JP2022171722A - Control device for automatic driving vehicle, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method for an automatic driving vehicle controlling movement of an automatic driving vehicle when it is impossible to park/stop the automatic driving vehicle at a predetermined first parking/stopping position.

SOLUTION: A control method for an automatic driving vehicle 1 comprises the steps of: identifying an object to be photographed on the basis of a photographed image; deciding a first parking/stopping impossible area on the basis of the identified object to be photographed; determining whether or not it is possible to park/stop the automatic driving vehicle 1 at a first parking/stopping predetermined position on the basis of the first parking/stopping-impossible area and the first parking/stopping predetermined position; changing the first parking/stopping predetermined position to a second parking/stopping predetermined position when it is determined that the automatic driving vehicle 1 cannot be parked/stopped at the first parking/stopping predetermined position; acquiring a vehicle position indicating a present position of the automatic driving vehicle 1; setting a route to the second parking/stopping predetermined position from the vehicle position; controlling movement of the automatic driving vehicle 1 on the basis of the route; and transmitting first notification information to a recipient terminal 2.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a control device, control method, and program for an automatic driving vehicle.

In recent years, there has been proposed an online delivery system using an unmanned and automatically driven vehicle (see, for example, Patent Literature 1). In this online delivery system, a self-driving vehicle equipped with a locker travels from a delivery center to a delivery destination (for example, in front of the recipient's home). When the self-driving vehicle arrives at the delivery destination of the package, the recipient can leave the home and move to the self-driving car to receive the package from the locker of the self-driving car.

On the other hand, in the case of delivery by a vehicle driven by a delivery company driver, when the vehicle arrives at the destination of the package, the driver delivers the package to the door of the recipient's home, so that the recipient can You can receive your luggage directly from the driver while staying at home.

As a result, an online delivery system using self-driving vehicles increases the burden on the recipient, but at the same time eliminates the need for a driver for the delivery company, thereby reducing the labor cost of the driver. As a result, it is possible to set a lower delivery fee than delivery by a vehicle driven by a driver. In particular, it is possible to provide low-cost deliveries during hours when driver labor costs rise (for example, early morning or late at night). In addition, since the recipient can receive the package without the driver knowing the address, the personal information of the recipient can be protected.

U.S. Pat. No. 9,256,852 JP-A-2009-31196

In the online delivery system using the self-driving vehicle described above, the self-driving vehicle parks and stops at the delivery destination so that the recipient can receive the package at the delivery destination. However, if the delivery destination is included in the no-parking/stopping area stipulated by the Road Traffic Law, there is a risk of violating the Road Traffic Law by parking and stopping the autonomous vehicle at the delivery destination.

In addition, there is known a technique of notifying a driver of a parking/stopping violation when a vehicle driven by a driver is parked or stopped in a no-parking/stopping area (see, for example, Patent Literature 2). However, since this technology is intended for vehicles driven by drivers, it cannot be applied to self-driving vehicles that run unmanned.

Therefore, the present invention provides a control device and control method for an automatically driving vehicle that can control the movement of the automatically driving vehicle when it is impossible to park or stop the automatically driving vehicle at the first planned parking position. and provide programs.

A control method for an automatically driving vehicle according to an aspect of the present invention is a control method for an automatically driving vehicle that is a vehicle for delivering packages to a delivery destination, comprising: (a) an object to be imaged by an imaging unit; (b) acquiring a photographed image and identifying the object to be photographed based on the photographed image; (c) based on the first parking/stopping area and a first planned parking/stopping position indicating a planned parking/stopping position of the autonomous vehicle; (d) stopping and parking the automatically operated vehicle at the first planned parking position; is determined to be impossible, based on a predetermined change condition, change the scheduled parking/stopping position of the automatically driven vehicle from the first scheduled parking/stopping position to a second scheduled parking/stopping position. (e) obtaining a vehicle position indicating the current position of the automatically driven vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and determining the position of the automatically driven vehicle based on the route; (f) first notification information indicating that the scheduled parking/stopping position of the autonomous vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position; and transmitting the generated first notification information to a recipient terminal operated by the recipient of the parcel.

In addition, these comprehensive or specific aspects may be realized by a system, method, integrated circuit, computer program, or a recording medium such as a computer-readable CD-ROM (Compact Disc-Read Only Memory). , methods, integrated circuits, computer programs and storage media.

According to the method for controlling an automatically driven vehicle according to an aspect of the present invention, when it is impossible to park or stop the automatically driven vehicle at the first planned parking position, the automatically driven vehicle is scheduled to park or stop. position is changed from the first planned parking/stopping position to the second planned parking/stopping position, and a route from the vehicle position to the second planned parking/stopping position is set. Then, the automatically driven vehicle is autonomously moved based on the route. As a result, the automatically driven vehicle can be parked or stopped at the second planned parking/stopping position.

1 is a conceptual diagram showing the overall configuration of an online delivery system according to Embodiment 1; FIG. 1 is a block diagram showing a functional configuration of an automatic driving vehicle according to Embodiment 1; FIG. It is a figure which shows an example of the parking-stop-prohibited area|region determination rule based on the provision of Road Traffic Law Article 44. FIG. It is a figure which shows the example 1 of the 1st parking-stop-prohibited area|region. It is a figure which shows the example 2 of the 1st parking-stop-prohibited area|region. It is a figure which shows an example of a 1st planned parking/stopping position. It is a figure which shows an example of a residence display by a block system. It is a figure which shows an example of a house display by a road system. 8 is a diagram showing an example of a first planned parking/stopping position in the example of FIG. 7; FIG. It is a figure which shows an example of the method of changing the planned parking-stop position of an automatic driving vehicle. It is a figure which shows an example of the method of changing the planned parking-stop position of an automatic driving vehicle. 2 is a block diagram showing a functional configuration of a recipient terminal according to Embodiment 1; FIG. 4 is a flow chart showing the flow of operations of the automatically driven vehicle according to Embodiment 1. FIG. FIG. 10 is a diagram showing a display example 1 of notification information on the recipient's terminal according to the first embodiment; FIG. 10 is a diagram showing a display example 2 of notification information on the recipient's terminal according to the first embodiment; FIG. 10 is a diagram showing a display example 3 of notification information on the recipient's terminal according to the first embodiment; It is a figure which shows an example of the no-parking area|region setting rule based on the provision of Road Traffic Law Article 45. FIG. It is a figure which shows an example of a parking prohibition area|region. FIG. 10 is a diagram showing a display example 4 of notification information on the recipient's terminal according to the first embodiment; FIG. 7 is a block diagram showing the functional configuration of an automatically driven vehicle according to Embodiment 2; It is a figure which shows the example 1 of the peripheral area|region of the 1st planned parking/stopping position. It is a figure which shows the example 2 of the peripheral area|region of the 1st planned parking/stopping position. 9 is a flow chart showing the flow of operations of an automatically driven vehicle according to Embodiment 2. FIG. FIG. 10 is a diagram showing a display example 1 of notification information on the recipient's terminal according to the second embodiment; FIG. 10 is a diagram showing a display example 2 of notification information on the recipient's terminal according to the second embodiment; FIG. 10 is a diagram showing a display example 3 of notification information on the recipient's terminal according to the second embodiment;

A control method for an automatically driving vehicle according to an aspect of the present invention is a control method for an automatically driving vehicle that is a vehicle for delivering packages to a delivery destination, comprising: (a) an object to be imaged by an imaging unit; (b) acquiring a photographed image and identifying the object to be photographed based on the photographed image; (c) based on the first parking/stopping area and a first planned parking/stopping position indicating a planned parking/stopping position of the autonomous vehicle; (d) stopping and parking the automatically operated vehicle at the first planned parking position; is determined to be impossible, based on a predetermined change condition, change the scheduled parking/stopping position of the automatically driven vehicle from the first scheduled parking/stopping position to a second scheduled parking/stopping position. (e) obtaining a vehicle position indicating the current position of the automatically driven vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and determining the position of the automatically driven vehicle based on the route; (f) first notification information indicating that the scheduled parking/stopping position of the autonomous vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position; and transmitting the generated first notification information to a recipient terminal operated by the recipient of the parcel.

For example, in (f) above, further generating second notification information indicating the reason for changing the scheduled parking and stopping position of the automated driving vehicle, and sending the generated second notification information to the recipient terminal may be configured to transmit

For example, in the above (f), further, when the second planned parking/stopping position is included in a parking/stopping area indicating a predetermined area including the first planned parking/stopping position, the first The notification information may be configured not to be transmitted to the recipient terminal.

For example, in the above (f), further, third notification information indicating the second scheduled parking/stopping position is generated, and the generated third notification information is transmitted to the recipient terminal. good too.

For example, the control method may further include (g) determining a no-parking area indicating an area where parking of the autonomous vehicle is prohibited based on the imaged object identified by (a); (h) when it is determined that the automatically driven vehicle can be parked or stopped by (c), the first parking is performed based on the parking prohibited area and the first planned parking/stopping position; and determining whether or not it is possible to park the automatically driven vehicle at the planned stop position, and in the above (f), furthermore, in the above (h), it is impossible to park the automatically driven vehicle. when it is determined that the automated driving vehicle can only stop at the first scheduled parking/stopping position for a predetermined period of time, generating fourth notification information, and generating the generated fourth notification information to the recipient terminal.

For example, in the above (e), further, when it is determined that the automatically driven vehicle cannot be parked in the above (h), the automatically driven vehicle is set at the first planned parking/stopping position. You may comprise so that a period may be stopped.

For example, in (e) above, further generating fifth notification information indicating that the recipient is prompted to select a delivery method for the parcel, and transmitting the generated fifth notification information to the recipient terminal. It may be configured to

For example, in the above (e), when the receiver's selection information for the fifth notification information is received from the receiver's terminal, based on the received selection information, the movement of the self-driving vehicle is controlled. can be configured to

A control device for an automatically driving vehicle according to one aspect of the present invention is a control device for an automatically driving vehicle, which is a vehicle for delivering packages to a delivery destination, wherein a photographed image of an object photographed by an imaging unit is captured. an object identification unit that acquires and identifies the object to be imaged based on the photographed image; and based on the object to be imaged identified by the object identification unit, it is impossible to park or stop the automatic driving vehicle. A no-parking/stopping area determination unit that determines a first no-parking/stopping area indicating a certain area, the first no-parking/stopping area, and a first parking/stopping area indicating a position where the autonomous vehicle is scheduled to park or stop. a parking/stopping determination unit that determines whether it is possible to park or stop the automatically driven vehicle at the first scheduled parking/stopping position based on the scheduled position; When it is determined that the automatically driven vehicle cannot be parked or stopped at one scheduled parking position, the position at which the automatically driven vehicle is scheduled to park or stop is changed to the first parking position based on a predetermined change condition. A scheduled parking/stopping position changing unit that changes the scheduled parking/stopping position from the second scheduled parking/stopping position to a second scheduled parking/stopping position, and acquires a vehicle position indicating the current position of the automatically driven vehicle, and obtains the second parking/stopping schedule from the vehicle position. a movement control unit that sets a route to a position and controls movement of the automatically driven vehicle based on the route; a notification control unit for generating first notification information indicating that the vehicle has been changed to the scheduled parking/stopping position of the parcel, and transmitting the generated first notification information to a receiver terminal operated by the receiver of the package; Prepare.

A program according to an aspect of the present invention is a program for controlling an automatically driven vehicle that is a vehicle for delivering packages to a delivery destination, comprising: (a) obtaining a photographed image of an object photographed by an imaging unit; (b) a first parking/stopping area indicating an area where the autonomous vehicle cannot park or stop based on the identified object to be photographed; (c) the first parking area based on the first parking/stopping area and a first planned parking/stopping position indicating a planned parking/stopping position of the autonomous vehicle; (d) determining whether it is possible to park or stop the autonomous vehicle at the planned parking position; and (d) impossible to park or stop the autonomous vehicle at the first planned parking position. a step of changing the planned parking/stopping position of the automatically driven vehicle from the first planned parking/stopping position to a second planned parking/stopping position, based on a predetermined change condition, when it is determined that (e) acquiring a vehicle position indicating the current position of the automatically driven vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and controlling movement of the automatically driven vehicle based on the route; (f) generating first notification information indicating that the scheduled parking/stopping position of the automated driving vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position; a step of transmitting the generated first notification information to a recipient terminal operated by the recipient of the package.

