JP6220711B2 - Vehicle state diagnostic system and vehicle state diagnostic method for moving body - Google Patents

Description

  The present invention relates to a vehicle state diagnosis system that diagnoses a vehicle state of a moving body that travels in accordance with an instruction from a management server, and a vehicle state diagnosis method for a mobile body.

  In recent years, technological innovation of automobiles, which are transportation means, has been remarkable, and automatic driving technology has been put into practical use as a control function. In addition, with the advancement of communication technology, each automobile has a network function that can connect to other devices via the network. On the other hand, the number of cars owned by individuals has been decreasing year by year due to considerations for the environment, soaring maintenance costs, increase in the number of elderly people, etc., but the movement of people from home to stations, stores, etc., or luggage The demand for means for moving people and things, such as transporting, has not decreased. Therefore, an automatic traveling vehicle (hereinafter referred to as a moving body) having both the automatic traveling function (automatic driving function) and the network function as a more convenient and easy moving means, at a time and place according to the convenience and purpose of the user, The emergence of a transportation system that can be operated flexibly and safely is desired.

  However, according to the moving body used in the traffic system described above, since there is no driver, there is no means for confirming from the outside whether or not the automatically moving moving body is operating normally. Therefore, there is anxiety about automatic driving. For this reason, in order to spread mobile bodies that automatically run, it is important to improve the reliability of the control technology for automatic driving and to give peace of mind to the surroundings.

  For that purpose, it is indispensable that the moving body always maintains a normal vehicle state, and daily inspection is necessary to maintain a normal vehicle state. When a general vehicle is inspected, the driver or owner of the vehicle has inspected that there is no problem in the vehicle state by visually checking the inside and outside of the vehicle or performing a test run. However, users who are unfamiliar with vehicle knowledge cannot check by themselves, so for example, go to a maintenance factory, etc. and ask a maintenance contractor to check whether the vehicle condition is normal. I was going. The same applies to a mobile body that automatically travels, and cost and time are required to continue daily inspections.

  There have been many applications for techniques for diagnosing vehicles. For example, Patent Document 1 discloses a diagnosis technique for an in-vehicle electronic device including an electronic control device that manages vehicle information such as an engine and a body. The electronic control device stores maintenance information such as diagnosis data diagnosed by a failure diagnosis algorithm, mileage, and parts replacement information in addition to running state data such as engine speed and throttle opening. By transmitting maintenance information to the apparatus, it is possible to grasp the vehicle state of the vehicle externally, which can be used as an indication of early detection of vehicle failure and replacement of vehicle parts.

  However, the technique disclosed in Patent Document 1 is limited to internal diagnosis related to a running state such as an engine speed and a throttle opening based on information obtained from an internal sensor of an electric control device. It is unreliable to apply. That is, in order to apply to a mobile body that travels automatically, in addition to the above-described internal diagnosis, for example, a route according to an instruction from an external server is traveling, traffic such as traffic lights on the route, speed limit, etc. An external diagnosis based on the traveling environment is also required, such as whether the vehicle is traveling in compliance with the rules and whether the communication with the server is operating normally. In addition, if the construction of special facilities for diagnosis of moving bodies that perform automatic driving is minimized, diagnosis using existing facilities, for example, the shape of the road itself or existing equipment on the road can be performed. This leads to a significant reduction in diagnostic costs.

JP 2004-140706 A

  In view of the above-described problems, the present invention provides a vehicle state diagnosis system and a vehicle state diagnosis method for a mobile body that can diagnose the vehicle state of a mobile body that automatically travels using a diagnosis point provided on a road. The purpose is to do.

  In order to solve the above problems, the vehicle state diagnosis system of the present invention provides the following solution.

  A vehicle state diagnosis system according to an aspect of the present invention is a vehicle state diagnosis system in which a management server and a moving body that travels according to an instruction of the management server are connected by wireless communication, and the vehicle state of the moving body is diagnosed. The mobile body includes a mobile body information acquisition unit that acquires mobile body information including position information and operating status, and a vehicle state detection unit that detects a vehicle state including the remaining battery level and the state of other on-vehicle equipment. The management server includes a mobile body information collection unit that collects the mobile body information received from the mobile body information acquisition unit through wireless communication with the mobile body, and an area in which the mobile body travels. A road information acquisition unit that acquires road information, a diagnosis point determination unit that determines a diagnosis point from which the vehicle state of the mobile body can be diagnosed on a travel route of the mobile body from the acquired road information, A diagnostic route setting unit that connects the determined diagnostic points and sets a diagnostic route for the moving body, wherein the moving body receives the information of the set diagnostic route, and the vehicle state in the diagnostic route The vehicle state detected by the detection unit is transmitted to the management server.

  In the above vehicle condition diagnosis system, the diagnosis point is a straight road capable of traveling at a predetermined speed or higher, an uphill or downhill road with a predetermined angle or more, an intersection with a signal, a temporary stop point, a crosswalk, or no signal. It may include at least one of an intersection, a railroad crossing, a rough road, a crank, an S-curve, and a place where an on-vehicle acoustic device can be diagnosed.

