JP6837210B2 - Electronic devices, shipping support methods and computer programs - Google Patents

Electronic devices, shipping support methods and computer programs Download PDF

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JP6837210B2
JP6837210B2 JP2017054706A JP2017054706A JP6837210B2 JP 6837210 B2 JP6837210 B2 JP 6837210B2 JP 2017054706 A JP2017054706 A JP 2017054706A JP 2017054706 A JP2017054706 A JP 2017054706A JP 6837210 B2 JP6837210 B2 JP 6837210B2
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vehicle
atmospheric pressure
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warehousing
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JP2018154299A (en
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賢 福本
賢 福本
学 中北
学 中北
井上　正人
正人 井上
有作 多田
有作 多田
嶋　高広
高広 嶋
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Panasonic Intellectual Property Management Co Ltd
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Description

本発明はデータ処理技術に関し、特に電子機器、出庫支援方法およびコンピュータプログラムに関する。 The present invention relates to a data processing technique, particularly to an electronic device, a delivery support method, and a computer program.

近年、車両を自動運転により駐車スペースから出庫させる車両遠隔操作システムが知られている。この車両遠隔操作システムでは、車両から降車したユーザにより遠隔操作装置を用いて車両の自動運転の開始を指示する。この指示を受け付けた車両は、自動運転により駐車スペースから出庫する。 In recent years, a vehicle remote control system for automatically driving a vehicle out of a parking space has been known. In this vehicle remote control system, a user who gets off the vehicle instructs the start of automatic driving of the vehicle by using the remote control device. The vehicle that receives this instruction leaves the parking space by automatic driving.

特開２００４−４６４１６号公報Japanese Unexamined Patent Publication No. 2004-46416

立体駐車場からの出庫時、衛星測位では高さに関する検出精度が低いため、乗車予定者が存在する階がわからず、乗車予定者が存在する階まで車両を出庫させることは難しい。上記特許文献１には、車載の気圧計を使用して車両が存在する階を検出する車両位置検出システムが記載されているが、車両が存在する階を検出するだけでは、乗車予定者が存在する階まで車両を出庫させることは難しい。 When leaving the multi-storey car park, the detection accuracy regarding the height is low in satellite positioning, so it is difficult to know the floor where the prospective passengers are and to leave the vehicle to the floor where the prospective passengers are. The above-mentioned Patent Document 1 describes a vehicle position detection system that detects a floor on which a vehicle is located by using an in-vehicle barometer, but there are people who are planning to board the vehicle simply by detecting the floor on which the vehicle is located. It is difficult to get the vehicle out to the floor.

本願発明は上記課題に鑑みたもので、１つの目的は、車両の好適な自動出庫を実現することである。 The present invention has been made in view of the above problems, and one object is to realize a suitable automatic warehousing of a vehicle.

上記課題を解決するために、本発明のある態様の電子機器は、車両の外に存在するユーザにより操作される装置から送信された、車両の出庫を指示する出庫指示を受信する受信部と、受信部により出庫指示が受信された場合、装置の現在位置における第１気圧と、車両の現在位置における第２気圧とを取得する取得部と、取得部により取得された第１気圧と第２気圧との差が小さくなるように、車両の高さ方向での移動方向を決定する決定部と、を備える。 In order to solve the above problems, the electronic device of an embodiment of the present invention includes a receiving unit that receives a delivery instruction instructing the delivery of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle. When the warehousing instruction is received by the receiving unit, the acquisition unit acquires the first atmospheric pressure at the current position of the device and the second atmospheric pressure at the current position of the vehicle, and the first and second atmospheric pressures acquired by the acquiring unit. A determination unit for determining the moving direction of the vehicle in the height direction is provided so that the difference between the vehicle and the vehicle is small.

本発明の別の態様は、出庫支援方法である。この方法は、車両の外に存在するユーザにより操作される装置から送信された、車両の出庫を指示する出庫指示を受信し、出庫指示が受信された場合、装置の現在位置における第１気圧と、車両の現在位置における第２気圧とを取得し、第１気圧と第２気圧との差が小さくなるように、車両の高さ方向での移動方向を決定する、ことをコンピュータが実行する。 Another aspect of the present invention is a delivery support method. This method receives a warehousing instruction instructing the warehousing of the vehicle sent from a device operated by a user existing outside the vehicle, and when the warehousing instruction is received, the first atmospheric pressure at the current position of the device is used. The computer executes the acquisition of the second atmospheric pressure at the current position of the vehicle and the determination of the moving direction in the height direction of the vehicle so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small.