A control method for an automatically driving vehicle according to an aspect of the present invention is a control method in a control device for an automatically driving vehicle, wherein the control device obtains a photographed image of an object photographed by an imaging unit, identifying the object to be imaged based on the captured image; determining a first parking/stopping area indicating an area where the automatic driving vehicle cannot park or stop based on the identified object to be imaged; The automatic driving vehicle can be parked or stopped at the first planned parking position based on the 1 parking prohibited area and the first planned parking position indicating the position where the automatic driving vehicle is planned to park. determining whether or not it is possible, identifying that the object to be photographed is a moving object, and determining that it is impossible to park or stop the autonomous vehicle at the first planned parking/stopping position; If so, obtain a vehicle position indicating the current position of the automated driving vehicle, set a route from the vehicle position to the first planned parking/stopping position, and restart the automated driving vehicle after a predetermined period of time has elapsed. and controlling the movement of the autonomous vehicle based on the route so as to arrive at the first planned parking/stopping position.

For example, the control device further stores a parking/stopping area indicating a predetermined area including the first planned parking/stopping position in the storage unit, and parks/stops the autonomous vehicle at the first planned parking/stopping position. If it is determined that it is impossible to stop and park, the position where the automated driving vehicle is scheduled to park is changed from the first scheduled parking/stopping position to a second scheduled parking/stopping position based on a predetermined change condition. wherein the predetermined change condition determines a possible parking/stopping area, which is an area other than the first non-parking/stopping area in the parking/stopping area, and when the autonomous vehicle is parked/stopped, The second parking position is a position where the area of the automatically driven vehicle does not overlap with the first parking prohibited area and at least a part of the area of the automatically driven vehicle is included in the parking permitted area. It may be configured such that the condition is that the position is determined as the planned stop position.

For example, the control device further determines a peripheral area of the first planned parking/stopping position based on the first planned parking/stopping position, and based on map information and rules regarding parking prohibition, the automated driving vehicle A storage unit stores a second parking/stopping prohibited area determined in advance as an area where parking/stopping is prohibited, and it is impossible to park/stop the automated driving vehicle at the first scheduled parking/stopping position. When it is determined that there is, based on a predetermined change condition, the position where the automatic driving vehicle is scheduled to park is changed from the first scheduled parking/stopping position to a second scheduled parking/stopping position, and the predetermined parking/stopping position The change condition is based on the determined surrounding area and the second parking prohibited area, and sets a position where the autonomous vehicle can park or stop in the surrounding area as the second planned parking/stopping position. It may be configured so that the condition is to determine.

For example, the control device further stores in the storage unit a scheduled parking/stopping list indicating a plurality of scheduled parking/stopping positions at which the autonomous vehicle is scheduled to park in order, When it is determined that the automatic driving vehicle cannot be parked or stopped, the position where the automatic driving vehicle is scheduled to park or stop is changed from the first scheduled parking/stopping position to a second parking/stopping position based on a predetermined change condition. and the predetermined change condition is based on the scheduled parking/stopping list, and the predetermined change condition is the parking/stopping position at which the vehicle is scheduled to park next to the first scheduled parking/stopping position among the plurality of scheduled parking/stopping positions. The condition may be such that the planned stop position is determined to be the second planned parking/stopping position.

A control device for an automatically driving vehicle according to one aspect of the present invention is a control device for an automatically driving vehicle, in which a photographed image of an object to be photographed photographed by an imaging unit is obtained, and based on the photographed image, the object to be photographed is obtained. and a first no-parking/stopping area indicating an area where the automatic driving vehicle cannot park or stop based on the object to be imaged identified by the object to be imaged identification unit. The first parking/stopping schedule is based on the parking/stopping area determination unit that determines the parking/stopping area, and the first parking/stopping area that indicates the scheduled parking/stopping position of the autonomous vehicle. a parking/stopping determination unit for determining whether or not the automatically driven vehicle can be parked/stopped at a position; When it is determined that it is impossible to park or stop the automatically driven vehicle at the position, a vehicle position indicating the current position of the automatically driven vehicle is acquired, and the distance from the vehicle position to the first planned parking/stopping position is obtained. and a movement control unit that sets a route, wherein the movement control unit further sets the route so that the automatically driven vehicle arrives at the first planned parking/stopping position again after a predetermined period of time has elapsed. to control the movement of the autonomous vehicle based on.

A program according to one aspect of the present invention is a program for controlling a control device of an automatic driving vehicle, acquires a photographed image of an object photographed by an imaging unit, and determines the object to be photographed based on the photographed image. determining a first parking/stopping area indicating an area where parking/stopping of the automatically driven vehicle is impossible based on the identified object; determining the first parking/stopping area and the automatic vehicle; Determining whether or not it is possible to park or stop the automatically driven vehicle at the first scheduled parking/stopping position based on the first scheduled parking/stopping position indicating the scheduled parking/stopping position of the driving vehicle. , when it is determined that the object to be photographed is a mobile body and it is impossible to park or stop the automatically driven vehicle at the first planned parking position, the automatically driven vehicle A vehicle position indicating the current position is acquired, a route from the vehicle position to the first planned parking/stopping position is set, and the automatically driven vehicle returns to the first planned parking/stopping position after a predetermined period of time. controlling the movement of the autonomous vehicle based on the route so as to arrive at the

A control device for an automatically driving vehicle according to one aspect of the present invention is a control device for an automatically driving vehicle, in which a photographed image of an object to be photographed photographed by an imaging unit is obtained, and based on the photographed image, the object to be photographed is obtained. and a first parking prohibited area indicating an area where the automatic driving vehicle is prohibited from parking or stopping based on the object to be imaged identified by the object identification unit to be imaged. a parking/stopping area determination unit to determine; a storage unit that stores a first planned parking/stopping position indicating a planned parking/stopping position of the automatically driven vehicle; and the first parking/stopping area and the first A parking/stopping determination unit that determines whether it is possible to park or stop the automatically driven vehicle at the first scheduled parking/stopping position based on the scheduled parking/stopping position, and the parking/stopping determination unit When it is determined that the automatically driven vehicle cannot be parked or stopped, the position where the automatically driven vehicle is scheduled to park or stop is changed from the first scheduled parking or stopping position to the second position based on a predetermined change condition. A planned parking/stopping position changing unit that changes the parking/stopping position to the planned parking/stopping position of 2, acquires a vehicle position indicating the current position of the automatically driven vehicle, and sets a route from the vehicle position to the second planned parking/stopping position. and a movement control unit that controls movement of the automatically driven vehicle based on the route.

According to this aspect, when the automatically driven vehicle cannot be parked or stopped at the first planned parking position, the planned parking position of the automatically driven vehicle is changed from the first planned parking position to the first position. 2, and the automatically driven vehicle is autonomously moved to the changed second planned parking/stopping position. As a result, it is possible to prevent the automatically driven vehicle from illegally parking or stopping at the first planned parking position.

For example, the storage unit further stores a parking/stopping area indicating a predetermined area including the first planned parking/stopping position, and the predetermined change condition is the first parking/stopping area in the parking/stopping area. A parking-stoppable area, which is an area other than the prohibited area, is determined, and when the automatically driven vehicle is parked or stopped, the area of the parked automatically driven vehicle does not overlap with the first parking-stopped area, and , a position where at least part of the area of the automatically driven vehicle is included in the parking/stopping area is determined as the second planned parking/stopping position.

According to this aspect, for example, when the parking/stopping area is the area designated as the delivery destination of the package, the second planned parking/stopping position is within the area designated as the delivery destination. As a result, the package can be delivered to the delivery destination as desired by the receiver of the package.

For example, the control device further includes a surrounding area determination unit that determines a surrounding area of the first planned parking/stopping position based on the first planned parking/stopping position, and the storage unit further includes map information and a second parking-stopping area determined in advance as an area in which the automatic driving vehicle is prohibited from parking or stopping based on rules regarding parking prohibition, and the predetermined change condition is the peripheral area determination unit Based on the peripheral area determined by and the second parking prohibited area, the position where the automatic driving vehicle can park and stop in the peripheral area is determined as the second planned parking/stopping position. You may configure so that it is the condition that

According to this aspect, when the scheduled parking/stopping position of the automated driving vehicle cannot be changed in the parking/stopping area, in the peripheral area of the first scheduled parking/stopping position, a position to be an alternative location for the first scheduled parking/stopping position is set. Since the planned parking/stopping position of the automated driving vehicle is changed to that position, it is possible to give priority to the parking/stopping area and try to change the planned parking/stopping position. For example, if the parking/stopping area is the area specified as the delivery destination of the package, we will try to change the planned parking/stopping position with priority given to the area specified as the delivery destination. You can deliver your parcels according to your wishes.

For example, the storage unit further stores a scheduled parking/stopping list indicating a plurality of scheduled parking/stopping positions at which the automated driving vehicle is scheduled to park in order, and the predetermined change condition is specified in the scheduled parking/stopping list. based on the condition that, among the plurality of scheduled parking/stopping positions, the scheduled parking/stopping position where the vehicle is scheduled to park next to the first scheduled parking/stopping position is determined as the second scheduled parking/stopping position. may be configured.

According to this aspect, the planned parking/stopping position of the automatically driven vehicle can be changed with a simple configuration. In addition, when the parking and stopping times at a plurality of scheduled parking and stopping positions are determined in advance, the scheduled parking and stopping positions other than the first scheduled parking and stopping position where it has been determined that the vehicle cannot be parked and stopped are at the scheduled times. Autonomous vehicles can be parked on the street.

For example, the scheduled parking/stopping position changing unit may allow the object to be imaged identification unit to identify that the object to be imaged is a moving object, and the parking/stopping decision unit to park/stop the autonomous vehicle. When it is determined that it is impossible, the movement control unit does not change the planned parking/stopping position of the automated driving vehicle from the first planned parking/stopping position to the second planned parking/stopping position, and Further, a route from the vehicle position to the first planned parking/stopping position is set, and the automatic driving vehicle again arrives at the first planned parking/stopping position after a predetermined period of time. The movement of the automatically driven vehicle may be controlled based on the route.

According to this aspect, it is determined autonomously that it is impossible to temporarily stop and park the automatically driven vehicle because another mobile object is parked or stopped at the first scheduled parking position, The movement of the automatically driven vehicle can be controlled so that the automatically driven vehicle reaches the first planned parking/stopping position again after a predetermined period of time has elapsed. Furthermore, since it is not necessary to change the planned parking/stopping position of the automatically driving vehicle, the processing of the automatically driving vehicle can be simplified.

For example, the self-driving vehicle is a vehicle for delivering a package to a delivery destination, the storage unit further stores in advance the address of a recipient terminal operated by the recipient of the package, and the control device Further, generating first notification information indicating that the scheduled parking/stopping position of the automated driving vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position, and sending the first notification information to the address A notification control unit may be provided for transmitting the generated first notification information to the recipient terminal based on the above.

According to this aspect, when the automatically driven vehicle cannot be parked or stopped at the first scheduled parking position, the recipient at the delivery destination is notified that the scheduled parking position of the automatically driven vehicle has been changed. can be grasped.

For example, the notification control unit further generates second notification information indicating the reason for changing the planned parking and stopping position of the autonomous vehicle, and based on the address, sends the generated second notification information. It may be configured to transmit to the recipient terminal.

According to this aspect, for example, when the reason for changing the planned parking/stopping position of the automatically driving vehicle is that the first planned parking/stopping position is included in the first parking/stopping prohibited area, the recipient of the delivery destination can recognize that it is impossible to receive the package at the first planned parking/stopping position. On the other hand, if the reason for changing the scheduled parking/stopping position of the automated driving vehicle is that another vehicle is parked/stopped at the first parking/stopping position, the recipient at the delivery destination will: a) set the delivery time; Recognize that you have two options: change and have the autonomous vehicle deliver to the first parking location again, or b) have the autonomous vehicle park at another location. can be done.