  Further, in the above-described vehicle state diagnosis system, the moving body is in accordance with a dispatch instruction from the management server, on the way to the dispatch destination, on the way to the dispatch destination, or on the way to return from the dispatch destination. The diagnosis point where the vehicle can travel may be determined according to a margin time during movement and the remaining battery level.

  In the vehicle state diagnosis system, the moving body may perform the traveling of the diagnostic route according to an instruction from the management server or spontaneously, regularly or irregularly.

  In the vehicle state diagnosis system, the moving body further includes an imaging unit that captures the diagnosis point, and the management server moves the vehicle allocation information including the diagnosis route set for the moving body. From the management server side based on the position information acquired by the mobile body information collection unit and the information acquired by imaging the diagnostic point by the mobile body traveling on the diagnostic route. You may generate the diagnostic result which saw.

  According to another aspect of the present invention, there is provided a method for diagnosing a vehicle state of a mobile body in which a management server and a mobile body that travels according to an instruction from the management server are connected by wireless communication. A method for diagnosing a vehicle state of a body, wherein the mobile body detects a vehicle state including a step of acquiring mobile body information including position information and operation status, and a remaining battery level and a state of other in-vehicle equipment. A step of collecting the received mobile body information by the wireless communication with the mobile body, a step of acquiring road information of a region where the mobile body travels, and the acquired road A step of determining a diagnosis point capable of diagnosing the vehicle state of the moving object on a travel route of the moving object from information, and a step of setting a diagnosis route for the moving object by connecting the determined diagnosis point The mobile receives the information of the set diagnostic route, characterized in that it comprises a, and transmitting a vehicle state detected by the diagnostic routes to the management server.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle travel diagnostic system which can diagnose the vehicle state of the mobile body which carries out an automatic driving | running | working with the diagnostic point provided on the road, and the vehicle travel diagnostic method of a mobile body can be provided.

It is a figure explaining the concept of the traffic system to which this invention is applied. It is a figure explaining the whole traffic system outline to which the present invention is applied. It is an image figure showing a diagnostic route and a diagnostic point provided on a map. It is an image figure which a mobile body travels to a diagnostic point and diagnoses. It is a figure showing a functional block of a vehicle state diagnostic system concerning an embodiment of the present invention. It is a figure which shows the data structure stored in the diagnostic information DB101 of a moving body. It is a figure which shows the data structure stored in diagnostic information DB201 of a management server. It is a figure which shows the data structure stored in the mobile body information DB202 of a management server. It is a sequence diagram which shows the flow of the process which concerns on embodiment of this invention. (A) It is a figure which shows an example by which the diagnostic result was output to the display part of a moving body. (B) It is a figure which shows an example by which the diagnostic result was output to the display part of the management server.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the accompanying drawings. Note that the same numbers or symbols are assigned to the same elements throughout the description of the embodiment.

(Transportation system)
FIG. 1 is a diagram for explaining the concept of a traffic system to which the present invention is applied. FIG. 2 is a diagram illustrating an overall outline of a traffic system to which the present invention is applied. The automatic operation transportation system (hereinafter referred to as transportation system 1) improves the convenience of transportation in the area, and residents and servicers (service providers such as public transportation, government offices, hospitals, local companies, supermarkets and convenience stores in the area concerned). It is intended to stimulate the demand for movement of people and goods in retail stores, etc., and to revitalize the area.

  In the transportation system 1, the mobile management system that is the center of the transportation system 1 is configured by a management server or the like as a subsystem suitable for various services to be provided. The management server 10 is one of servers as this subsystem, and a servicer system 20 (represented by a building illustration in FIG. 1) operated by a servicer connected to the management server 10 via a network, A user terminal 30 (represented by a house illustration in FIG. 1) operated by a user who is a resident, and a movable body 40 that is driven by electricity and automatically travels and carries a user or luggage based on an instruction from the management server 10. Prepare.

  The management server 10 receives servicer information from the servicer system 20 and receives user information from the user terminal 30. The management server 10 collects servicer information and user information, matches the information, and provides, for example, schedule information that prompts the user to go out to a predetermined user terminal 30, and provides predetermined user information to a predetermined servicer system. 20 to provide. Then, the management server 10 transmits, to the moving body 40, dispatching instruction information indicating the operation date and time and the route based on the dispatching request information of the moving body 40 received from the servicer system 20 or the user terminal 30.

  The servicer system 20 is configured by a system suitable for each servicer (for example, a system including a plurality of terminals and a server, a mobile terminal, a smartphone, a tablet terminal, a personal computer, etc.), and provides servicer information based on each servicer's request. To the management server 10. For example, if the servicer is a retail store, the servicer information includes inventory information that indicates the servicer's inventory, the sale date, sale time, item, quantity, price, and special product information that indicates the assumed trade area of the sale item, the customer that you want to visit. Store occupancy information, the presence or absence of smoking, in-store vacancy information regarding service coupons that can be received at the store. Further, the servicer information includes dispatch request information for requesting the vehicle 40 to be dispatched.