なお、以上の構成要素の任意の組合せ、本発明の表現を、コンピュータプログラム、コンピュータプログラムを記録した記録媒体、本装置を搭載した車両などの間で変換したものもまた、本発明の態様として有効である。 It should be noted that any combination of the above components and the expression of the present invention converted between a computer program, a recording medium on which the computer program is recorded, a vehicle equipped with the present device, and the like are also effective as aspects of the present invention. Is.

本発明によれば、車両の好適な自動出庫を実現することができる。 According to the present invention, it is possible to realize a suitable automatic warehousing of a vehicle.

実施例の通信システムの構成を示す図である。It is a figure which shows the structure of the communication system of an Example. 図１のユーザ端末装置の機能構成を示すブロック図である。It is a block diagram which shows the functional structure of the user terminal apparatus of FIG. 図１の車両の機能構成を示すブロック図である。It is a block diagram which shows the functional structure of the vehicle of FIG. 図３の出庫支援部の動作を示すフローチャートである。It is a flowchart which shows the operation of the delivery support part of FIG.

実施例では、ショッピングセンター等の立体駐車場における自動出庫時に、車載の気圧センサが測定した気圧と、乗車予定者（以下「ユーザ」とも呼ぶ。）が所持する携帯デバイスに内蔵された気圧センサが測定した気圧との差を使用して、ユーザの居る階まで自動出庫するシステムを提案する。実施例のシステムは、気圧差が小さくなる階に向けて車両を出庫する。 In the embodiment, the atmospheric pressure measured by the in-vehicle atmospheric pressure sensor and the atmospheric pressure sensor built in the portable device possessed by the prospective passenger (hereinafter, also referred to as “user”) at the time of automatic warehousing in a multi-storey car park such as a shopping center are used. We propose a system that automatically delivers goods to the floor where the user is, using the difference from the measured atmospheric pressure. The system of the embodiment leaves the vehicle toward the floor where the pressure difference becomes small.

図１は、実施例の通信システム１０の構成を示す。通信システム１０は、車両遠隔操作システムとも言え、自動出庫対象となる車両１２とユーザ端末装置１４とを備える。これらの装置は、ＬＡＮ・ＷＡＮ・インターネット等を含む通信網１６を介して接続される。ユーザ端末装置１４は、ユーザにより操作されるデータ処理装置である。ユーザ端末装置１４は、例えば、スマートフォンまたはタブレット端末であってもよい。 FIG. 1 shows the configuration of the communication system 10 of the embodiment. The communication system 10 can be said to be a vehicle remote control system, and includes a vehicle 12 to be automatically delivered and a user terminal device 14. These devices are connected via a communication network 16 including LAN, WAN, the Internet, and the like. The user terminal device 14 is a data processing device operated by the user. The user terminal device 14 may be, for example, a smartphone or a tablet terminal.

図２は、図１のユーザ端末装置１４の機能構成を示すブロック図である。本明細書のブロック図において示される各ブロックは、ハードウェア的には、コンピュータのＣＰＵ・メモリをはじめとする素子や機械装置で実現でき、ソフトウェア的にはコンピュータプログラム等によって実現されるが、ここでは、それらの連携によって実現される機能ブロックを描いている。これらの機能ブロックはハードウェア、ソフトウェアの組合せによっていろいろなかたちで実現できることは、当業者には理解されるところである。 FIG. 2 is a block diagram showing a functional configuration of the user terminal device 14 of FIG. Each block shown in the block diagram of the present specification can be realized by an element such as a computer CPU / memory or a mechanical device in terms of hardware, and can be realized by a computer program or the like in terms of software. Then, I draw a functional block realized by their cooperation. Those skilled in the art will understand that these functional blocks can be realized in various ways by combining hardware and software.