For example, the notification control unit is further configured not to transmit the first notification information to the recipient terminal when the second planned parking/stopping position is included in the parking/stopping area. good too.

According to this aspect, if the package can be delivered according to the recipient's wishes, it is not necessary to notify the recipient of the change in the scheduled parking and stopping position of the automatically driving vehicle. Therefore, notification processing by the notification control unit can be omitted.

For example, the notification control unit further generates third notification information indicating the second planned parking/stopping position, and transmits the generated third notification information to the recipient terminal based on the address. It may be configured as

According to this aspect, the recipient can grasp the second planned parking/stopping position based on the third notification information, and receives the parcel at the second planned parking/stopping position where the autonomous vehicle parks/stops. can go to

For example, the control device further determines a no-parking area indicating an area where parking of the automatically driven vehicle is prohibited, based on the object identified by the object-to-be-photographed identification unit. and when it is determined that the automatically driven vehicle can be parked or stopped by the parking/stopping determination unit, the first A parking feasibility determination unit that determines whether it is possible to park the automatically driven vehicle at the planned parking/stopping position, and the notification control unit further determines whether the automatically driven vehicle is determined by the parking feasibility determination unit. generating fourth notification information indicating that the automatically driven vehicle can only stop at the first planned parking/stopping position for a predetermined period of time when it is determined that parking is impossible; may be configured to transmit the generated fourth notification information to the recipient terminal.

According to this aspect, the recipient can understand that the automatically driven vehicle can only stop at the first scheduled parking/stopping position for a predetermined period of time. As a result, the recipient can recognize that it is necessary to receive the parcel within the predetermined period when the automatically driven vehicle is stopped.

For example, the movement control unit further moves the automatically driven vehicle to the first planned parking/stopping position when the parking availability determining unit determines that the automatically driven vehicle cannot be parked. It may be configured to stop the vehicle for a predetermined period.

According to this aspect, since the automatically driven vehicle is stopped at the first planned parking/stopping position for a predetermined period of time, it is possible to prevent the automatically driving vehicle from illegally parking at the first planned parking/stopping position.

For example, the notification control unit further generates fifth notification information indicating that the recipient is prompted to select a delivery method for the parcel, and sends the generated fifth notification information to the address based on the address. It may be configured to transmit to the recipient terminal.

According to this aspect, in order to inquire of the recipient about the selection (change) of the delivery method of the package due to the change in the scheduled parking and stopping position of the automatic driving vehicle, the package is delivered by the delivery method according to the request of the receiver. It can be performed.

For example, when the movement control unit receives the recipient's selection information for the fifth notification information from the recipient terminal, the movement control unit controls the movement of the automatic driving vehicle based on the received selection information. can be configured to

According to this aspect, the movement of the automatically driven vehicle is controlled based on the recipient's response, so the parcel can be delivered by a delivery method that meets the recipient's wishes.

For example, the photographed object identifying unit may acquire the photographed image when the position of the automatically driven vehicle is within a predetermined distance range from the first planned parking/stopping position.

According to this configuration, it is possible not to perform each of the above-described processes at a place far from the first planned parking/stopping position. As a result, waste of processing resources such as a CPU (Central Processing Unit) can be suppressed.

Further, a control method for an automatically driving vehicle according to one aspect of the present invention is a control method for an automatically driving vehicle, in which a photographed image of an object to be photographed by an imaging unit is obtained, and based on the photographed image, the object is obtained. identifying an object to be photographed; determining a first parking/stopping prohibited area indicating an area where parking/stopping of the automatically driven vehicle is prohibited based on the identified object to be photographed; and determining the automatically driven vehicle. storing a first planned parking/stopping position indicating a planned parking/stopping position in a storage unit; and based on the first parking/stopping prohibited area and the first planned parking/stopping position, a step of determining whether or not the automatically driven vehicle can be parked or stopped at the planned parking position; and it is impossible to park or stop the automatically driven vehicle at the first planned parking position. If it is determined that the automatic vehicle obtaining a vehicle position indicating the current position of the driving vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and controlling movement of the automatically driven vehicle based on the route. .

According to this aspect, when the automatically driven vehicle cannot be parked or stopped at the first planned parking position, the planned parking position of the automatically driven vehicle is changed from the first planned parking position to the first position. 2, and the automatically driven vehicle is autonomously moved to the changed second planned parking/stopping position. As a result, it is possible to prevent the automatically driven vehicle from illegally parking or stopping at the first planned parking position.

Further, a program according to an aspect of the present invention is a program for controlling an automatic driving vehicle, acquires a photographed image of a photographed object photographed by an imaging unit, and identifies the photographed object based on the photographed image. determining a first parking/stopping area indicating an area where parking/stopping of the automatically driven vehicle is prohibited based on the identified object to be photographed; and parking/stopping of the automatically driven vehicle. storing a first planned parking/stopping position indicating a planned position in a storage unit; and determining the first planned parking/stopping position based on the first parking/stopping prohibited area and the first planned parking/stopping position. and a step of determining whether it is possible to park or stop the automatically operated vehicle at the first scheduled parking/stopping position. a step of changing the scheduled parking/stopping position of the automated driving vehicle from the first scheduled parking/stopping position to a second scheduled parking/stopping position based on a predetermined change condition; Acquiring a vehicle position indicating a position, setting a route from the vehicle position to the second planned parking/stopping position, and controlling movement of the automatically driven vehicle based on the route.

According to this aspect, when the automatically driven vehicle cannot be parked or stopped at the first planned parking position, the planned parking position of the automatically driven vehicle is changed from the first planned parking position to the first position. 2, and the automatically driven vehicle is autonomously moved to the changed second planned parking/stopping position. As a result, it is possible to prevent the automatically driven vehicle from illegally parking or stopping at the first planned parking position.

In addition, these comprehensive or specific aspects may be realized by a system, method, integrated circuit, computer program, or a recording medium such as a computer-readable CD-ROM. Or it may be realized by any combination of recording media.

Hereinafter, embodiments will be specifically described with reference to the drawings.

It should be noted that the embodiments described below are all comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are examples and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in independent claims representing the highest concept will be described as arbitrary constituent elements.

(Embodiment 1)
[1-1. Overall configuration of online delivery system]
First, referring to FIG. 1, the overall configuration of the online delivery system according to Embodiment 1 will be described. FIG. 1 is a conceptual diagram showing the overall configuration of an online delivery system according to Embodiment 1. As shown in FIG.

The online delivery system according to Embodiment 1 is, for example, a system for delivering products (parcels) to a delivery destination by an automatically driving vehicle 1 in online shopping. As shown in FIG. 1, the online delivery system includes an automatically driving vehicle 1 and a recipient terminal 2 that communicates with the automatically driving vehicle 1 via a network such as the Internet.

FIG. 1 shows a state in which an automatically driven vehicle 1 arrives near a delivery destination building 3 and attempts to park and stop at a first planned parking/stopping position (described later) stored in advance. Around the delivery destination building 3, a road sign 4 indicating no parking or stopping is installed. A recipient 5 of the package resides in a delivery destination building 3, and the recipient 5 has a recipient terminal 2. - 特許庁

The automatic driving vehicle 1 is a vehicle that automatically runs unmanned according to a running program, and is equipped with a locker or the like for storing a plurality of luggage. The automatic driving vehicle 1 photographs an object to be photographed (for example, a road sign 4 or the like) around the automatic driving vehicle 1 to obtain a photographed image, and identifies the photographed object from the photographed image. Furthermore, based on the identification result of the object to be imaged, the automatically driving vehicle 1 determines a first parking/stopping area (described later) indicating an area where parking/stopping of the automatically driving vehicle 1 is prohibited. Based on the non-parking/stopping area and the first planned parking/stopping position stored in advance, it is determined whether or not the vehicle can be parked/stopped at the first planned parking/stopping position. Furthermore, when it is determined that the automatic driving vehicle 1 cannot park or stop at the first planned parking position, the position where the vehicle 1 is to be parked or stopped (planned parking/stopping position) is determined based on a predetermined change condition. is changed from the first scheduled parking/stopping position to a second scheduled parking/stopping position (to be described later), and the recipient terminal 2 is notified.

The recipient terminal 2 is a terminal operated by the recipient 5, such as a mobile phone, a smart phone, a tablet terminal, or a personal computer. The recipient terminal 2 has, for example, a function of displaying a notification from the automatically driving vehicle 1 to the recipient 5, a function of receiving an input operation by the recipient 5, and a function of communicating with the automatically driving vehicle 1.

Each configuration of the automatic driving vehicle 1 and the recipient terminal 2 will be described in detail below.

[1-2. Functional Configuration of Autonomous Driving Vehicle]
First, referring to FIG. 2, the functional configuration of the automatically driven vehicle 1 (control device for the automatically driven vehicle 1) will be described. FIG. 2 is a block diagram showing the functional configuration of the automatic driving vehicle 1 according to Embodiment 1. As shown in FIG.

As shown in FIG. 2, the automated driving vehicle 1 includes a communication unit 11, an imaging unit 12, a position measurement unit 13, a sensor unit 14, a drive unit 15, a control unit 16, and a storage unit 17. ing.

The communication unit 11 wirelessly transmits various information to the communication unit 41 (see FIG. 12 described later) of the recipient terminal 2 and receives various information from the communication unit 41 of the recipient terminal 2. .

The image pickup unit 12 is a camera for photographing objects around the automatic driving vehicle 1 . For example, a plurality of imaging units 12 are mounted on the automatically driven vehicle 1, and are attached to the front end, the rear end, the right side, and the left side of the automatically driven vehicle 1, for example. Note that the position and the number of the image capturing units 12 mounted are not limited to the above configuration as long as the configuration is such that an object to be captured around the automatic driving vehicle 1 can be captured. For example, instead of a configuration in which one image pickup unit 12 is attached to the right side (left side) of the automatic operation vehicle 1, two image pickup units 12 are attached to the right front end (left front end) and the right side of the automatic operation vehicle 1, respectively. It may be configured to be attached to two locations at the rear end (left rear end).

The position measuring unit 13 is composed of, for example, a GPS (Global Positioning System) receiver or the like, and periodically measures and acquires vehicle position information indicating the current position of the automatically driven vehicle 1 . Information about the vehicle position is represented by latitude and longitude, for example.

The sensor unit 14 senses information about the surrounding environment of the automatically driving vehicle 1 and information about the state of the automatically driving vehicle 1 .

Sensors that sense information about the surrounding environment of the automatic driving vehicle 1 include, for example, LIDAR (Light Detection and Ranging) and millimeter wave radar. LIDAR detects the distance and relative speed to surrounding objects by measuring the time it takes for an infrared laser to be emitted and reflected by an object. This makes it possible to read the three-dimensional structure of the surrounding environment. Also, the millimeter-wave radar performs measurement similar to LIDAR, but uses radio waves instead of infrared radar. LIDAR, which uses infrared radar, can be used at night, but its performance deteriorates in bad weather. On the other hand, millimeter-wave radar using radio waves is inferior to LIDAR in resolution, but can be detected regardless of the weather, and compensates for cases where LIDAR cannot measure.

Sensors that sense information about the state of the automatic driving vehicle 1 include an odometer, an inertial sensor, and the like. The odometer measures the number of revolutions of the tires to measure the distance traveled by the autonomous vehicle 1 . The inertial sensor is a sensor configured from a triaxial angular velocity sensor and a tridirectional acceleration sensor to detect the amount of inertial momentum, and detects the behavior of the automatic driving vehicle 1 .

The driving unit 15 is, for example, an engine and a transmission when the automatic driving vehicle 1 is an engine vehicle. Further, when the automatic driving vehicle 1 is an electric vehicle (battery vehicle) in a narrow sense, the drive unit 15 is, for example, a traveling motor and a transmission. Both the engine and travel motor are started and stopped via an ignition switch.