  The user terminal 30 is composed of devices suitable for each user (for example, portable terminals, smartphones, tablet terminals, personal computers, game devices, televisions that can be connected to a network, audio devices, information appliances such as refrigerators, etc.) User information based on the user's request is transmitted to the management server 10. The user terminal 30 may be the device itself as described above, or may be a control device (home controller or the like) capable of communicating information with the plurality of devices via a local network such as a home. . The user information includes personal information such as a user ID, name, address, and e-mail address that identifies the user, purchase request information indicating a product that the user desires to purchase, and operation of the moving body 40 from the boarding position to the destination at a specific date and time. Vehicle allocation request information for requesting the vehicle, schedule finalization information for determining the schedule of vehicle allocation based on the vehicle allocation request information, user periodic vehicle allocation request information for requesting the operation of the moving body 40 from the boarding position to the destination at a predetermined time in a predetermined period, etc. Is included.

  The mobile body 40 is an electric vehicle that is driven by electricity and can automatically travel, and is an electric vehicle equipped with a well-known system relating to automatic driving, and at the date and time indicated in the dispatch instruction information received from the management server 10 The route shown in the instruction information is operated by automatic driving. In addition, the mobile unit 40 transmits mobile unit information including information indicating the current position, the destination, and the remaining battery level of the mobile unit to the management server 10. Moreover, the mobile body 40 charges with the nearest charging station 90, when a battery remaining charge becomes below a predetermined value. The charging station 90 is provided for each predetermined range, for example, in a region where the mobile body 40 is dispatched, and has a configuration in which a plurality of mobile bodies 40 can be charged simultaneously. Note that the charging station 90 may be simply provided for one unit at the home of a user who uses the moving body 40 or at a servicer store, for example. Note that the mobile unit 40 can also wirelessly communicate with other mobile units 40.

  According to such a traffic system 1, the usage fee of the mobile body 40 can be reduced by operating the mobile body 40 that automatically operates at the time and place according to the convenience and purpose of the servicer and the user. .

  In the vehicle condition diagnosis system (reference numeral 100 in FIG. 5) described below, which is a subsystem of the traffic system 1 described above, the vehicle state including the remaining battery level of the moving body 40 and the state of other in-vehicle equipment is used as a sensor inside the vehicle. Based on diagnosis, various diagnosis points are set on the travel route (road), and the vehicle state is diagnosed based on actual travel.

  The diagnosis of the vehicle state here refers to an internal diagnosis for diagnosing whether or not the moving body is operating normally based on vehicle state information obtained from internal sensors mounted at various locations of the moving body. Whether you are traveling on a route according to instructions from the management server installed outside, or are traveling in compliance with traffic rules such as traffic lights on the route and speed limits, and communication with the management server is normal An external diagnosis based on the driving environment such as whether or not there is.

  Therefore, the moving body 40 diagnoses the vehicle state using a plurality of drive system diagnosis sensors provided in the drive unit of the moving body 40, and further, the in-vehicle equipment (for example, lights and Rechargeable battery etc.). In addition, the management server 10 specifies the position information of the moving body 40 and the travel route based on the position information obtained from the GPS sensor or the like of the moving body 40, the operation information, and the dispatch information generated by itself, and the moving body 40 The road information of the area where the vehicle runs is acquired from the external system (reference numeral 60 in FIG. 5). The vehicle allocation information refers to information including vehicle allocation position information indicating a position where the mobile body 40 is allocated and information including vehicle allocation time information indicating the time when the mobile body 40 is allocated. Road information includes traffic rules (road speed limit, pause, etc.), traffic light conditions (lighting and blinking), road conditions (uphill, downhill, crank, S-curve, bad road) Etc.). The external system manages various information related to the road. For example, if the information is traffic jam or traffic regulation, it is a road traffic information communication system, and if it is signal information, the information communication of the traffic control center. System.

  Based on the acquired road information, the management server 10 determines a diagnostic point where the vehicle state of the moving body 40 can be diagnosed on the travel route of the moving body 40, and connects the determined diagnostic points to determine a diagnostic route for the moving body 40. Set. The moving body 40 receives the set diagnosis route from the management server 10, performs diagnosis for each diagnosis point in the diagnosis route, and transmits the diagnosis result to the management server 10.