ユーザ端末装置１４は、通信部２０、ＧＮＳＳセンサ２２、気圧センサ２４、出庫支援Ａｐｐ２６を含む。通信部２０は、所定の通信プロトコルにしたがって外部装置と通信する。ＧＮＳＳセンサ２２は、ＧＮＳＳ（Global Navigation Satellite System）を利用してユーザ端末装置１４の現在位置を検知し、現在位置を示す検知信号を出力する。なお、ユーザ端末装置１４は、ＷｉＦｉ（登録商標）測位等、他の手法により現在位置を測位してもよい。気圧センサ２４は、大気圧を検知し、大気圧の値を示す検知信号を出力する。 The user terminal device 14 includes a communication unit 20, a GNSS sensor 22, a barometric pressure sensor 24, and a delivery support App 26. The communication unit 20 communicates with the external device according to a predetermined communication protocol. The GNSS sensor 22 detects the current position of the user terminal device 14 by using the GNSS (Global Navigation Satellite System), and outputs a detection signal indicating the current position. The user terminal device 14 may position the current position by another method such as WiFi (registered trademark) positioning. The atmospheric pressure sensor 24 detects the atmospheric pressure and outputs a detection signal indicating the value of the atmospheric pressure.

出庫支援Ａｐｐ２６は、車両１２の自動出庫を支援するアプリケーションである。出庫支援Ａｐｐ２６は、位置取得部２８、気圧取得部３０、出庫指示部３２を含む。これらの機能ブロックは、出庫支援Ａｐｐ２６のモジュールとして実装されてもよい。ユーザ端末装置１４のＣＰＵが、出庫支援Ａｐｐ２６の各モジュールを実行することにより、これらの機能ブロックの機能が発揮されてもよい。 The warehousing support application 26 is an application that supports the automatic warehousing of the vehicle 12. The warehousing support App 26 includes a position acquisition unit 28, a barometric pressure acquisition unit 30, and a warehousing instruction unit 32. These functional blocks may be implemented as a module of the issue support App26. The functions of these functional blocks may be exhibited by the CPU of the user terminal device 14 executing each module of the delivery support App26.

位置取得部２８は、ＧＮＳＳセンサ２２から出力された検知信号にしたがって、ユーザ端末装置１４の現在位置（特に平面上での位置）を取得する。気圧取得部３０は、気圧センサ２４から出力された検知信号にしたがって、ユーザ端末装置１４の現在位置での大気圧を取得する。出庫指示部３２は、車両１２の自動出庫を指示する信号（以下「出庫指示データ」と呼ぶ。）を、通信部２０を介して車両１２へ送信する。出庫指示データは、ユーザ端末装置１４の現在位置を示すデータと、現在位置での大気圧を示すデータとを含む。 The position acquisition unit 28 acquires the current position (particularly the position on a plane) of the user terminal device 14 according to the detection signal output from the GNSS sensor 22. The atmospheric pressure acquisition unit 30 acquires the atmospheric pressure at the current position of the user terminal device 14 according to the detection signal output from the atmospheric pressure sensor 24. The warehousing instruction unit 32 transmits a signal for instructing the automatic warehousing of the vehicle 12 (hereinafter referred to as “delivery instruction data”) to the vehicle 12 via the communication unit 20. The delivery instruction data includes data indicating the current position of the user terminal device 14 and data indicating the atmospheric pressure at the current position.

図３は、図１の車両１２の機能構成を示すブロック図である。車両１２は、通信部４０、センサ部４２、アクチュエータ部４４、自動運転制御部４６、自己位置推定部４７、出庫支援部４８を備える。通信部４０は、所定の通信プロトコルにしたがって外部装置と通信する。 FIG. 3 is a block diagram showing a functional configuration of the vehicle 12 of FIG. The vehicle 12 includes a communication unit 40, a sensor unit 42, an actuator unit 44, an automatic driving control unit 46, a self-position estimation unit 47, and a delivery support unit 48. The communication unit 40 communicates with the external device according to a predetermined communication protocol.

センサ部４２は、車両１２の周囲の状態等、様々な情報を検知し、検知した情報を含む検知信号を出力する。センサ部４２は、複数種類のセンサを含み、実施例では少なくともＧＮＳＳセンサ５０と気圧センサ５２を含む。ＧＮＳＳセンサ５０は、ＧＮＳＳを利用して車両１２の現在位置を検知し、現在位置を示す検知信号を出力する。気圧センサ５２は、大気圧を検知し、大気圧の値を示す検知信号を出力する。 The sensor unit 42 detects various information such as the surrounding state of the vehicle 12, and outputs a detection signal including the detected information. The sensor unit 42 includes a plurality of types of sensors, and in the embodiment, includes at least a GNSS sensor 50 and a barometric pressure sensor 52. The GNSS sensor 50 detects the current position of the vehicle 12 using GNSS and outputs a detection signal indicating the current position. The atmospheric pressure sensor 52 detects the atmospheric pressure and outputs a detection signal indicating the value of the atmospheric pressure.