The control unit 16 is composed of, for example, a CPU. The control unit 16 includes a movement control unit 21 , an object to be photographed identification unit 22 , a parking/stopping prohibited area determination unit 23 , a parking/stopping possibility determination unit 24 , a planned parking/stopping position changing unit 25 , and a notification control unit 26 . Prepare.

The movement control unit 21 controls movement of the automatically driven vehicle 1 based on an automatic operation basic program stored in an automatic operation basic program storage unit 302 (described later). Specifically, the movement control unit 21 determines the movement direction of the automatically driven vehicle 1 based on the route stored in the route information storage unit 303 (described later) and the vehicle position acquired by the position measurement unit 13. , based on the automatic driving basic program, the automatic driving vehicle 1 is moved in the determined movement direction.

The photographed object identification unit 22 identifies the photographed object photographed by the imaging unit 12 based on a photographed object identification program stored in a photographed object identification program storage unit 308 (described later). The photographed object identification unit 22 identifies the photographed object by, for example, performing pattern matching between an image template stored in advance and the photographed image of the photographed object. It should be noted that the pattern matching between the image template and the photographed image of the object to be photographed preferably uses machine learning to identify the object to be photographed with higher accuracy. It is preferable that the learning data used in machine learning is learning data including not only the data of the own vehicle but also the data of other vehicles. These learning data can be acquired via the communication unit 11 from an external server (not shown) or the like, which is a management device that accumulates learning data.

The no-parking/stopping area determination unit 23 indicates an area where parking/stopping of the autonomous vehicle 1 is prohibited based on a no-parking/stopping area determination program stored in a no-parking/stopping area determination program storage unit 309 (to be described later). A first no-parking/stopping area is determined. Specifically, the parking/stopping prohibited area determination unit 23 stores in advance a parking/stopping prohibited area setting rule determined for each object to be photographed, and based on the parking/stopping prohibited area setting rule, the object identification unit 22 A first no-parking/stopping area is determined from the identified object to be photographed. The no-parking/stopping area setting rule includes at least: a) a rule for setting a first no-parking/stopping area based on laws and regulations regarding parking prohibition; It is a configuration including rules to be set. The no-parking/stopping area setting rule is determined in advance by a system administrator or the like.

For example, in the case of Japan, Article 44 of the Road Traffic Law has provisions regarding parking and stopping prohibition. FIG. 3 is a diagram showing an example of a no-parking/stopping area setting rule based on Article 44 of the Road Traffic Law. In the example shown in FIG. 3, when the object to be photographed is a "crosswalk", the no-parking/stopping area setting rule is based on the provisions of Article 44, Item 1 and Item 3 of the Road Traffic Law. part, and the part within 5 meters from the front and rear side edges of the pedestrian crossing.”

FIG. 4 is a diagram showing an example 1 of the first parking prohibited area. In the example shown in FIG. 4, when the object to be photographed is a "crosswalk", the first no-parking/stopping area (area indicated by the dashed line) is set based on the no-parking/stopping area setting rule shown in FIG. .

In addition, the rule for setting the area where the object to be photographed exists as the first parking prohibited area is such that the automatic driving vehicle 1 is parked and stopped in the area where the object to be photographed exists because the object to be photographed becomes an obstacle. This rule is necessary because it is not possible to FIG. 5 is a diagram showing Example 2 of the first parking/stopping prohibited area. In the example shown in FIG. 5, when another vehicle 6 is parked on the road, the area where the vehicle 6 exists (the area indicated by the dashed line) is determined as the first parking/stopping prohibited area.

The parking/stopping decision unit 24 stores a first planned parking/stopping position (described later) and the parking/stopping position stored in advance based on a parking/stopping decision program stored in a parking/stopping decision program storage unit 310 (described later). Based on the first parking/stopping prohibited area determined by the prohibited area determining unit 23, it is determined whether or not the automatically driven vehicle 1 can be parked/stopped at the first planned parking/stopping position. For example, the parking/stopping availability determination unit 24 determines whether or not the first scheduled parking/stopping position is included in the first parking/stopping prohibited area. is possible. When the first planned parking position is included in the first parking prohibited area, the parking/stopping possibility determination unit 24 makes it impossible to park or stop the automatically driven vehicle 1 at the first planned parking position. It is determined that On the other hand, when the first planned parking/stopping position is not included in the first parking/stopping prohibited area, it is determined that the autonomous vehicle 1 can be parked or stopped at the first planned parking/stopping position.

FIG. 6 is a diagram showing an example of a first planned parking/stopping position. As shown in FIG. 6 , the parking/stopping decision unit 24 determines a figure of a predetermined size (for example, a figure of a size corresponding to the size of the autonomous vehicle 1) in an area other than the first parking/stopping area. ) can be arranged so as to include the first planned parking position, it is possible to determine whether the automatically driven vehicle 1 can be parked or stopped at the first planned parking position. You can judge. In FIG. 6, the star marks represent the first planned parking/stopping positions, and the shaded area represents a figure of a predetermined size.

In the example shown in FIG. 6 , the parking/stopping availability determination unit 24 superimposes the first parking/stopping prohibited area on the map information, and then draws a figure of a predetermined size on the map information to indicate the first planned parking/stopping position. Arrange movably within the included range. As a result, the parking/stopping possibility determination unit 24 determines whether or not it is possible to arrange a figure of a predetermined size in an area other than the first parking/stopping prohibited area. It is determined whether or not the automatic driving vehicle 1 can be parked. The parking/stopping availability determination unit 24 determines that the automatically driven vehicle 1 can be parked/stopped at the first planned parking/stopping position when a figure of a predetermined size can be arranged. . On the other hand, when it is impossible to arrange a figure of a predetermined size, the parking/stopping determination unit 24 cannot park/stop the automatically driven vehicle 1 at the first planned parking/stopping position. Determine that there is.

By adopting this configuration, it is possible to determine whether or not the automatically driven vehicle 1 can be parked or stopped at the first planned parking/stopping position in consideration of the size of the automatically driven vehicle 1. . For example, when the first scheduled parking position is vacant, but another vehicle is parked before or after the first scheduled parking position, the automated driving vehicle 1 is moved to the first scheduled parking position. It can be determined that parking is impossible. In addition, when arranging a figure of a predetermined size as described above, it is preferable to have a configuration in which the figure can be arranged only in a predetermined direction. The reason for this is that when the automatically driven vehicle 1 is parked on the road, it is necessary to park and stop the automatically driven vehicle 1 so that the longitudinal direction of the automatically driven vehicle 1 is parallel to the traveling direction of the road.

The planned parking/stopping position change unit 25 changes the planned parking/stopping position when the parking/stopping determination unit 24 determines that the automatically driven vehicle 1 cannot be parked or stopped at the first planned parking/stopping position. Based on the planned parking/stopping position change program stored in the change program storage unit 311 (described later), the planned parking/stopping position of the autonomous vehicle 1 is changed from the first planned parking/stopping position to the second planned parking/stopping position. change. In the present embodiment, a method for changing the planned parking and stopping position of the automatically driven vehicle 1 within the range specified as the delivery destination will be described.

First, the range specified as the delivery destination will be described. When the recipient 5 requests the delivery company to deliver the package, in many cases, the address of the recipient 5 is designated as the delivery destination. Addresses are constructed based on a residential address scheme, but locations designated by the residential address scheme are represented by areas rather than dots. Therefore, the area specified by the address display system is the range specified as the delivery destination.

Mechanisms of address indication can be broadly divided into block system and road system. In the following, the structure of the block system and the road system and the locations specified as delivery destinations will be described.

First, referring to FIG. 7, the structure of the block system, which is widely used in Japan, will be described. FIG. 7 is a diagram showing an example of residential display in the block system. In the block system, in principle, a block surrounded by roads becomes a unit (block), and one town name is composed of one or a plurality of blocks. In the block system, a code called a block code is given. As shown in Fig. 7, this block code starts from a corner near the center of the municipality around the block, measures the distance clockwise along the outer circumference of the block, divides it into 10m to 15m intervals, and divides them in order. These are the base numbers assigned "1", "2", "3", ..., "12". For example, in the case of a residential display such as "...○-chome △ number x number", the △ part is the block number and the x part is the base number.

In this street block system, the residential address is represented by the base number of the location facing the entrance or the main entrance of the building to which the residential address is assigned. In the example shown in FIG. 7, the residential address of building A is "3", which is the base number at the position facing the entrance of building A. In FIG. Therefore, when the address of building A is designated as the delivery destination, the position designated as the delivery destination is the entire area of the base number "3" indicated by the residential address of building A.

Next, with reference to FIG. 8, the structure of the road system that is widely used overseas will be described. FIG. 8 is a diagram showing an example of residential display in the road system. As shown in FIG. 8, in the road system, the name "ABC Street" is given to the road, and the buildings facing or leading to the road are given the house numbers "1", "2", " 3”, . . . , “10” are given. A street address is indicated by a street name and a house number given to a building. In the example shown in FIG. 8, buildings on one side of the road "ABC Street" are assigned odd house numbers, and buildings on the other side are assigned even house numbers. In the example shown in FIG. 8, the address indication of building A is "1", which is the address number of building A, and the range is the area where building A faces the road. Therefore, when the address of the building A is specified as the delivery destination, the position specified as the delivery destination is the area where the building A shown in the residential display faces the road. The method of assigning house numbers differs depending on the country or region, but the mechanism of displaying houses by road names and house numbers assigned to buildings is the same.

As described above, the address specified as the delivery destination indicates an area. Therefore, when delivering a package by the automatic driving vehicle 1, any point in the area indicated by the address is set as the first planned parking/stopping position. will have to choose. The first planned parking/stopping position may be selected by the user, or may be automatically selected by a dedicated program. FIG. 9 is a diagram showing an example of the first planned parking/stopping position in the example of FIG. In the example shown in FIG. 9, the center of the area designated as the delivery destination is selected as the first planned parking/stopping position. As another example, when the position of the entrance of the building is known in advance, the configuration may be such that the location closest to the entrance of the building is determined as the first planned parking/stopping position.

Here, a method for changing the planned parking/stopping position of the automatically driving vehicle 1 by the planned parking/stopping position change unit 25 will be described with reference to FIGS. 10 and 11 . 10 and 11 are diagrams showing an example of a method for changing the planned parking/stopping position of the automatically driving vehicle 1. FIG. In the example shown in FIG. 10 , the first planned parking/stopping position (position indicated by a star) is included in the first parking/stopping prohibited area (area indicated by a dashed line). It is determined that it is impossible to stop and park the automatically driven vehicle 1 at the planned parking and stopping position of . In this case, the scheduled parking/stopping position change unit 25 first determines the range specified as the delivery destination (hereinafter referred to as “parking/stopping area”) and the first parking/stopping area determined by the parking/stopping area determination unit 23. Based on the above, an area (hereinafter referred to as "parking/stopping area") that is not included in the first parking/stopping area is determined. Then, as shown in FIG. 11 , when the automatically driven vehicle 1 is parked or stopped, the planned parking/stopping position change unit 25 prevents the area of the automatically driven vehicle 1 that has been parked from overlapping the first parking-stopperable area. In addition, a position where at least part of the area of the automatically driven vehicle 1 is included in the parking/stopping area is determined as a second planned parking/stopping position (position indicated by a star). With this configuration, it is possible to prevent the automatic driving vehicle 1 from parking or stopping in the first parking prohibited area, and to park or stop the automatic driving vehicle 1 at the position indicated by the designated delivery destination.

The notification control unit 26 generates notification information for notification to the recipient 5 based on a notification control program stored in a notification control program storage unit 312 (described later), and sends the generated notification information to the recipient terminal 2. Send. Note that the notification control unit 26 transmits the notification information to the recipient terminal 2 based on the address of the recipient terminal 2 pre-stored in the recipient terminal information storage unit 307 (described later).

For example, when the parking/stopperability determining unit 24 determines that the automatically driven vehicle 1 can be parked/stopped, the notification control unit 26 indicates that the automatically driven vehicle 1 has parked/stopped at the delivery destination. Send notification information to the recipient terminal 2 . Also, for example, the notification control unit 26 determines that it is impossible to change the planned parking/stopping position of the automatically driven vehicle 1 in the parking/stopping area by the parking/stopping decision unit 24. Notification information indicating that the automatic driving vehicle 1 cannot be parked or stopped is transmitted to the recipient terminal 2.