  FIG. 3 is an image diagram showing a diagnosis route and a diagnosis point provided on the map. In the example shown in FIG. 3, the moving body 40 leaves the charging station 90 (W point), which is a standby place, in accordance with a dispatching instruction from the management server 10, and places the user from the front of the house (S point) or the like. It is assumed that the user gets off before school (point G) and returns to the charging station 90 again after the user gets off. Since the management server 10 dispatches the moving body 40 from home to the school, the current position of the moving body 40 is specified, and for example, the shortest route to the school is generated. The shortest route here is the shortest route in terms of distance or time. Of course, the shortest route may naturally include a diagnosis point. In FIG. 3, this shortest route is indicated by a thick solid line. And the management server 10 acquires the road information of the area where the mobile body 40 drive | works from the produced | generated route from an external system, and determines the diagnostic point which can diagnose the vehicle state of the mobile body 40 on a drive route. For example, as shown in FIG. 3, the point A is a crank diagnostic point, the point B is a blinking signal diagnostic point, the point C is an S-curve diagnostic point, and the point D is a slope diagnostic point (uphill force, downhill braking force). (For diagnosis), a straight road diagnosis point (for speed measurement) at point E, a temporary stop diagnosis point at point F, and an acoustic diagnosis point at point Z. The management server 10 connects from point A to point F and generates a diagnostic route. A diagnostic route deviating from the shortest route is indicated by a thick dotted line. In addition, whether or not a diagnosis point is added to a diagnosis route depends on changes in road information (changes in the road itself, such as new roads, increased traffic lights, and changes in the number of lanes, as well as large stores) It may be changed as changes occur). Also, as will be described later, even at the same diagnosis point, depending on the time of day, the road may be congested, the surrounding noise will be excessive or excessive, and it may be inappropriate as a diagnosis point. The adoption / non-acquisition to the diagnosis route may be changed depending on the time zone.

  The moving body 40 travels from the point (point W) that was waiting before the dispatch instruction to the destination (point S), and travels the route to the destination after the user gets on the vehicle or loads the luggage. The mobile body 40 changes the route so as to include each diagnosis point if there is a surplus in the travel time, and if there is not enough time, it travels only at the diagnosis point on the shortest route and travels to the destination (point G). To do. After moving the user down to the destination, the moving body 40 travels on the detour diagnosis route (thick dotted line) including the diagnosis point F that deviates from the shortest route (thick dashed line) to the charging station 90. The diagnosis of the diagnosis point Z is not performed because there is not enough time for the moving body 40 to move from the charging station 90 to the S point of the dispatch destination. The reason for adding the point F to the diagnosis route and not the point Z is as follows. As can be seen from the drawing, the detour distance from the shortest path between the point F and the point Z is longer than the distance detoured to the point F. However, in this example, the point F is a candidate for detouring when returning to the charging station and there is a time margin, while the point Z is a candidate for detouring at the destination This is due to the judgment that it is difficult to find time margin when heading.

  Further, the moving body may change the diagnosis route instructed from the server in consideration of the road conditions that change every moment. For example, in a crowded situation where there is not enough distance for an acceleration test or braking test, if the diagnostic point for the test is a detour route, the acceleration test or braking test is canceled and the vehicle runs on the shortest route. However, it may be possible to cancel the acoustic test in a situation where the noise is so intense that the acoustic test is difficult. Of course, when the congestion is eliminated, the server is detoured to perform the acceleration test and the braking test as before, and travels on the diagnosis route supported first from the server.

  The moving body 40 travels according to the margin time and the remaining battery level in each movement in the middle of moving to the destination, on the way to the destination, or returning from the destination according to the dispatching instruction from the management server 10. Determine possible diagnostic points and drive. In this way, the mobile unit 40 not only follows the diagnostic route set by the management server 10, but also at its own judgment, according to its own schedule for the movement schedule and the remaining battery level at each stage during the movement. The diagnosis point can be selected and diagnosed. For this reason, the actual operation of the moving body 40 is not hindered, and therefore efficient dispatch is possible. In addition, the mobile body 40 may travel the diagnosis route according to an instruction from the management server 10 or voluntarily, regularly or irregularly. In this way, since diagnosis is performed during automatic driving, no human inspection is required, and labor costs and maintenance time are reduced.

  Diagnosis points include straight roads that can run at a certain speed or higher, uphill or downhill roads with a predetermined angle or more, intersections with signals, temporary stop points, crosswalks, intersections without signals, railroad crossings, bad roads, cranks, It is assumed that at least one of the S-curve and the place where the diagnostic test of the in-vehicle acoustic device is possible is included.

  For example, FIG. 4 is a diagram showing images of points at some of the diagnostic points. As shown in FIG. 4A, the moving body 40 travels on a road where a traffic light set as a diagnosis point is installed, captures the traffic light with a camera (imaging unit) described later, and manages the imaging information. By transmitting to the server 10, the diagnosis result can be received from the management server 10. In FIG. 4 (b), the moving body 40 travels through a crossing set as a diagnosis point, captures a corresponding crossing with a camera, performs image recognition, detects a brake state by a brake sensor, and stores these information. It is possible to transmit to the management server 10 and receive a temporary stop diagnosis result from the management server 10. Further, as shown in FIG. 4C, the moving body 40 travels on a downhill road set as a diagnosis point, detects a brake state of a built-in driving means to be described later, and the result is the management server 10. And the diagnosis result can be received from the management server 10. Further, as shown in FIG. 4D, the moving body 40 travels the crank set as the diagnosis point, detects the steering state and the brake state of the driving means described later, and sends the detection result to the management server 10. The diagnosis result can be received from the management server 10. Further, the time when the mobile body has performed various diagnostic tests and the recording time of the corresponding video may be collated, and the validity may be confirmed from the management server 10 side.