アクチュエータ部４４は、ブレーキ、ステアリング等の複数種類のアクチュエータと、それらのアクチュエータを制御する複数種類のＥＣＵ（Electronic Control Unit）を含む。自動運転制御部４６は、車両１２の自動運転を制御する。具体的には、自動運転制御部４６は、センサ部４２の複数種類のセンサから出力された複数種類の検知信号に応じて、車両１２の挙動（言い換えれば走行態様）を自律的に決定する。自動運転制御部４６は、決定した態様で車両１２を動作させるように、アクチュエータ部４４の複数種類のＥＣＵを制御する。 The actuator unit 44 includes a plurality of types of actuators such as a brake and a steering wheel, and a plurality of types of ECUs (Electronic Control Units) that control the actuators. The automatic driving control unit 46 controls the automatic driving of the vehicle 12. Specifically, the automatic driving control unit 46 autonomously determines the behavior (in other words, the traveling mode) of the vehicle 12 according to the plurality of types of detection signals output from the plurality of types of sensors of the sensor unit 42. The automatic driving control unit 46 controls a plurality of types of ECUs of the actuator unit 44 so as to operate the vehicle 12 in the determined mode.

自己位置推定部４７は、センサ部４２から出力された検知信号に基づいて、車両１２の現在位置（例えば地図上の現在位置）を推定する。例えば、自己位置推定部４７は、（１）ＧＮＳＳセンサ５０から出力された検知信号、（２）ＧＮＳＳ以外の衛星測位、（３）カメラ（不図示）による撮像画像、（４）タイヤオドメトリに基づく自己位置推定の１つまたは組み合わせに基づいて、車両１２の現在位置を推定してもよい。自己位置推定部４７は、現在位置の推定結果を出庫支援部４８へ出力する。 The self-position estimation unit 47 estimates the current position of the vehicle 12 (for example, the current position on the map) based on the detection signal output from the sensor unit 42. For example, the self-position estimation unit 47 is based on (1) a detection signal output from the GNSS sensor 50, (2) satellite positioning other than GNSS, (3) an image captured by a camera (not shown), and (4) tire odometry. The current position of the vehicle 12 may be estimated based on one or a combination of self-position estimates. The self-position estimation unit 47 outputs the estimation result of the current position to the delivery support unit 48.

出庫支援部４８は、車両１２の自動出庫を支援するための機能を提供する。出庫支援部４８は、指示受信部５４、気圧取得部５６、位置取得部５８、移動態様決定部６０を含む。指示受信部５４は、ユーザ端末装置１４から送信された出庫指示データを、通信部４０を介して受信する。 The warehousing support unit 48 provides a function for supporting the automatic warehousing of the vehicle 12. The delivery support unit 48 includes an instruction receiving unit 54, an atmospheric pressure acquisition unit 56, a position acquisition unit 58, and a movement mode determination unit 60. The instruction receiving unit 54 receives the delivery instruction data transmitted from the user terminal device 14 via the communication unit 40.

気圧取得部５６は、出庫指示データに含まれるユーザ端末装置１４の現在位置の大気圧を第１気圧として取得する。また、気圧取得部５６は、気圧センサ５２から出力された検知信号にしたがって、車両１２の現在位置での大気圧を第２気圧として取得する。 The atmospheric pressure acquisition unit 56 acquires the atmospheric pressure at the current position of the user terminal device 14 included in the delivery instruction data as the first atmospheric pressure. Further, the atmospheric pressure acquisition unit 56 acquires the atmospheric pressure at the current position of the vehicle 12 as the second atmospheric pressure according to the detection signal output from the atmospheric pressure sensor 52.

位置取得部５８は、出庫指示データに含まれるユーザ端末装置１４の現在位置を取得する。また、位置取得部５８は、自己位置推定部４７による推定結果にしたがって、車両１２の現在位置（特に平面上での位置）を取得する。 The position acquisition unit 58 acquires the current position of the user terminal device 14 included in the delivery instruction data. Further, the position acquisition unit 58 acquires the current position (particularly the position on a plane) of the vehicle 12 according to the estimation result by the self-position estimation unit 47.