The storage unit 17 is composed of, for example, a semiconductor memory. The storage unit 17 includes a map information storage unit 301, an automatic driving basic program storage unit 302, a route information storage unit 303, a vehicle position information storage unit 304, a parking planned position information storage unit 305, and a parking area storage. unit 306, recipient terminal information storage unit 307, object identification program storage unit 308, parking prohibited area determination program storage unit 309, parking permission determination program storage unit 310, scheduled parking position change program A storage unit 311 and a notification control program storage unit 312 are provided.

The map information storage unit 301 stores map information. Map information includes, for example, a) road data related to road links, b) intersection data related to intersections, c) facility data related to facilities, and d) information on roads to provide drivers with various information and guidance on driving. It includes feature data and the like that indicate displayed objects that have been installed or formed. This map information is, for example, acquired in advance from an external server or the like and stored. It should be noted that it is preferable that the map information be updated to the latest one by periodically accessing an external server or the like.

The automatic driving basic program storage unit 302 stores an automatic driving basic program for controlling movement of the automatic driving vehicle 1 . The movement control unit 21 controls the driving unit 15 based on the sensing information measured by the sensor unit 14 and the information on the vehicle position acquired by the position measurement unit 13 according to this automatic driving basic program, thereby automatically driving the vehicle. Controls the movement of 1.

The route information storage unit 303 stores information indicating a route from the departure point to the planned parking/stopping position, which is the delivery destination. The automatic driving vehicle 1 can acquire, for example, information indicating a route set by an existing route setting program of an external server or the like by receiving it from the external server or the like. Alternatively, information indicating a route may be set by a route generation program that the automatic driving vehicle 1 has.

The vehicle position information storage unit 304 stores information indicating the vehicle position acquired by the position measurement unit 13 . The movement control unit 21 can determine the movement direction of the automatically driven vehicle 1 based on the position indicating the vehicle stored in the vehicle position information storage unit 304 and the information indicating the route stored in the route information storage unit 303. can.

The planned parking/stopping position information storage unit 305 stores the information of the first planned parking/stopping position indicating the position where the automatically driven vehicle 1 is planned to park. The first planned parking/stopping position is determined in advance, for example, based on the delivery destination input by the recipient terminal 2 in online shopping. Further, when the planned parking/stopping position of the automatically driven vehicle 1 is changed by the planned parking/stopping position change unit 25, the information of the first planned parking/stopping position stored in the planned parking/stopping position information storage unit 305 is also changed. . The information on the first planned parking/stopping position is, for example, information obtained by superimposing the first planned parking/stopping position on map information.

The parking/stopping area storage unit 306 stores information indicating the area represented by the delivery destination information. When the delivery destination is an address, the position indicated by the delivery destination information indicates an area, so information indicating the area is stored.

The recipient terminal information storage unit 307 stores information indicating the address of the recipient terminal 2, for example. The address of the recipient terminal 2 is used, for example, when the self-driving vehicle 1 transmits notification information to the recipient terminal 2 . For example, at the time of a delivery request in online shopping, address information input by the recipient terminal 2 is stored in the recipient terminal information storage unit 307 .

The photographed object identification program storage unit 308 stores a photographed object identification program for identifying the photographed object photographed by the imaging unit 12 . The photographed object identification program is executed by the photographed object identification unit 22 . The object identification program includes in advance image template information for identifying the object to be photographed.

The no-parking/stopping area determination program storage unit 309 stores a no-parking/stopping area determination program for determining the first no-parking/stopping area based on the object identified by the imaging object identification unit 22 . The no-parking/stopping area determination program is executed by the no-parking/stopping area determination unit 23 . The no-parking/stopping area determination program includes rules for setting the no-parking/stopping area determined in advance for each object to be photographed.

The parking/stopping availability determination program storage unit 310 stores a parking/stopping availability determination program for determining whether or not the automatically driven vehicle 1 can be parked/stopped at the first planned parking/stopping position. The parking/stopping availability determination program is executed by the parking/stopping availability determination unit 24 .

The planned parking/stopping position change program storage unit 311 changes the planned parking/stopping position of the automatically driven vehicle 1 when the parking/stopping decision unit 24 determines that the parking/stopping of the automatically driven vehicle 1 is impossible. , the scheduled parking/stopping position change program. The planned parking/stopping position change program is executed by the planned parking/stopping position changing unit 25 .

The notification control program storage unit 312 stores a notification control program for generating notification information from the automated driving vehicle 1 to the recipient terminal 2 and transmitting the notification information to the recipient terminal 2 . The notification control program is executed by the notification control unit 26 .

[1-3. Functional Configuration of Recipient Terminal]
Next, the functional configuration of the recipient terminal 2 will be described with reference to FIG. FIG. 12 is a block diagram showing the functional configuration of the recipient terminal 2 according to the first embodiment.

As shown in FIG. 12 , the recipient terminal 2 includes a communication section 41 , a display section 42 , an input section 43 , a control section 44 and a storage section 45 .

The communication unit 41 transmits various information to the communication unit 11 of the automatic driving vehicle 1 and receives various information from the communication unit 11 of the automatic driving vehicle 1 .

The display unit 42 is, for example, a liquid crystal display or the like, and displays notification information or the like received from the automatic driving vehicle 1 .

The input unit 43 is, for example, a keyboard, a mouse, or the like. The recipient 5 can use the input unit 43 to input, for example, information on the delivery destination. Note that the input unit 43 may be integrated with a display unit, such as a touch panel of a smartphone.

The control unit 44 is, for example, a CPU, and performs various controls on the recipient terminal 2 .

The storage unit 45 is, for example, a semiconductor memory or the like, and stores information received from the automatic driving vehicle 1, information input by the input unit 43, and the like.

[1-4. Operation of Autonomous Driving Vehicle]
Next, the operation of the automatically driven vehicle 1 will be described with reference to FIG. 13 . FIG. 13 is a flow chart showing the operation flow of the automatic driving vehicle 1 according to the first embodiment.

As shown in FIG. 13, first, the object identifying unit 22 acquires a photographed image of the object from the imaging unit 12 (S1), and identifies the object based on the acquired photographed image (S2).

Next, the no-parking/stopping region determination unit 23 determines a first no-parking/stopping region based on the object identified by the object identification unit 22 (S3).

Next, the parking/stopping possibility determination unit 24 determines the first parking based on the first planned parking/stopping position stored in advance and the first parking/stopping prohibited area determined by the parking/stopping prohibited area determining unit 23. It is determined whether or not the automatically driven vehicle 1 can be parked or stopped at the planned stop position (S4).

In step S4, when the parking/stopping possibility determination unit 24 determines that the automatically driven vehicle 1 can be parked or stopped at the first planned parking/stopping position, the movement control unit 21 causes the automatically driven vehicle 1 to stop and park. The automatic driving vehicle 1 is moved to the first planned parking/stopping position and parked at the first planned parking/stopping position (S5).

On the other hand, in step S4, when the parking/stopping availability determination unit 24 determines that it is impossible to park or stop the automatically driven vehicle 1 at the first scheduled parking/stopping position, the scheduled parking/stopping position changing unit 25 , to change the planned parking/stopping position of the automatic driving vehicle 1 .

First, the parking/stopping planned position change unit 25 is based on the parking/stopping area stored in the parking/stopping area storage unit 306 and the first parking/stopping area determined by the parking/stopping area determination unit 23 in step S3. , an area other than the first non-parking/stopping area (parking/stopping area) is extracted from the parking/stopping area (S6). Thereafter, when the automatically driven vehicle 1 is parked or stopped, the scheduled parking/stopping position change unit 25 determines that the area of the parked automatically driven vehicle 1 does not overlap with the first parking prohibited area, and the automatically driven vehicle 1 is included in the possible parking/stopping area as the second planned parking/stopping position. As a result, the planned parking/stopping position change unit 25 changes the planned parking/stopping position of the automatically driven vehicle 1 from the first planned parking/stopping position to the second planned parking/stopping position (S7).

Next, the movement control unit 21 acquires vehicle position information from the position measurement unit 13 (S8). This processing is performed, for example, by receiving information on the vehicle position measured by the position measuring unit 13 from the position measuring unit 13 when the movement control unit 21 instructs the position measuring unit 13 . Alternatively, when the position measurement unit 13 periodically measures vehicle position information, the movement control unit 21 may acquire the last measured vehicle position information from the vehicle position information storage unit 304. good. However, in this case, the longer the elapsed time since the last measurement of the vehicle position information, the greater the difference between the vehicle position at the time of measurement and the current vehicle position. Therefore, the movement control unit 21 acquires the last measured vehicle position information from the vehicle position information storage unit 304 only when the time at which the vehicle position information was last measured is within a predetermined period from the current time. is preferred.

After that, the movement control unit 21 sets a route from the vehicle position to the second planned parking/stopping position based on the vehicle position information acquired in step S8, and moves the automated driving vehicle 1 to the vehicle position based on the set route. to the second planned parking/stopping position, and the automatically driven vehicle 1 is parked at the second planned parking/stopping position (S9).

After that, the notification control unit 26 generates notification information indicating that the autonomous vehicle 1 has been parked at the delivery destination (S10), based on the address of the recipient terminal 2 stored in the recipient terminal information storage unit 307, The generated notification information is transmitted to the recipient terminal 2 (S11). FIG. 14 is a diagram showing a display example 1 of notification information on the recipient terminal 2 according to the first embodiment. In the example shown in FIG. 14, the display unit 42 of the recipient terminal 2 displays "Arrived at the delivery destination." Please pick up your luggage. is displayed.

[1-5. effect]
With the above configuration, when it is determined that the automatically driven vehicle 1 cannot be parked or stopped at the first planned parking position, the planned parking position of the automatically driven vehicle 1 is set to the first position. The planned parking/stopping position is changed to the second planned parking/stopping position. Thereby, for example, the automatic driving vehicle 1 can be parked or stopped without violating the Road Traffic Law.

[1-6. Modification]
In the first embodiment, in step S10, the notification control unit 26 is configured to transmit notification information indicating that the automatically driven vehicle 1 has parked at the delivery destination to the recipient terminal 2. When the scheduled parking/stopping position of the automated driving vehicle 1 is changed in the parking/stopping area by the unit 25, notification information (third An example of notification information) may be transmitted to the recipient terminal 2 . FIG. 15 is a diagram showing a display example 2 of notification information on the recipient terminal 2 according to the first embodiment. In the example shown in FIG. 15, the display unit 42 of the recipient terminal 2 displays map information indicating the second planned parking/stopping position with a star mark as notification information indicating the second planned parking/stopping position. there is With this configuration, for example, when the first scheduled parking/stopping position is notified to the recipient terminal 2 in advance, the vehicle is parked/stopped at a location different from the notified first scheduled parking/stopping position. can be notified to the recipient terminal 2, so the recipient can go to the parked and stopped automatic driving vehicle 1 to receive the package without hesitation.

Further, in the first embodiment, when the scheduled parking/stopping position of the automatically driven vehicle 1 is changed in the parking/stopping area by the scheduled parking/stopping position changing unit 25, a notification indicating that the automatically driven vehicle 1 has arrived at the delivery destination Although the information is transmitted to the recipient terminal 2, notification information (an example of the first notification information) indicating that the planned parking/stopping position has been changed may be transmitted to the recipient terminal 2. . With this configuration, for example, when the scheduled parking/stopping position is notified to the recipient terminal 2 in advance, the recipient can know that the notified scheduled parking/stopping position has been changed.

At this time, if the second planned parking/stopping position is included in the parking/stopping area, the notification control unit 26 does not transmit notification information indicating that the planned parking/stopping position has been changed to the recipient terminal 2. may This is because it is not necessary to notify the recipient 5 of the change in the scheduled parking and stopping position of the automated driving vehicle 1 if the delivery can be made according to the recipient's 5 wishes. be.