  Although illustration is omitted, acoustic diagnosis is also possible. The acoustic diagnosis is diagnosis of an on-vehicle acoustic device (horn, voice recognition device, audio device, etc.) using a speaker and a microphone, which will be described later. For example, a quiet point (such as a park) in the area is specified, and that point is set as a diagnostic point for acoustic diagnosis. The diagnostic content in this case is to output a predetermined diagnostic sound from the speaker, perform a speaker volume, treble and bass test from the acoustic signal detected by the microphone, and send the diagnostic result to the management server 10; The diagnosis result can be received from the management server 10. In addition, while the user is on board, the voice uttered by the user is accurately collected spontaneously or in accordance with an instruction from the management server 10, and it is diagnosed whether or not it can be determined as voice, and the result is managed. Send to server 10. In this description, the mobile body 40 is diagnosed using a general road as a diagnosis point. However, a diagnosis point may be installed in a part for diagnosis.

(Configuration of vehicle condition diagnosis system)
FIG. 5 is a block diagram illustrating a configuration of a vehicle state diagnosis system (hereinafter referred to as the present system 100) according to the present embodiment. The system 100 includes a management server 10 serving as a control center for dispatching the mobile body 40, and a mobile body 40 that is connected to the management server 10 via a wireless communication network and that automatically travels based on instructions from the management server 10. And an external system 60.

(Configuration of mobile body)
The moving body 40 includes a vehicle state detection unit 41, a driving unit 42, a moving body information acquisition unit 43, a light 44, a rechargeable battery 45, a speaker 46, a microphone 47, a camera 48 (imaging unit), And a display unit 49. Hereafter, each structure is demonstrated in order.

  The vehicle state detection unit 41 detects the vehicle state including the remaining battery level and the state of other on-vehicle equipment. The vehicle state detection unit 41 is based on signals output from various drive system diagnostic sensors 42 b, lights 44, position information acquisition unit 43 b, rechargeable battery 45, speaker 46, and microphone 47 built in the drive means 42. The diagnosis of the state is performed, and the diagnosis result is stored in a diagnosis information database (hereinafter referred to as diagnosis information DB 101) and transmitted to the management server 10.

  As shown in FIG. 6A, the diagnosis information DB 101 includes a moving body ID uniquely assigned to the moving body 40, a diagnosis date and time, and various drive system diagnostic sensors built in the driving means 42 of the moving body 40. The diagnosis result by 42b (for example, an acceleration sensor, a brake sensor, a steering sensor, a tire air pressure sensor, a collision detection sensor, a drive system temperature sensor, etc.), a remaining battery level, and the vehicle state of the moving body 40 are stored. For example, the mobile object No. 0001 diagnoses the vehicle condition at 14:00 on February 1, 2014, and the acceleration sensor, brake sensor, steering sensor, tire air pressure sensor, collision detection sensor, and drive system temperature sensor are all good, and the remaining battery level It is also shown that there is no hindrance to normal driving.

  In addition, vehicle diagnosis is similarly performed at each diagnosis point in the diagnosis route set by the management server 10, and the diagnosis result is stored in a diagnosis information database (hereinafter referred to as diagnosis information DB 101), and the diagnosis result is sent to the management server 10. Send.

  As shown in FIG. 6B, for example, on a straight road that can travel at a predetermined speed or higher, a diagnosis is performed by the camera 48 having a built-in speed sensor and an image recognition function in the drive unit 42a. If there is no problem in diagnosis, “OK” is displayed, and “NG” is displayed in the case of abnormality.

  The drive means 42 includes a drive unit 42a and a drive system diagnostic sensor 42b. The drive part 42a has components (battery, inverter, motor, brake, etc.) necessary for the moving body 40 to be driven by electricity. The driving means 42 includes a GPS (Global Positioning Systems) sensor necessary for automatic driving, a surrounding monitoring sensor for detecting the traveling environment of the moving body 40, and an actuator for steering the wheel based on information from the GPS sensor and the surrounding monitoring sensor. Etc.

  The drive system diagnosis sensor 42b is provided in each component of the drive unit 42a, and outputs vehicle state information indicated by a signal detected by the drive system diagnosis sensor 42b to the vehicle state detection unit 41.

  The moving body information acquisition unit 43 includes a schedule management unit 43a that manages the movement schedule of the moving body 40 and a position information acquisition unit 43b that detects position information of the moving body 40 using a GPS sensor or the like.

  The schedule management unit 43a manages the operation status and the operation schedule, for example, whether or not the operation is in progress (during operation, standby, charging at the charging station, etc.), and the destination and destination arrival time for operation. The position information acquisition unit 43b detects (acquires) the current location of the moving body 40 using a GPS sensor or the like.