移動態様決定部６０は、気圧取得部５６により取得された第１気圧と第２気圧との差を導出し、その差が小さくなるように車両１２の高さ方向での移動方向を決定する。移動態様決定部６０は、決定した高さ方向での移動方向を自動運転制御部４６へ出力する。自動運転制御部４６は、移動態様決定部６０により決定された方向へ車両１２を移動させるようアクチュエータ部４４を制御する。 The movement mode determining unit 60 derives the difference between the first atmospheric pressure and the second atmospheric pressure acquired by the atmospheric pressure acquisition unit 56, and determines the moving direction of the vehicle 12 in the height direction so that the difference becomes small. The movement mode determining unit 60 outputs the moving direction in the determined height direction to the automatic operation control unit 46. The automatic driving control unit 46 controls the actuator unit 44 so as to move the vehicle 12 in the direction determined by the movement mode determination unit 60.

例えば、自走式立体駐車場における車両１２の自動出庫時に、移動態様決定部６０は、第１気圧と第２気圧との差が小さくなるように、車両の現在位置より上の階または下の階への移動を決定する。自動運転制御部４６は、移動態様決定部６０により決定された上の階または下の階へ車両１２を移動させるようアクチュエータ部４４を制御する。 For example, when the vehicle 12 is automatically delivered from the self-propelled multi-storey car park, the movement mode determining unit 60 is placed on the floor above or below the current position of the vehicle so that the difference between the first and second atmospheric pressures becomes small. Decide to move to the floor. The automatic driving control unit 46 controls the actuator unit 44 to move the vehicle 12 to the upper floor or the lower floor determined by the movement mode determination unit 60.

また、車両１２が自動出庫のための移動を開始後、気圧取得部５６は、現在の第２気圧を繰り返し取得し、位置取得部５８は、車両１２の現在位置を繰り返し取得する。移動態様決定部６０は、移動開始前に受け付けた出庫指示データが示す第１気圧と、最新の第２気圧との差が所定の閾値以下になった場合、車両１２が現在位置する階の中での移動方向（言い換えれば平面上での移動方向）を決定する。気圧差の閾値は、車両１２とユーザ端末装置１４が同じ高さ（同じ階）に存在する場合に生じうる第１気圧と第２気圧の差の最大値でもよい。この閾値は、開発者の知見や、通信システム１０を用いた実験等により適切な値が定められてもよい。 Further, after the vehicle 12 starts moving for automatic warehousing, the atmospheric pressure acquisition unit 56 repeatedly acquires the current second atmospheric pressure, and the position acquisition unit 58 repeatedly acquires the current position of the vehicle 12. When the difference between the first atmospheric pressure indicated by the delivery instruction data received before the start of movement and the latest second atmospheric pressure becomes equal to or less than a predetermined threshold value, the movement mode determining unit 60 is in the floor where the vehicle 12 is currently located. Determines the direction of movement in (in other words, the direction of movement on a plane). The threshold value of the atmospheric pressure difference may be the maximum value of the difference between the first atmospheric pressure and the second atmospheric pressure that can occur when the vehicle 12 and the user terminal device 14 are present at the same height (same floor). An appropriate value may be set for this threshold value based on the knowledge of the developer, an experiment using the communication system 10, and the like.

第１気圧と第２気圧との差が上記閾値以下になった場合、移動態様決定部６０は、出庫指示データが示すユーザ端末装置１４の現在位置と、位置取得部５８により取得された車両１２の現在位置と、センサ部４２からの他の検知信号（カメラ画像等）とに基づいて、現在の階における車両１２の移動経路を決定してもよい。この移動経路は、車両１２の現在位置からユーザ端末装置１４の現在位置に至る経路であってもよい。例えば、自走式立体駐車場の場合、スロープ領域から、ユーザが居る乗車エリアに至る経路であってもよい。自動運転制御部４６は、移動態様決定部６０により決定された移動経路を車両１２が辿るようアクチュエータ部４４を制御してもよい。 When the difference between the first atmospheric pressure and the second atmospheric pressure becomes equal to or less than the above threshold value, the movement mode determining unit 60 determines the current position of the user terminal device 14 indicated by the warehousing instruction data and the vehicle 12 acquired by the position acquiring unit 58. The movement path of the vehicle 12 on the current floor may be determined based on the current position of the vehicle 12 and other detection signals (camera image, etc.) from the sensor unit 42. This movement route may be a route from the current position of the vehicle 12 to the current position of the user terminal device 14. For example, in the case of a self-propelled multi-storey car park, the route may be from the slope area to the boarding area where the user is. The automatic driving control unit 46 may control the actuator unit 44 so that the vehicle 12 follows the movement path determined by the movement mode determination unit 60.