Further, in the first embodiment, the parking/stopping determination unit 24 determines whether the automatic driving vehicle 1 can be parked/stopped. It may be configured to determine whether or not the automatic driving vehicle 1 can be parked by including the unit 32 (see FIG. 2).

Specifically, in step S4, when the parking/stopping determination unit 24 determines that the automatically driven vehicle 1 can be parked/stopped at the first planned parking position, the parking permission/impossibility determination unit 32 determines the first parking/stopping position. It is determined whether or not the automatically driven vehicle 1 can be parked at the planned parking/stopping position. When it is determined that parking is possible, the notification information indicating that the automatically driven vehicle 1 will park at the first planned parking/stopping position is transmitted to the recipient terminal 2, and it is determined that parking is not possible. In this case, notification information (an example of fourth notification information) indicating that the automatically driven vehicle 1 can only stop at the first scheduled parking/stopping position for a predetermined period of time is transmitted to the recipient terminal 2 . FIG. 16 is a diagram showing a display example 3 of notification information on the recipient terminal 2 according to the first embodiment. In the example shown in FIG. 16 , the display unit 42 of the recipient terminal 2 displays the notification information indicating that the automatically driven vehicle 1 can only stop at the first scheduled parking/stopping position for a predetermined period of time. Ahead, the self-driving car can only stop for 5 minutes. is displayed.

By adopting this configuration, the recipient 5 can grasp whether the automatically driven vehicle 1 can be parked at the first planned parking/stopping position or can only be stopped for a predetermined period of time. Here, the predetermined period is a period determined in advance, for example, a period during which the vehicle can be stopped (for example, 5 minutes) which is not regarded as parking as defined by Article 45 of the Road Traffic Law. This predetermined period may be any period (for example, 3 minutes) as long as it is a period shorter than the legally stipulated period during which the vehicle can be stopped. As shown in FIG. 16 , by including the information of this predetermined period in the notification information, the recipient 5 can only stop the automatically driving vehicle 1 at the first scheduled parking/stopping position for a predetermined period of time. It is possible to recognize that it is necessary to receive the package within a predetermined period after the automatic driving vehicle 1 arrives at the first scheduled parking/stopping position.

In the case of this configuration, the no-parking area determination unit 31 stores in advance a no-parking area setting rule determined for each object to be photographed, similarly to the no-parking/stopping area determination unit 23, and sets the no-parking area. Based on the rules, a no-parking area is determined from the photographed object identified by the photographed object identification unit 22 . The no-parking area setting rule includes at least a) a rule for setting a no-parking area based on laws and regulations regarding parking prohibition, and b) a rule for setting an area where a photographed object exists as the no-parking area. For example, in the case of Japan, Article 45 of the Road Traffic Law has provisions regarding parking bans. FIG. 17 is a diagram showing an example of no-parking area setting rules based on Article 45 of the Road Traffic Law. In the example shown in FIG. 17, when the object to be photographed is a "fire hydrant", the no-parking area setting rule is set to "a portion within 5 meters from the position where the fire hydrant is provided".

FIG. 18 is a diagram showing an example of a no-parking area. In the example shown in FIG. 18, when the object to be photographed is a "fire hydrant", the no-parking area (the area indicated by the dashed line) is set based on the no-parking area setting rule shown in FIG.

In addition, similarly to the parking/stopping permission determination unit 24, the parking permission determination unit 32 determines whether the automatically driven vehicle 1 can be parked at the first parking/stopping position based on the first parking/stopping position and the parking prohibited area. If it is determined that the vehicle cannot be parked, the planned parking/stopping position may be changed in the parking/stopping area, which is the area indicated by the delivery destination. When the recipient 5 goes to pick up the package from the automated driving vehicle 1 that has been parked for a predetermined period of time, the recipient 5 is bound by the time to pick up the package. A stop is desired. By adopting this configuration, it is possible to preferentially extract a place where parking is possible in the parking/stopping area indicated by the delivery destination, and notify the recipient 5 of it.

In addition, it is determined by the parking availability determining unit 32 that the automatically driven vehicle 1 cannot be parked at the first planned parking/stopping position, and notification information indicating that the vehicle can only be stopped for a predetermined period is transmitted to the recipient terminal 2. In this case, the movement control unit 21 is configured to move the automatically driven vehicle 1 to the first planned parking/stopping position and stop the vehicle for a predetermined period of time. By adopting this configuration, the automatic driving vehicle 1 will not be illegally parked at the first planned parking/stopping position.

Each process (S1 to S11) of the flowchart shown in FIG. 13 is executed when the position of the automatically driven vehicle 1 is within a predetermined distance range from the first planned parking/stopping position. This is because it is not necessary to execute each process of the flowchart shown in FIG. 13 when the automatically driven vehicle 1 is at a position far from the first planned parking/stopping position. With this configuration, the processing load required for each of the above processes can be reduced.

In the first embodiment, when the parking/stopping determination unit 24 determines that the automatically driven vehicle 1 cannot be parked or stopped at the first planned parking position, the parking/stopping schedule of the automatically driven vehicle 1 is determined. It was a configuration to change the position. Instead of such a configuration, the object to be photographed is a vehicle (an example of a moving body), and the automatic driving vehicle 1 is positioned at the first planned parking/stopping position by the first parking/stopping prohibited area determined by the vehicle. When it is determined that the parking/stopping is impossible, the scheduled parking/stopping position of the automatically driven vehicle 1 is not changed, and the automatically driven vehicle 1 arrives at the first scheduled parking/stopping position again after a predetermined period of time has elapsed. It may be configured to control the movement of the automatic driving vehicle 1 so as to do. In this configuration, the movement control unit 21 sets a closed-loop route with the first planned parking/stopping position as a starting point and a destination, and controls the movement of the autonomous vehicle 1 based on the set route.

Further, the travel time of the automatically driven vehicle 1 can be calculated based on the route set as described above. Furthermore, based on this travel time, it is possible to calculate the time required for the autonomous vehicle 1 to arrive at the first planned parking/stopping position again. By adopting this configuration, the package can be delivered to the delivery destination specified by the recipient 5 without changing the planned parking/stopping position of the automatic driving vehicle 1 . In the case of this configuration, it is preferable to change the arrival time of the automatically driven vehicle 1 and transmit the notification information indicating that the package will be delivered again to the recipient terminal 2 . FIG. 19 is a diagram showing a display example 4 of notification information on the recipient terminal 2 according to the first embodiment. In the example shown in FIG. 19, the display unit 42 of the recipient terminal 2 displays the above notification information "Delivery will be made again in 30 minutes. is displayed. With this configuration, the recipient 5 can recognize that the parcel will be delivered again. In this case, it is preferable that notification information indicating the reason for re-delivery of the parcel is also transmitted to the recipient terminal 2 . In the example shown in FIG. 19, the display unit 42 of the recipient terminal 2 displays the above notification information, "The automated vehicle cannot be parked or stopped because another vehicle is parked at the specified delivery destination. is displayed. With this configuration, the recipient 5 can know the reason why the parcel is being delivered again.

In addition, among the control unit 16 and the storage unit 17 of the automatic driving vehicle 1 of Embodiment 1, some or all of the components are arranged in an external device (control device) such as a server, and the external device is used to control the automatic driving vehicle. 1 may be used. In this configuration, necessary information is exchanged between the automatic driving vehicle 1 and the external device. For example, a photographed image photographed by the imaging unit 12 of the automatic driving vehicle 1 may be transmitted to an external device, and the object to be photographed may be identified by the external device based on the photographed image.

(Embodiment 2)
[2-1. Functional Configuration of Autonomous Driving Vehicle]
Next, with reference to FIG. 20, the functional configuration of the automatically driven vehicle 1A (control device for the automatically driven vehicle 1A) according to Embodiment 2 will be described. FIG. 20 is a block diagram showing the functional configuration of an automatically driving vehicle 1A according to Embodiment 2. As shown in FIG. In addition, in the present embodiment, the same reference numerals are given to the same constituent elements as in the first embodiment, and the description thereof will be omitted.

As shown in FIG. 20, the automatically driven vehicle 1A differs from the automatically driven vehicle 1 shown in FIG. 2 in a control unit 16A and a storage unit 17A.

The control unit 16A differs from the control unit 16 of the automatic driving vehicle 1 shown in FIG.

When the parking/stopping determination unit 24 determines that the automatically driven vehicle 1A cannot be parked or stopped at the first scheduled parking/stopping position, the surrounding area determination unit 27A determines the first scheduled parking/stopping position. A surrounding area of the first planned parking/stopping position is determined based on a predetermined surrounding area determination rule. The surrounding area determination rule may be any rule. FIG. 21 is a diagram showing an example 1 of the surrounding area of the first planned parking/stopping position. In the example of the peripheral area determination rule shown in FIG. 21, an area within a predetermined distance from the first planned parking/stopping position is determined as the peripheral area. In FIG. 21, the star marks represent the first planned parking/stopping position, and the horizontal line area represents the peripheral area of the first planned parking/stopping position. In addition, since the first planned parking/stopping position needs to be a position reachable by the automatically driven vehicle 1A, the reachable range of the automatically driven vehicle 1A out of the horizontal line area shown in FIG. A configuration in which the area is determined as the peripheral area of the planned parking/stopping position is preferable. The reachable range of the autonomous vehicle 1A is, for example, a road. In addition, when the area|region which can drive|work 1 A of automatic driving vehicles is previously determined other than a road, the area|region can also be made into the range which 1 A of automatic driving vehicles can reach.

FIG. 22 is a diagram showing example 2 of the surrounding area of the first planned parking/stopping position. In the example of the surrounding area determination rule shown in FIG. 22, when the delivery destination specified by the recipient 5 is an address, the addresses "2" and "4" adjacent to both sides of the delivery address "3" are the surrounding areas. is determined as In FIG. 22 , the star mark indicates the first planned parking/stopping position, and the horizontal line area indicates the surrounding area of the first planned parking/stopping position.

When the parking/stopping determination unit 24 determines that the automatically driven vehicle 1A cannot be parked or stopped at the first scheduled parking position, the planned parking/stopping position changing unit 25A changes the surrounding area determining unit 27A. Based on the peripheral area of the first scheduled parking/stopping position determined by and the advance parking-stopping area (second parking-stopping area) stored in advance parking-stopping area storage unit 314A (described later), automatically The planned parking/stopping position of the driving vehicle 1 is changed. For example, the planned parking/stopping position changing unit 25A extracts a region other than the second parking/stopping region in the peripheral region, and the area of the extracted region other than the second parking/stopping region is larger than a predetermined threshold. If so, the planned parking/stopping position of the automatically driven vehicle 1 is changed from the first planned parking/stopping position to the second planned parking/stopping position in the above region. Alternatively, the planned parking/stopping position changing unit 25A extracts a region other than the second parking/stopping prohibited region from the surrounding region, and inserts a figure of a predetermined size into the extracted region (for example, the size of the automatic driving vehicle 1A). When it is determined that it is possible to arrange a figure of a corresponding size), the planned parking/stopping position of the automated driving vehicle 1 is changed from the first planned parking/stopping position to the second planned parking/stopping position in the above area. You can change it.

When there are a plurality of areas other than the extracted second parking prohibited area, the planned parking/stopping position changing unit 25A changes the second parking/stopping position sequentially from the area closest to the first planned parking/stopping position, for example. It may be determined whether or not it is appropriate as the planned position, and the position in the region that is first determined to be appropriate may be determined as the second planned parking/stopping position. By adopting this configuration, it is possible to change the planned parking/stopping position to the nearest from the delivery destination specified by the recipient 5 .

Alternatively, when there are a plurality of areas other than the extracted second parking prohibited area, the scheduled parking/stopping position changing unit 25A selects the second area in order from the area with the shortest movement distance from the current position of the automatic driving vehicle 1A. It may be determined whether or not it is appropriate as the planned parking/stopping position, and the position in the region that is first determined to be appropriate may be determined as the second planned parking/stopping position. With this configuration, the scheduled parking/stopping position can be changed to the closest position from the position of the automatically driven vehicle 1A.