  The light 44 has a function of irradiating the road during traveling, and is used during traveling on the road, and transmits the light irradiation angle and lightness state to the vehicle state detection unit 41.

  The rechargeable battery 45 is a power source necessary for the automatic traveling of the moving body 40, measures the remaining battery power with a built-in sensor, and outputs it to the vehicle state detection unit 41.

  The speaker 46 outputs, for example, navigation sound or sound generated by an acoustic device. The microphone 47 collects voices around the moving body 40, voices spoken by the user while riding, and the like. The microphone 47 constitutes a voice recognition device that recognizes the user's voice. When the user instructs the moving body 40 to operate by speaking, the moving body 40 operates according to the content of the instruction. For example, if you want to give an instruction to the moving body immediately, such as changing the destination while driving or an emergency stop, in addition to operating the instruction to the moving body 40 on the terminal, you can use voice recognition for terminal operation. Users who are not used to it can easily handle it.

  The camera 48 images the object set at the diagnosis point, and transmits imaging information obtained as a result of the imaging to the management server 10.

  The display unit 49 displays the latest diagnosis result after the engine is started or when the user gets on. For example, as shown in FIG. 10A, the result of diagnosis by the vehicle state detection unit 41 and the result of diagnosis obtained by traveling on the diagnosis route are displayed, so that the user can visually check the vehicle state. Therefore, the reliability with respect to the mobile body 40 that automatically travels increases.

(Management server configuration)
For example, as illustrated in FIG. 5, the management server 10 includes a road information acquisition unit 11, a diagnosis point determination unit 12, a diagnosis route setting unit 13, a vehicle state collection unit 14, a diagnosis result collection unit 15, A body information collecting unit 16 and a vehicle dispatching instruction unit 17 are provided.

  The road information acquisition unit 11 acquires road information of an area where the moving body 40 travels from the external system 60 through communication.

  The diagnosis point determination unit 12 determines a diagnosis point where the vehicle state of the moving body 40 can be diagnosed on the travel route of the moving body 40 from the acquired road information. For example, when diagnosing the temporary stop line and speed of an intersection on the travel route of the moving body 40, a straight road that can travel at a predetermined speed or higher is determined as the diagnosis point.

  The diagnosis route setting unit 13 sets a diagnosis route for the moving body 40 by connecting the determined diagnosis points. The moving body 40 travels through a diagnosis point existing in the diagnosis route according to time.

  The vehicle state collection unit 14 acquires the vehicle state information of each moving body 40 received by the vehicle state detection unit 41 of the moving body 40, determines the normality of the vehicle state of the moving body 40 from the information, and obtains the result. In addition, it is stored in the diagnostic information database 201 (hereinafter referred to as diagnostic information DB 201).

  The diagnostic result collection unit 15 acquires diagnostic result information from the moving body 40 traveling on the diagnostic point in the diagnostic route, determines normality of each function operated at the diagnostic point of the moving body 40 from the information, Stored in the diagnostic information DB 201.

  As shown in FIG. 7A, the diagnostic information DB 201 includes the mobile body ID of each mobile body, various drive system diagnostic sensors 42b built in the drive means 42 of the mobile body 40, the remaining battery level, and each item. The vehicle state of the moving body 40 to be determined is stored. In the vehicle state column, for example, diagnosis result information such as “normal”, “caution”, and “warning” is set. "Normal" means that there is no problem with automatic driving, and "Caution" means that there is no problem with driving at the moment, but there is a risk of driving failure soon. “Warning” means a state where it is difficult to travel alone, and refers to a state where maintenance is urgently required. By doing in this way, it becomes possible to manage the vehicle state of each moving body 40 in a lump, and it becomes possible to use it as an indication of the dispatch timing or the maintenance time of the moving body 40.

  Moreover, as shown in FIG.7 (b), the diagnostic information DB201 memorize | stores the mobile body ID of each moving body 40, and the vehicle state of each function sensor required at the time of driving | running | working of a diagnostic point. For example, when it is determined that all are operating normally as a result of traveling through the diagnostic point shown in FIG. 6B, the mobile object No. 0001 includes a speed sensor, a brake sensor, a steering sensor, a suspension sensor, The sound state and image recognition are all displayed as “OK”. Note that the moving object No. If the brake sensor is determined to be NG as in 0003, the vehicle immediately goes to the maintenance factory under the instruction of the management server 10.

  The mobile body information collection unit 16 communicates with each mobile body 40, acquires mobile body information for each mobile body 40, and stores it in the mobile body information database 202 (hereinafter referred to as the mobile body information DB 202).

  As shown in FIG. 8, the mobile object information DB 202 stores data on the mobile object ID, position information, travel route, operating status, and remaining battery level of each mobile object. For example, the mobile object No. 0001 is located at a latitude of 35 ° 32′5.10 ″ and a longitude of 139 ° 10′3.80 ″, the starting point is A-1-2, and the destination is A department store. It can be seen that the current battery level is 80% because it is currently operating up to department store A and is scheduled to end at 16:00. By storing the moving body information of each moving body 40 in the moving body information DB 202, a smooth vehicle dispatch instruction can be performed.