出庫支援部４８は、専用のＥＣＵとして実装されてもよく、カーナビゲーション装置、ＩＶＩ（In Vehicle Infotainment）装置、または自動運転制御部４６に組み込まれてもよい。例えば、出庫支援部４８内の各機能ブロックに対応するモジュールを含むコンピュータプログラムを、カーナビゲーション装置、ＩＶＩ（In Vehicle Infotainment）装置、または自動運転制御部４６のＣＰＵが実行することにより、出庫支援部４８内の各機能ブロックの機能が発揮されてもよい。 The delivery support unit 48 may be mounted as a dedicated ECU, or may be incorporated in a car navigation device, an IVI (In Vehicle Infotainment) device, or an automatic driving control unit 46. For example, a computer program including a module corresponding to each functional block in the warehousing support unit 48 is executed by a car navigation device, an IVI (In Vehicle Infotainment) device, or a CPU of the automatic driving control unit 46, thereby causing the warehousing support unit. The function of each functional block in 48 may be exhibited.

以上の構成による通信システム１０の動作を説明する。ユーザは、ショッピングセンターと連結された立体駐車場（ここでは自走式立体駐車場）の或る階の乗車エリアに着くと、ユーザ端末装置１４で出庫支援Ａｐｐ２６を起動し、自動出庫の指示を入力する。このとき、ユーザは、立体駐車場の３階に居る一方、ユーザが乗車すべき車両１２は、立体駐車場の１０階に駐車されているかもしれない。ユーザ端末装置１４は、ユーザ端末装置１４の現在位置を示すデータ、および、ユーザ端末装置１４の現在位置での大気圧（第１気圧）を示すデータを含む出庫指示データを車両１２（車両１２の通信部４０）へ送信する。 The operation of the communication system 10 with the above configuration will be described. When the user arrives at the boarding area on a certain floor of the multi-story parking lot (here, the self-propelled multi-story parking lot) connected to the shopping center, the user terminal device 14 activates the warehousing support App26 and gives an instruction for automatic warehousing. input. At this time, the user is on the 3rd floor of the multi-storey car park, while the vehicle 12 to be boarded by the user may be parked on the 10th floor of the multi-storey car park. The user terminal device 14 provides warehousing instruction data including data indicating the current position of the user terminal device 14 and data indicating the atmospheric pressure (first atmospheric pressure) at the current position of the user terminal device 14 in the vehicle 12 (vehicle 12). It is transmitted to the communication unit 40).

以下、図３の出庫支援部４８の動作を示すフローチャートである図４を適宜参照する。車両１２の指示受信部５４が、ユーザ端末装置１４から送信された出庫指示データを受信すると（Ｓ１０のＹ）、気圧取得部５６は、出庫指示データに含まれる第１気圧を取得する（Ｓ１２）。また、気圧取得部５６は、車両１２の現在位置での大気圧（第２気圧）を取得する（Ｓ１４）。移動態様決定部６０は、第１気圧と第２気圧との差が小さくなるように、上の階または下の階への移動を決定する（Ｓ１６）。例えば、第１気圧より第２気圧の方が低い場合、車両１２がユーザ端末装置１４より上の階に居るため、移動態様決定部６０は、現在の階より下の階への移動を決定する。 Hereinafter, FIG. 4, which is a flowchart showing the operation of the delivery support unit 48 of FIG. 3, will be referred to as appropriate. When the instruction receiving unit 54 of the vehicle 12 receives the delivery instruction data transmitted from the user terminal device 14 (Y in S10), the atmospheric pressure acquisition unit 56 acquires the first atmospheric pressure included in the delivery instruction data (S12). .. Further, the atmospheric pressure acquisition unit 56 acquires the atmospheric pressure (second atmospheric pressure) at the current position of the vehicle 12 (S14). The movement mode determining unit 60 determines the movement to the upper floor or the lower floor so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small (S16). For example, when the second atmospheric pressure is lower than the first atmospheric pressure, since the vehicle 12 is on the floor above the user terminal device 14, the movement mode determination unit 60 determines the movement to the floor below the current floor. ..

