowed loading / unloading distance is measured is widened, and the door direction The determination unit 17 is notified.

  The door direction determination unit 17 determines the direction of the nearest opening / closing door from the parking position of the autonomous vehicle 1b so that the nearest opening / closing door is positioned on the adjacent parking area side where the spatial distance that satisfies the changed loading / unloading distance is measured. The parking control unit 18 is notified of the parking position of the autonomous vehicle 1b and the direction of the nearest opening / closing door.

  Specifically, when the spatial distance of one adjacent parking area is longer than the spatial distance of the other adjacent parking area, the parking position determination unit 16 determines the nearest opening / closing door closest to the luggage from the luggage position information, The parking position of the autonomous traveling vehicle 1b in the autonomous traveling vehicle parking area is determined so that the autonomous traveling vehicle 1b is parked near the other adjacent parking area. The direction of the open / close door 19 of the autonomous vehicle 1 in the autonomous vehicle parking area is determined so as to be located on the adjacent parking area side. The parking control unit 18 parks the autonomous vehicle 1b in the autonomous vehicle parking area at the determined parking position and the direction of the nearest opening / closing door.

  Next, an example of a parking pattern executed by the autonomous vehicle 1b shown in FIG. 20 will be specifically described. 21 and 22 are first and second schematic diagrams for explaining an example of the parking pattern of the autonomous vehicle 1b shown in FIG.

  The parking pattern shown in FIG. 21 and FIG. 22 is a spatial distance S1 in which the vehicles V1 and V2 are parked in the adjacent parking areas A1 and A2 adjacent to the autonomous vehicle parking area A0 and satisfy the allowable loading and unloading distance after the change. It is a parking pattern in the case of being longer than S2. In this case, the inter-adjacent vehicle distance measuring unit 15 includes the spatial distance S1 between the autonomous traveling vehicle parking area A0 and the vehicle V1 parked in the adjacent parking area A1, and the autonomous traveling vehicle parking area A0. The spatial distance S2 between the vehicle V2 parked in the area A2 is measured.

  Here, the parking position determination unit 16 determines that the opening / closing door 19c is the nearest opening / closing door closest to the luggage from the luggage position information indicating the position of the luggage PP in the vehicle. Moreover, since the spatial distance S1 is longer than the spatial distance S2, the parking position determination unit 16 parks the autonomous traveling vehicle 1b in the autonomous traveling vehicle parking area A0 so as to be parked in the direction of the adjacent parking area A2. The door direction determination unit 17 determines the direction of the opening / closing door 19c so that the opening / closing door 19c is positioned on the adjacent parking area A1 side.

  In this case, since the current direction of the opening / closing door 19c is opposite to the determined direction of the opening / closing door 19c, as shown in FIG. 22, the parking control unit 18, after rotating the autonomous vehicle 1b halfway, The autonomous traveling vehicle 1b is parked in the direction of the adjacent parking area A2. As a result, it is possible to secure a wider space that satisfies the allowable distance for loading and unloading in front of the opening / closing door 19c closest to the luggage.

  As described above, in the present embodiment, the loading and unloading distance is changed according to the luggage parameter indicating at least one of the size and weight of the luggage, so that it is suitable for the size and / or weight of the luggage. A large space can be secured in front of the opening / closing part. Further, based on the baggage position information indicating the position of the baggage in the vehicle, the closest door that is closest to the baggage is determined from among the plurality of doors 19b and 19c, and the spatial distance of one adjacent parking area is the other. When it is longer than the space distance of the adjacent parking area, parking for the autonomous vehicle so that the nearest opening / closing door is positioned on the one adjacent parking area side and the autonomous vehicle 1b is parked near the other adjacent parking area The parking position of the autonomous vehicle 1b in the area and the direction of the nearest opening / closing door are determined. As a result, even when the autonomous vehicle 1b has a plurality of open / close doors 19b and 19c, it is possible to reliably secure a wide space that can be loaded and unloaded in front of the nearest open / close door closest to the luggage to satisfy the allowable distance. Luggage can be taken out easily.

  Since the autonomous traveling vehicle, the parking position determination device, and the parking position determination method according to the present disclosure use the parking lot as a delivery location of the luggage, the recipient can easily take out the luggage, As an autonomous vehicle having an opening and closing part that opens and closes in order for a recipient to take out the luggage, a parking position determination device and a parking position determination method for determining the parking position of the autonomous vehicle Useful.

DESCRIPTION OF SYMBOLS 1, 1a, 1b Autonomous traveling vehicle 11 Vehicle position acquisition part 12 Parking space recognition part 13 Parking lot map memory | storage part 14 Sensing information acquisition part 15 Adjacent vehicle distance measurement part 16 Parking position determination part 17 Door direction determination part 18 Parking control part 19, 19a-19c Open / close door 20 Recipient information acquisition unit 21 Package information management unit

Claims (11)