  Returning to FIG. 5, the vehicle allocation instruction unit 17 sends the vehicle allocation information to the mobile unit 40 by wireless communication with the mobile unit information received from each mobile unit 40 and the schedule status of the user who requested the vehicle allocation. Generates and dispatches.

  The configuration of the vehicle condition diagnosis system 100 described above is merely an example, and one functional block (database and function processing unit) may be divided or a plurality of functional blocks may be configured as one functional block. Each function processing unit reads a computer program stored in a storage device such as a ROM (Read Only Memory), flash memory, SSD (Solid State Drive), or hard disk by a CPU (Central Processing Unit) built in the device This is realized by executing sequentially. That is, in each function processing unit, this computer program reads and writes necessary data such as a table from a database (DB; Data Base) stored in a storage device or a storage area on a memory, and may be related in some cases. This is realized by controlling hardware (for example, an input / output device, a display device, and a communication interface device). The database in the present embodiment may be a commercial database, but it simply means a collection of tables and files, and the internal structure of the database itself does not matter.

  FIG. 9 is a sequence diagram showing a flow of processing according to the embodiment of the present invention. The moving body 40 acquires the position information and the operation information as moving body information from its own moving body information acquisition unit 43 periodically or according to the instruction of the management server 10 and stores it in the moving body information DB 202. (Step S101). Next, the vehicle state detection unit 41 detects the vehicle state including the remaining battery level and the state of other on-vehicle equipment (step S102). That is, in the case of drive system diagnosis, the function in the drive unit 42a is diagnosed by the drive system diagnosis sensor 42b, and in the case of other in-vehicle equipment, the signal of the diagnosis result from each in-vehicle equipment is sent to the vehicle state detection unit 41. Send. For example, the light 44 performs normality determination by transmitting the light irradiation angle and lightness state to the vehicle state detection unit 41. Note that the battery remaining amount may be sent at the timing of step S101.

  Next, the dispatching instruction unit 17 of the management server 10 selects the moving body 40 to be dispatched from the moving body information for each moving body 40 based on a user or a request for dispatching the luggage, and transmits the dispatching information (step S103). ). The mobile unit 40 that has received the vehicle allocation information automatically travels based on the vehicle allocation information (step S104).

  Next, the flow of performing external diagnosis will be described. The road information acquisition unit 11 of the management server 10 issues an acquisition request to the external system 60 for the road information of the area where the vehicle travels from the position information of the mobile body information acquisition unit 43 acquired from the mobile body 40 (step S105). Receiving the road information acquisition request, the external system 60 transmits road information necessary for diagnosis to the management server 10 (step S106).

  The diagnosis point determination unit 12 of the management server 10 determines a diagnosis point on the travel route from the acquired road information (step S107). Next, the diagnosis route setting unit 13 connects the determined diagnosis points and sets a diagnosis route for the moving body 40 (step S108). The management server 10 transmits the determined diagnosis route and the diagnosis points in the diagnosis route to the moving body 40 (step S109), and the moving body 40 receives the information of the acquired diagnosis route and travels for each diagnosis point. A diagnosis is performed (step S110). The moving body 40 stores the diagnosis result in the diagnosis information DB 101 for each diagnosis point, and transmits the diagnosis result to the management server 10 (step S112). The diagnostic result collection unit 15 that has received the diagnostic result stores the diagnostic result in the diagnostic information DB 201. Next, the management server 10 manages the management server 10 based on the position information acquired by the mobile body information collection unit 16 and the information obtained from the video of the camera 48 as the mobile body 40 travels based on the diagnosis route information. A diagnosis result viewed from the 10 side is generated. As shown in FIG. 10B, since the diagnosis of each diagnosis point is possible by using the position information of the moving body 40 and the image recognition function of the camera, each diagnosis result is displayed on the display on the management server 10. Is done. By doing in this way, the internal diagnosis of the mobile body 40 and the external diagnosis from the management server 10 side are attained, and it leads to the improvement of the reliability of an autonomous vehicle.

(Effect of embodiment)
As described above, according to the vehicle state diagnosis system 100 of the present embodiment, the management server 10 determines a diagnosis point where the vehicle state of the moving body 40 can be diagnosed on the travel route of the moving body 40 from the acquired road information. Then, a diagnosis route is set by connecting the determined diagnosis points and transmitted to the moving body 40, and the vehicle state detected by the moving body 40 that has received the diagnosis route is transmitted to the management server 10 to request diagnosis. Therefore, it is possible to diagnose the vehicle state of the mobile body 40 that automatically travels by using the diagnosis point set on the road. Specifically, not only internal diagnosis on the running state such as engine speed, throttle opening, etc. based on information obtained from various sensors, for example, whether driving on a route according to a dispatch instruction, traffic lights on the route and restrictions External diagnosis based on the traveling environment, such as whether the vehicle is traveling in compliance with the speed, is also possible, and the reliability of the automatic traveling vehicle can be improved.