自動運転制御部４６は、移動態様決定部６０により決定された方向（上方向または下方向）への移動を開始する。例えば、自動運転制御部４６は、車両１２を立体駐車場のスロープ部へ移動させ、車両１２を上の階または下の階へ移動させる。車両１２の移動が開始後、気圧取得部３０は第２気圧を取得する（Ｓ１８）。移動態様決定部６０は、第１気圧と第２気圧との差を求める。気圧差が所定の閾値より大きければ（Ｓ２０のＮ）、車両１２とユーザ端末装置１４とが異なる階に位置するため、移動態様決定部６０は、自動運転制御部４６に高さ方向への移動を継続させ、Ｓ１８に戻る。 The automatic operation control unit 46 starts moving in the direction (upward or downward) determined by the movement mode determination unit 60. For example, the automatic driving control unit 46 moves the vehicle 12 to the slope portion of the multi-storey car park, and moves the vehicle 12 to the upper floor or the lower floor. After the movement of the vehicle 12 starts, the atmospheric pressure acquisition unit 30 acquires the second atmospheric pressure (S18). The movement mode determining unit 60 obtains the difference between the first atmospheric pressure and the second atmospheric pressure. If the atmospheric pressure difference is larger than a predetermined threshold value (N in S20), the vehicle 12 and the user terminal device 14 are located on different floors, so that the movement mode determination unit 60 moves to the automatic driving control unit 46 in the height direction. To continue and return to S18.

第１気圧と第２気圧との差が所定の閾値以下になれば（Ｓ２０のＹ）、車両１２とユーザ端末装置１４とが同じ階に位置するため、移動態様決定部６０は、自動運転制御部４６に高さ方向への移動を中止させる。移動態様決定部６０は、現在の階におけるユーザ位置までの移動経路を決定する（Ｓ２２）。自動運転制御部４６は、移動態様決定部６０により決定された移動経路にしたがって車両１２を走行させ、ユーザが居る乗車エリアまで車両１２を移動させる。出庫指示を未受信であれば（Ｓ１０のＮ）、Ｓ１２以降の処理をスキップして本図のフローを終了する。出庫支援部４８の起動中、すなわち電源がオンの間、出庫支援部４８は、図４に示すフローチャートの処理を繰り返し実行する。 If the difference between the first atmospheric pressure and the second atmospheric pressure becomes equal to or less than a predetermined threshold value (Y in S20), the vehicle 12 and the user terminal device 14 are located on the same floor, so that the movement mode determining unit 60 automatically controls the operation. The unit 46 is stopped from moving in the height direction. The movement mode determination unit 60 determines the movement route to the user position on the current floor (S22). The automatic driving control unit 46 drives the vehicle 12 according to the movement route determined by the movement mode determination unit 60, and moves the vehicle 12 to the boarding area where the user is. If the delivery instruction has not been received (N in S10), the processing after S12 is skipped and the flow in this figure ends. While the delivery support unit 48 is running, that is, while the power is on, the delivery support unit 48 repeatedly executes the process of the flowchart shown in FIG.

実施例の出庫支援部４８によると、乗車予定者が居る高さの位置（例えば立体駐車場の階）に車両１２を自動出庫させることができる。また、高さ方向での移動方向を気圧差に基づいて決定することで、高さの検出が不正確な衛星測位を補完することができる。 According to the delivery support unit 48 of the embodiment, the vehicle 12 can be automatically delivered at a height position (for example, the floor of a multi-storey car park) where a prospective passenger is present. Further, by determining the moving direction in the height direction based on the atmospheric pressure difference, it is possible to supplement the satellite positioning in which the height detection is inaccurate.

以上、本発明を実施例をもとに説明した。この実施例は例示であり、それらの各構成要素あるいは各処理プロセスの組合せにいろいろな変形例が可能なこと、またそうした変形例も本発明の範囲にあることは当業者に理解されるところである。 The present invention has been described above based on examples. This embodiment is an example, and it will be understood by those skilled in the art that various modifications are possible for each of these components or combinations of each processing process, and that such modifications are also within the scope of the present invention. ..