The notification control unit 26A generates notification information indicating that the automatic driving vehicle 1A cannot park or stop at the delivery destination when the scheduled parking/stopping position is changed by the scheduled parking/stopping position changing unit 25A, The generated notification information is transmitted to the recipient terminal 2 .

The storage unit 17A stores the planned parking/stopping position change program storage unit 311A, the notification control program storage unit 312A, the surrounding area determination program storage unit 313A, and the storage unit 17 of the automatic driving vehicle 1 shown in FIG. It is different from the parking/stopping prohibited area storage unit 314A.

The planned parking/stopping position change program storage unit 311A stores a planned parking/stopping position changing program for changing the planned parking/stopping position. The planned parking/stopping position change program is executed by the planned parking/stopping position changing section 25A.

The notification control program storage unit 312A stores a notification control program for generating notification information and transmitting it to the recipient terminal 2 . The notification control program is executed by notification control unit 26A.

The surrounding area determination program storage unit 313A stores a surrounding area determination program for determining the surrounding area of the first planned parking/stopping position. The peripheral area determination program is executed by the peripheral area determination unit 27A. The surrounding area determination program includes a surrounding area determination rule for determining the surrounding area based on the first planned parking/stopping position.

The advance parking prohibition area storage unit 314A is based on the map information and laws and regulations (for example, Article 44 of the Road Traffic Act) (an example of rules) regarding parking and stopping. The predetermined non-parking/stopping area (second non-parking/stopping area) is stored. Here, the difference between the second parking/stopping area and the first parking/stopping area determined by the parking/stopping area determination unit 23 will be described. The first non-parking/stopping area is determined based on the object captured by the image capturing unit 12 of the autonomous vehicle 1A, while the second non-parking/stopping area is determined in advance based on the map information. be. The first no-parking/stopping region determined by the above-described no-parking/stopping region setting rule is considered to have many portions that overlap with the second no-parking/stopping region, but there are also portions that do not overlap. For example, when new roads, facilities, etc. are constructed, or when roads, facilities, etc. are changed, map information is not necessarily updated in real time. Therefore, the update of the map information in these places may be delayed, and in such places, the second no-parking/stopping area cannot be generated based on the map information. In addition, depending on the map information, based on the provisions of Article 44 of the Road Traffic Act, information required to determine the second no-parking/stopping area (for example, information on the position of the display pillar at the stop) is included. In such a case, the second no-parking/stopping area cannot be generated from the map information. As described above, since the second parking/stopping area that can be generated from the map information is not necessarily sufficient, the first parking/stopping area is defined by the object photographed by the imaging unit 12 of the automatically driving vehicle 1A. need to decide.

In the present embodiment, based on the map information and laws and regulations regarding parking prohibition, the area where parking is prohibited is determined in advance. However, it is not limited to this. A no-parking/stopping zone may be determined in advance based on rules regarding prohibition.

[2-2. Operation of Autonomous Driving Vehicle]
Next, the operation of the automatically driven vehicle 1A will be described with reference to FIG. FIG. 23 is a flow chart showing the operation flow of the automatically driven vehicle 1A according to the second embodiment. In the flowchart shown in FIG. 23, the same step numbers as those in the flowchart shown in FIG. 13 are given the same step numbers, and the description thereof is omitted.

The flowchart shown in FIG. 23 differs from the flowchart shown in FIG. 13 in steps S1A, S2A, and S3A.

First, steps S1 to S4 are executed as in the first embodiment. After that, in step S6, when the parking/stopping possibility determination unit 24 cannot extract the parking/stopping possible area other than the first parking/stopping impossible area in the parking/stopping area, that is, the automatic driving vehicle 1A is located in the parking/stopping area. is impossible, the surrounding area determination unit 27A determines a surrounding area of the first planned parking/stopping position based on the first planned parking/stopping position (S1A).

Next, the planned parking/stopping position changing unit 25A determines the surrounding area determined by the surrounding area determination unit 27A and the second parking/stopping area stored in the advance parking-impossible area storage unit 314A. The planned parking/stopping position of 1A is changed from the first planned parking/stopping position to the second planned parking/stopping position (S2A).

Next, the notification control unit 26A generates notification information indicating that the automatically driven vehicle 1A cannot be parked at the delivery destination (S3A). With this notification information, it is possible to notify the recipient 5 that the automatically driven vehicle 1A cannot be parked or stopped in the parking area. FIG. 24 is a diagram showing a display example 1 of notification information on the recipient terminal 2 according to the second embodiment. In the example shown in FIG. 24, the display unit 42 of the recipient terminal 2 displays the notification information indicating that the automatically driven vehicle 1A cannot be parked at the delivery destination. Parking is not allowed. is displayed.

[2-3. effect]
By the above processing, when it is determined that the automatically driven vehicle 1A cannot be parked or stopped at the first planned parking position, the By changing the planned parking/stopping position of the automatically driven vehicle 1A to a location, the automatically driven vehicle 1A can be moved to the changed planned parking/stopping position. As a result, the parcel can be delivered as intended by the recipient 5 as much as possible.

[2-4. Modification]
In the second embodiment, when it is determined that the automatically driven vehicle 1A cannot be parked or stopped at the first planned parking position (S4), the parking/stopping area is extracted from the parking/stopping area. (S6), this step S6 may be omitted, and the planned parking/stopping position of the automatic driving vehicle 1A may be changed to a location where parking/stopping is possible in the peripheral area of the first planned parking/stopping position. In the case of this configuration, it is preferable to perform the process of changing the planned parking/stopping position by giving priority to the parking/stopping area in the surrounding area of the first planned parking/stopping position. By adopting this configuration, it is possible to deliver the parcel as intended by the recipient 5 as much as possible.

In addition, in the second embodiment, the notification control unit 26A is configured to generate notification information indicating that the automated driving vehicle 1A cannot be parked at the delivery destination and transmit it to the recipient terminal 2. A configuration may be employed in which notification information indicating that the planned parking/stopping position of the automatically driven vehicle 1A has been changed is generated and transmitted to the recipient terminal 2 .

Further, in the second embodiment, in step S3, the notification control unit 26A generates notification information indicating that the automated driving vehicle 1A cannot be parked at the delivery destination, and transmits the notification information to the recipient terminal 2. However, it is also possible to generate notification information indicating the reason why the automated driving vehicle 1A cannot be parked at the delivery destination and transmit it to the recipient terminal 2. FIG. 25 is a diagram showing a display example 2 of notification information on the recipient terminal 2 according to the second embodiment. In the example shown in FIG. 25, the display unit 42 of the recipient terminal 2 displays the notification information indicating the reason why the automated driving vehicle 1A cannot be parked at the delivery destination. Since it is within 5 meters from the side edge of the pedestrian crossing stipulated in Article 44, it is not possible to park or stop the self-driving vehicle at the delivery destination. is displayed. With this configuration, the recipient 5 can know the reason why the automatic driving vehicle 1A could not park and stop at the delivery destination, and when requesting delivery by the automatic driving vehicle 1A next time, this notification information can be referred to. In addition, the notification control unit 26A provides notification information (second notification information example) may be generated.

In addition, the notification control unit 26A further provides notification information indicating inquiry information on how to change (select) the delivery method to the recipient 5 (that is, prompting the recipient 5 to select the delivery method for the parcel). (An example of the fifth notification information) may be generated and transmitted to the recipient terminal 2 . FIG. 26 is a diagram showing a display example 3 of notification information on the recipient terminal 2 according to the second embodiment. In the example shown in FIG. 26, the display unit 42 of the recipient terminal 2 displays options for the delivery method (package Receipt, change of pickup location, redelivery by driver) are displayed. Information about the delivery method selected by the recipient 5 is transmitted from the recipient terminal 2 to the automatically driven vehicle 1A. Thereby, the automatically driven vehicle 1A controls the movement of the automatically driven vehicle 1A based on the selection information regarding the delivery method received from the recipient terminal 2. FIG.

For example, when the recipient 5 selects the option of "receive parcel at * position", the self-driving vehicle 1A continues parking at the position of * shown in FIG. In addition, when the recipient 5 selects the option of "change parcel pickup location", the automatically driven vehicle 1A again determines the second planned parking/stopping position from the surrounding area of the first planned parking/stopping position. , the determined second planned parking/stopping position is transmitted to the recipient terminal 2 as a candidate for the change of delivery destination. When the recipient terminal 2 determines the second scheduled parking/stopping position as the change location of the delivery destination, the movement control unit 21 moves the automatically driven vehicle 1A to the second scheduled parking/stopping position. In addition, when the recipient 5 selects the option of "re-delivery by driver", it is necessary to move the luggage loaded on the self-driving vehicle 1A to the vehicle used by the driver. 1A is moved to a predetermined position. With the configuration described above, the recipient 5 can specify a desired delivery method based on the inquiry information displayed on the recipient terminal 2 .

Further, in the second embodiment, when it is determined that the automatically driven vehicle 1A can be parked or stopped at the first planned parking/stopping position, the notification control unit 26A determines that the first parking/stopping is the delivery destination. It was set as the structure which produces|generates the notification information which shows that the automatic driving vehicle 1A was parked in the planned position. Here, the notification control unit 26A is configured to generate notification information indicating that the automatically driven vehicle 1A is parked at the second scheduled parking position when the scheduled parking position of the automatically driven vehicle 1A is changed. may be

Further, in the second embodiment, when it is determined that the automatically driven vehicle 1A cannot be parked or stopped at the first planned parking/stopping position by the parking/stopping determination unit 24, the first parking/stopping schedule The planned parking/stopping position is changed to a position where parking/stopping is possible in the surrounding area of the position. Here, in the case where the storage unit 17A stores in advance a parking/stopping schedule list indicating a plurality of scheduled parking/stopping positions where the automatically driven vehicle 1A is scheduled to park in order, When it is determined that it is impossible to park or stop the automatically driven vehicle 1A at the scheduled parking/stopping position, the scheduled parking/stopping position change unit 25A, out of the plurality of scheduled parking/stopping positions, based on the scheduled parking/stopping list The second scheduled parking/stopping position may be determined as the next scheduled parking/stopping position after the first scheduled parking/stopping position. With this configuration, it is possible to change the scheduled parking/stopping position of the automatic driving vehicle 1 with a simple configuration, and at the scheduled parking/stopping position other than the first scheduled parking/stopping position, at the scheduled time. A package can be delivered by the automatic driving vehicle 1A.

At this time, the parking/stopping possibility determination unit 24 may determine whether or not the planned parking/stopping position of the automatically driven vehicle 1A can be changed in the parking/stopping area. Only when the parking/stopping possibility determination unit 24 determines that the parking/stopping position cannot be changed, the planned parking/stopping position changing unit 25A changes the planned parking/stopping position of the automatically driving vehicle 1A to the next second parking position. The configuration may be changed to the planned stop position. By adopting this configuration, it is possible to change the planned parking/stopping position by giving priority to the parking/stopping position in the parking/stopping area over the second planned parking/stopping position in the next order.

In addition, the notification control unit 26A indicates to the receiver terminal 2 of the delivery destination of the first planned parking/stopping position determined that the vehicle cannot be parked/stopped that the parcel cannot be delivered to the first planned parking/stopping position. Notification information may be sent to the recipient terminal 2 containing the information and information for contacting the recipient 5 about how to change the delivery method. In this case, the automated driving vehicle 1A receives a reply from the recipient terminal 2 while moving to the next second scheduled parking/stopping position, and determines the movement control method based on the received reply. There may be. With this configuration, the automated driving vehicle 1A receives the delivery destination of the first scheduled parking/stopping position determined to be unable to park while moving to the second scheduled parking/stopping position, which is the next delivery destination. Since the movement control method can be determined based on the reply from the human terminal 2, efficient delivery can be achieved.