  In addition, the moving body 40 is in accordance with the margin time and the remaining battery level in each movement in accordance with the dispatching instruction from the management server 10, on the way to the destination, on the way to the destination, or on the way home from the destination. Determine the diagnostic points that can be run and run. In this way, the mobile unit 40 not only follows the diagnostic route set by the management server 10, but also at its own judgment, according to its own schedule for the movement schedule and the remaining battery level at each stage during the movement. It is possible to select a diagnosis point and receive a diagnosis. Therefore, since the actual operation of the moving body 40 is not hindered, efficient vehicle allocation is possible.

  As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention. In the above embodiment, the present invention is regarded as a product invention, and the moving body 40 is mainly described in the vehicle state diagnosis system 100. However, the present invention is regarded as an invention of a vehicle state diagnosis method for the moving body 40. You can also.

DESCRIPTION OF SYMBOLS 1 Traffic system 10 Management server 11 Road information acquisition part 12 Diagnosis point determination part 13 Diagnosis route setting part 14 Vehicle state collection part 15 Diagnosis result collection part 16 Mobile body information collection part 17 Vehicle dispatch instruction | indication part 20 Servicer system 30 User terminal 40 Movement Body 41 Vehicle state detection unit 42 Drive means 42a Drive unit 42b Drive system diagnostic sensor 43 Moving body information acquisition unit 43a Schedule management unit 43b Position information acquisition unit 44 Light 45 Rechargeable battery 46 Speaker 47 Microphone 48 Camera 49 Display unit 60 External system 101 Diagnosis information DB (diagnostic information database on the moving body side)
201 Diagnostic information DB (diagnostic information database on the management server side)
202 Mobile body information DB (mobile body information database)

Claims (6)

A vehicle state diagnosis system in which a management server and a mobile body that travels according to an instruction of the management server are connected by wireless communication, and diagnoses a vehicle state of the mobile body,
The moving body is
A moving body information acquisition unit for acquiring moving body information including position information and operation status;
A vehicle state detection unit that detects the vehicle state, including the remaining battery level and the state of other on-vehicle equipment,
The management server
A mobile body information collection unit that collects the mobile body information received from the mobile body information acquisition unit by wireless communication with the mobile body;
A road information acquisition unit that acquires road information of a region in which the mobile body travels;
From the acquired road information, a diagnostic point determination unit for determining a diagnostic point where the vehicle state of the mobile body can be diagnosed on the travel route of the mobile body;
A diagnosis route setting unit that connects the determined diagnosis points and sets a diagnosis route for the moving body, and
The moving body is
The vehicle state diagnosis system which receives the information of the set diagnosis route and transmits the vehicle state detected by the vehicle state detection unit on the diagnosis route to the management server.   The diagnostic points include straight roads that can be driven at a predetermined speed or higher, uphill roads or downhill roads with a predetermined angle or more, intersections with signals, temporary stop points, crosswalks, intersections without signals, railroad crossings, bad roads, cranks, S The vehicle state diagnosis system according to claim 1, comprising at least one of a character curve and a place where diagnosis of the in-vehicle acoustic device is possible. The moving body is
According to the dispatching instruction from the management server, the vehicle can travel according to the margin time and the remaining battery level during the travel to the dispatch destination, the travel at the dispatch destination, or the return from the dispatch destination. The vehicle state diagnosis system according to claim 1, wherein the vehicle travels after determining the diagnosis point. The moving body is
The vehicle condition diagnosis system according to any one of claims 1 to 3, wherein traveling of the diagnosis route is performed according to an instruction from the management server, or voluntarily, regularly or irregularly. The mobile body further includes an imaging unit that images the diagnostic point,
The management server
The vehicle allocation information including the diagnostic route set for the mobile body is transmitted to the mobile body, and when the mobile body travels along the diagnostic route, the location information acquired by the mobile body information collection unit and the location information The vehicle state diagnosis system according to any one of claims 1 to 4, wherein a diagnosis result viewed from the management server side is generated based on information obtained by imaging the diagnosis point by an imaging unit. A vehicle state diagnosis method for the mobile body, wherein a management server and a mobile body that travels according to instructions of the management server are connected by wireless communication, and diagnoses a vehicle state of the mobile body,
The moving body is
A step of acquiring mobile information including position information and operation status;
Detecting the vehicle state, including its own battery level and other onboard equipment states;
The management server is
Collecting the received mobile body information by wireless communication with the mobile body;
Obtaining road information of a region where the mobile body travels;
Determining a diagnostic point from which the vehicle state of the mobile body can be diagnosed on the travel route of the mobile body from the acquired road information;
Connecting the determined diagnostic points and setting a diagnostic route for the moving body;
The moving body is
Receiving the information of the set diagnostic route, and transmitting the vehicle state detected by the diagnostic route to the management server.

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