An autonomous vehicle in which luggage is stored in the vehicle,
An opening / closing portion that opens and closes to allow the recipient to take out the package;
A specifying unit that specifies a parking area for an autonomous vehicle for parking the autonomous vehicle in a parking lot having a plurality of parking areas;
A distance measuring unit that measures a spatial distance between the autonomously traveling vehicle parking area and an object existing in an adjacent parking area adjacent to the autonomous traveling vehicle parking area;
A determination unit that determines a parking position of the autonomous traveling vehicle and a direction of the opening and closing unit in the parking region for the autonomous traveling vehicle so that the spatial distance satisfies a predetermined unloading allowable distance;
A parking control unit that parks the autonomous vehicle in the parking area for the autonomous vehicle in the direction of the parking position and the opening and closing unit;
Autonomous vehicle. A vehicle position acquisition unit that acquires vehicle position information indicating a current vehicle position of the autonomous vehicle;
The specifying unit acquires parking map information indicating a position and shape of a parking area in the parking lot, and based on the vehicle position information and the parking map information, the autonomous vehicle parking area and the adjacent parking Identify the area,
The distance measurement unit obtains a distance from the autonomous vehicle to an object existing in the adjacent parking area, a distance to the object, a current vehicle position of the autonomous vehicle indicated by the vehicle position information, The spatial distance is measured based on the position and shape of the parking area for the autonomous vehicle shown in the parking lot map information.
The autonomous vehicle according to claim 1. The distance measurement unit includes a first spatial distance between the autonomous vehicle parking area and a first object existing in a first adjacent parking area adjacent to one side of the autonomous vehicle parking area. Measuring a second spatial distance between the autonomous vehicle parking area and a second object existing in a second adjacent parking area adjacent to the other side of the autonomous vehicle parking area;
When the first spatial distance is longer than the second spatial distance, the determination unit is configured such that the opening / closing unit is located on the first adjacent parking area side and the autonomous vehicle is in the second adjacent parking area. Determining the parking position of the autonomous vehicle and the direction of the opening and closing unit in the autonomous vehicle parking area so that the vehicle is parked close to the area;
The autonomous vehicle according to claim 1. When the first object does not exist in the first adjacent parking area, the distance measuring unit displays empty information indicating that the first adjacent parking area is empty instead of the first spatial distance. make,
When the vacant information is created for the first adjacent parking area and the second spatial distance is measured for the second adjacent parking area, the determining unit is The parking position of the autonomous vehicle in the autonomous vehicle parking area and the parking position for the autonomous vehicle so that the autonomous vehicle is parked near the second adjacent parking area and located on the first adjacent parking area side, and Determine the direction of the opening and closing part,
The autonomous vehicle according to claim 3. When the second adjacent parking area does not exist and a wall exists on the other side of the autonomous vehicle parking area, the distance measuring unit determines the autonomous vehicle parking as the second spatial distance. Measure the distance between the area and the wall,
In the case where the first spatial distance is longer than the second spatial distance, the determination unit is configured such that the opening / closing unit is positioned on the first adjacent parking area side and the autonomous vehicle is parked against the wall. To determine the parking position of the autonomous vehicle and the direction of the opening and closing unit in the autonomous vehicle parking area,
The autonomous vehicle according to claim 3. The opening / closing part includes a plurality of opening / closing parts having different installation positions with respect to the autonomous vehicle,
A luggage information management unit for managing luggage position information indicating a position of the luggage in the vehicle;
The determining unit determines a nearest opening / closing unit closest to the baggage from the plurality of opening / closing units based on the luggage position information, and the first spatial distance is longer than the second spatial distance. In the autonomous vehicle parking area, the nearest opening / closing part is located on the first adjacent parking area side, and the autonomous vehicle is parked near the second adjacent parking area. Determine the parking position of the autonomous vehicle and the direction of the opening and closing unit,
The autonomous vehicle according to claim 3. The determining unit changes the loading / unloading distance according to a luggage parameter indicating at least one of a size and a weight of the luggage,
The autonomous vehicle according to claim 1. The determining unit determines a parking position of the autonomous traveling vehicle and a direction of the opening and closing unit in the autonomous traveling vehicle parking area so that the opening and closing unit faces the entrance / exit side of the parking lot;
The autonomous vehicle according to claim 1. The distance measurement unit measures the spatial distance again after the parking position of the autonomous vehicle and the direction of the opening / closing unit in the parking area for the autonomous vehicle are determined,
The determination unit determines again the parking position of the autonomous traveling vehicle and the direction of the opening / closing unit in the autonomous traveling vehicle parking area, based on the spatial distance measured again.
The autonomous vehicle according to claim 1. A parking position determination device for determining a parking position of an autonomous vehicle having an opening and closing portion that opens and closes in order for a luggage to be stored in a vehicle and a recipient to take out the luggage,
A specifying unit that specifies a parking area for an autonomous vehicle for parking the autonomous vehicle in a parking lot having a plurality of parking areas;
A distance measuring unit that measures a spatial distance between the autonomously traveling vehicle parking area and an object existing in an adjacent parking area adjacent to the autonomous traveling vehicle parking area;
A determination unit that determines a parking position of the autonomous traveling vehicle and a direction of the opening and closing unit in the parking area for the autonomous traveling vehicle so that the spatial distance satisfies a predetermined unloading allowable distance;
Parking position determination device. A parking position determination method for determining a parking position of an autonomous vehicle having an opening and closing part that opens and closes to receive a luggage in a vehicle and a recipient takes out the luggage,
Identifying an autonomous vehicle parking area for parking the autonomous vehicle in a parking lot having a plurality of parking areas,
Measure the spatial distance between the parking area for the autonomous vehicle and an object existing in the adjacent parking area adjacent to the parking area for the autonomous vehicle,
Determining the parking position of the autonomous vehicle and the direction of the opening and closing unit in the autonomous vehicle parking area so that the spatial distance satisfies a predetermined loading and unloading distance;
Parking position determination method.

Images