Further, when it is determined that it is impossible to park or stop the automatically driven vehicle 1A at the first scheduled parking position because another vehicle is parked at the first scheduled parking position, 1 scheduled parking/stopping position is changed to a second scheduled parking/stopping position which is the next delivery destination, and the order of delivery of the first scheduled parking/stopping position determined that parking/stopping is not possible is changed, good too. By adopting this configuration, it is not necessary to change the first planned parking/stopping position by simply changing the delivery order of the first planned parking/stopping position determined that the vehicle cannot be parked/stopped.

In addition, when the order of delivery of a plurality of scheduled parking positions and the delivery time at each scheduled parking position are predetermined, the parking/stopping availability determination unit 24 automatically moves the vehicle 1A to the first scheduled parking position. If it is determined that the vehicle cannot be parked or stopped and it is determined that there is time to spare before arriving at the next second scheduled parking/stopping position, the vehicle is scheduled to be parked/stopped at a position where the vehicle can be parked/stopped. The configuration may be such that the position is changed and the automatically driven vehicle 1A is parked or stopped at the changed planned parking/stopping position. With this configuration, the recipient can receive the package at the changed scheduled parking/stopping position, and the delivery time at the first scheduled parking/stopping position will not be delayed. can be delivered.

In addition, in the second embodiment, the planned parking/stopping position changing unit 25A changes the planned parking/stopping position of the automatically driving vehicle 1A based on the peripheral area of the first planned parking/stopping position and the second parking/stopping impossible area. However, it is also possible to change the planned parking/stopping position of the automatically driving vehicle 1A in consideration of the previously determined no-parking area based on map information and laws and regulations. By adopting this configuration, it is possible to change the planned parking/stopping position in an area where parking is possible in the surrounding area of the first planned parking/stopping position.

Further, when the scheduled parking/stopping position changing unit 25A cannot change the scheduled parking/stopping position of the automatically driven vehicle 1A in the peripheral area of the first scheduled parking/stopping position, the surrounding area determining unit 27A changes the first parking/stopping position. A process for expanding (changing) the peripheral area of the planned position is performed, and the planned parking/stopping position changing unit 25A is configured to perform processing for changing the planned parking/stopping position of the automatically driving vehicle 1A again in the expanded peripheral area. good too. With this configuration, it is possible to reliably change the planned parking/stopping position of the automatically driven vehicle 1A in the peripheral area of the first planned parking/stopping position.

(Other modifications)
As described above, the control device and the like for an automatically driving vehicle according to one or more aspects have been described based on the above embodiments, but the present invention is not limited to the above embodiments. As long as it does not deviate from the spirit of the present invention, the embodiments and modifications that a person skilled in the art can think of are applied to various modifications, and the form constructed by combining the components in different embodiments or modifications may be one or It may fall within the scope of multiple aspects. For example, the above embodiments and modified examples may be combined.

For example, in each of the above-described embodiments, the imaging unit 12 is configured to be mounted on the automatic driving vehicle 1, but is not limited to this, and the imaging unit 12 may be, for example, a security camera installed on the side of a road. may

In each of the above-described embodiments, each component may be configured by dedicated hardware, or realized by executing a software program suitable for each component. Each component may be realized by reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory by a program execution unit such as a CPU or processor.

A part or all of the functions of the control devices of the autonomous driving vehicles 1 and 1A according to Embodiments 1 and 2 are typically realized as an LSI (Large Scale Integration), which is an integrated circuit. These may be made into one chip individually, or may be made into one chip so as to include part or all of them. Further, circuit integration is not limited to LSIs, and may be realized by dedicated circuits or general-purpose processors. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure connections and settings of circuit cells inside the LSI may be used.

Moreover, some or all of the functions of the control device of the autonomous driving vehicles 1 and 1A according to Embodiments 1 and 2 may be realized by a processor such as a CPU executing a program.

In addition, the numbers used above are all examples for specifically describing the present invention, and the present invention is not limited to the illustrated numbers.

Also, the order in which each step in the flow charts shown in FIGS. 13 and 23 is executed is for illustrative purposes in order to specifically describe the present invention. may be Also, some of the above steps may be executed concurrently (in parallel) with other steps.

Furthermore, the present invention includes various modifications in which those skilled in the art make modifications to the embodiments of the present invention as long as they do not deviate from the gist of the present invention.

A part or all of the components constituting each device described above may be configured by an IC card or a single module that can be attached to and detached from each device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM and the like. The IC card or the module may include the super multifunctional LSI. The IC card or the module achieves its function by the microprocessor operating according to the computer program. This IC card or this module may have tamper resistance.

The present invention may be the method shown above. Moreover, it may be a computer program for realizing these methods by a computer, or it may be a digital signal composed of the computer program. The present invention also provides a computer-readable recording medium for the computer program or the digital signal, such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray (registered (trademark) Disc), a semiconductor memory, or the like. Alternatively, the digital signal recorded on these recording media may be used. Further, according to the present invention, the computer program or the digital signal may be transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, data broadcasting, or the like. The present invention may also be a computer system comprising a microprocessor and memory, the memory storing the computer program, and the microprocessor operating according to the computer program. Also, by recording the program or the digital signal on the recording medium and transferring it, or by transferring the program or the digital signal via the network or the like, it is implemented by another independent computer system It is good as

INDUSTRIAL APPLICABILITY A control device for an automatically driving vehicle according to the present invention is used, for example, in an online delivery system delivery method that accepts designation of a delivery method for packages by an automatically driving vehicle.

1, 1A Autonomous vehicle 2 Recipient terminal 3 Building 4 Road sign 5 Recipient 6 Vehicle 11 Communication unit 12 Imaging unit 13 Position measurement unit 14 Sensor unit 15 Drive unit 16, 16A Control unit 17, 17A Storage unit 21 Movement control unit 22 Object-to-be-photographed identification unit 23 No-parking/stopping area determination unit 24 Parking/stopping determination unit 25, 25A Scheduled parking/stopping position change units 26, 26A Notification control unit 27A Surrounding area determination unit 31 Parking-impossible area determination unit 32 Parking availability determination unit 41 communication unit 42 display unit 43 input unit 44 control unit 45 storage unit 301 map information storage unit 302 automatic driving basic program storage unit 303 route information storage unit 304 vehicle position information storage unit 305 planned parking/stopping position information storage unit 306 parking/stopping area Storage unit 307 Recipient terminal information storage unit 308 Object identification program storage unit 309 Parking prohibited area determination program storage unit 310 Parking permission determination program storage units 311, 311A Parking planned position change program storage units 312, 312A Notification control Program storage unit 313A Surrounding area determination program storage unit 314A Pre-parking/stopping area storage unit

Claims (10)

A control method for an automated driving vehicle that is a vehicle for delivering packages to a delivery destination,
(a) acquiring a photographed image of an object photographed by an imaging unit and identifying the object to be photographed based on the photographed image;
(b) determining a first no-parking/stopping region indicating a region where the autonomous vehicle cannot park or stop based on the identified object;
(c) based on the first parking prohibited area and a first planned parking/stopping position indicating the planned parking/stopping position of the automatically driving vehicle, the automated driving vehicle is positioned at the first planned parking/stopping position; determining whether it is possible to park the
(d) When it is determined that the automatically driven vehicle cannot be parked or stopped at the first scheduled parking position, the vehicle is scheduled to park or stop based on a predetermined change condition. changing the position from the first planned parking/stopping position to a second planned parking/stopping position;
(e) acquiring a vehicle position indicating the current position of the automatically driven vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and controlling movement of the automatically driven vehicle based on the route; a step;
(f) generating first notification information indicating that the scheduled parking/stopping position of the automated driving vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position; and transmitting first notification information to a recipient terminal operated by the recipient of the parcel. In (f) above, further generating second notification information indicating a reason for changing the scheduled parking and stopping position of the autonomous vehicle, and transmitting the generated second notification information to the recipient terminal. The control method of the automatic driving vehicle according to claim 1. In the above (f), further, when the second planned parking/stopping position is included in a parking/stopping area indicating a predetermined area including the first planned parking/stopping position, the first notification information is not transmitted to the recipient terminal. 4. Any one of claims 1 to 3, wherein in (f), third notification information indicating the second planned parking/stopping position is further generated, and the generated third notification information is transmitted to the recipient terminal. 1. The method for controlling an automatic driving vehicle according to claim 1. The control method further comprises:
(g) determining a no-parking area indicating an area where parking of the autonomous vehicle is prohibited based on the imaged object identified in (a);
(h) when it is determined that the automatically driven vehicle can be parked or stopped by (c), the first parking is performed based on the parking prohibited area and the first planned parking/stopping position; Determining whether it is possible to park the automated driving vehicle at the planned stop position,
In (f), further, when it is determined in (h) that the automatically driven vehicle cannot be parked, the automatically driven vehicle stops at the first planned parking/stopping position for a predetermined period of time. Control of the automated driving vehicle according to any one of claims 1 to 4, wherein fourth notification information is generated indicating that only possible, and the generated fourth notification information is transmitted to the recipient terminal Method. In (e), further, when it is determined in (h) that the automatically driven vehicle cannot be parked, the automatically driven vehicle is stopped at the first planned parking/stopping position for a predetermined period of time. The control method of the automatic driving vehicle according to claim 5. In the above (e), further generating fifth notification information indicating that the recipient is prompted to select a delivery method for the parcel, and transmitting the generated fifth notification information to the recipient terminal. 7. A control method for an automatically driving vehicle according to any one of Items 1 to 6. 7. In the above (e), when the selection information of the recipient for the fifth notification information is received from the recipient terminal, movement of the autonomous vehicle is controlled based on the received selection information. Control method of the automatic driving vehicle described in. A control device for an automated driving vehicle that is a vehicle for delivering packages to a delivery destination,
a photographed object identification unit that acquires a photographed image of a photographed object photographed by an imaging unit and identifies the photographed object based on the photographed image;
A no-parking/stopping area determination unit that determines a first no-parking/stopping area indicating an area where the automatic driving vehicle cannot park or stop based on the object identified by the imaging object identification unit;
The autonomous vehicle is parked/stopped at the first planned parking/stopping position based on the first parking/stopping prohibited area and the first planned parking/stopping position indicating the planned parking/stopping position of the autonomous driving vehicle. A parking/stop possibility determination unit that determines whether it is possible to
When the parking/stopping determination unit determines that the automatically driven vehicle cannot be parked or stopped at the first planned parking/stopping position, the automatically driven vehicle is parked based on a predetermined change condition. a scheduled parking/stopping position changing unit that changes the scheduled parking position from the first scheduled parking/stopping position to a second scheduled parking/stopping position;
A movement control unit that acquires a vehicle position indicating the current position of the automatically driven vehicle, sets a route from the vehicle position to the second planned parking/stopping position, and controls movement of the automatically driven vehicle based on the route. When,
generating first notification information indicating that the scheduled parking/stopping position of the automated driving vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position, and generating the first notification information; A control device for an automatic driving vehicle, comprising: a notification control unit that transmits notification information to a recipient terminal operated by the recipient of the package. A program for controlling an automated driving vehicle that is a vehicle for delivering packages to a delivery destination,
(a) acquiring a photographed image of an object photographed by an imaging unit and identifying the object to be photographed based on the photographed image;
(b) determining a first no-parking/stopping region indicating a region where the autonomous vehicle cannot park or stop based on the identified object;
(c) based on the first parking prohibited area and a first planned parking/stopping position indicating the planned parking/stopping position of the automatically driving vehicle, the automated driving vehicle is positioned at the first planned parking/stopping position; determining whether it is possible to park the
(d) When it is determined that the automatically driven vehicle cannot be parked or stopped at the first scheduled parking position, the vehicle is scheduled to park or stop based on a predetermined change condition. changing the position from the first planned parking/stopping position to a second planned parking/stopping position;
(e) acquiring a vehicle position indicating the current position of the automatically driven vehicle, setting a route from the vehicle position to the second planned parking/stopping position, and controlling movement of the automatically driven vehicle based on the route; a step;
(f) generating first notification information indicating that the scheduled parking/stopping position of the automated driving vehicle has been changed from the first scheduled parking/stopping position to the second scheduled parking/stopping position; A program for causing a computer to execute a step of transmitting first notification information to a recipient terminal operated by the recipient of the parcel.

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