上記実施例では、車両１２が出庫支援部４８を備えた。変形例として、車両１２の外部に設けられた装置が出庫支援部４８を備えてもよい。例えば、通信網１６を介して車両１２およびユーザ端末装置１４と接続されるクラウド上のサーバが、出庫支援部４８を備えてもよい。サーバの指示受信部５４が、ユーザ端末装置１４から送信された出庫指示データを受信すると、サーバの気圧取得部５６は、出庫指示データから第１気圧を取得し、出庫対象の車両１２から第２気圧を取得してもよい。サーバの移動態様決定部６０は、実施例と同様に、車両１２の移動態様を決定し、決定した移動態様を示すデータを車両１２へ送信してもよい。車両１２の自動運転制御部４６は、サーバから受信したデータが示す移動態様で車両１２を走行させるようアクチュエータ部４４を制御してもよい。 In the above embodiment, the vehicle 12 is provided with a delivery support unit 48. As a modification, a device provided outside the vehicle 12 may include a delivery support unit 48. For example, a server on the cloud connected to the vehicle 12 and the user terminal device 14 via the communication network 16 may include a delivery support unit 48. When the instruction receiving unit 54 of the server receives the warehousing instruction data transmitted from the user terminal device 14, the air pressure acquisition unit 56 of the server acquires the first atmospheric pressure from the warehousing instruction data, and the vehicle 12 to the second warehousing target vehicle 12 to the second. Atmospheric pressure may be acquired. The movement mode determination unit 60 of the server may determine the movement mode of the vehicle 12 and transmit data indicating the determined movement mode to the vehicle 12 as in the embodiment. The automatic driving control unit 46 of the vehicle 12 may control the actuator unit 44 so as to drive the vehicle 12 in the movement mode indicated by the data received from the server.

上記実施例では、立体駐車場での自動出庫を例示したが、実施例に記載の技術はこれに限定されない。実施例に記載の技術は、ユーザの位置と、自動出庫対象となる車両の位置との間に高さの差がある場合に広く適用することができる。 In the above embodiment, automatic delivery in a multi-storey car park has been illustrated, but the technique described in the embodiment is not limited to this. The technique described in the embodiment can be widely applied when there is a height difference between the position of the user and the position of the vehicle to be automatically delivered.

実施例および変形例に記載の技術は、以下の項目によって特定されてもよい。
［項目１］
車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信する受信部と、
前記受信部により出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得する取得部と、
前記取得部により取得された第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する決定部と、を備える電子機器。
この電子機器によると、乗車予定者が居る高さの位置に車両を自動出庫することができる。
［項目２］
前記決定部は、第１気圧と第２気圧との差が小さくなるように、前記車両の現在位置より上の階または下の階への移動を決定し、第１気圧と第２気圧との差が所定値以下になった場合、前記車両が現在位置する階の中での移動方向を決定する、項目１に記載の電子機器。
この態様によると、乗車予定者が居る階の、乗車予定者が居る位置まで、車両を自動出庫することができる。
［項目３］
車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信し、
出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得し、
第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する、ことをコンピュータが実行する出庫支援方法。
この出庫支援方法によると、乗車予定者が居る高さの位置に車両を自動出庫することができる。
［項目４］
車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信し、
出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得し、
第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する、ことをコンピュータに実行させるためのコンピュータプログラム。
このコンピュータプログラムによると、乗車予定者が居る高さの位置に車両を自動出庫することができる。 The techniques described in the examples and modifications may be specified by the following items.
[Item 1]
A receiving unit that receives a warehousing instruction instructing the warehousing of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle.
When a warehousing instruction is received by the receiving unit, an acquisition unit that acquires the first atmospheric pressure at the current position of the device and the second atmospheric pressure at the current position of the vehicle.
An electronic device including a determination unit that determines a moving direction of the vehicle in the height direction so that the difference between the first atmospheric pressure and the second atmospheric pressure acquired by the acquisition unit becomes small.
According to this electronic device, the vehicle can be automatically delivered at a height where the prospective passenger is.
[Item 2]
The determination unit determines the movement of the vehicle to a floor above or below the current position of the vehicle so that the difference between the first and second atmospheres becomes small, and the first and second atmospheres are combined. The electronic device according to item 1, wherein when the difference is equal to or less than a predetermined value, the moving direction in the floor where the vehicle is currently located is determined.
According to this aspect, the vehicle can be automatically delivered to the position where the planned boarding person is on the floor where the planned boarding person is.
[Item 3]
Upon receiving a warehousing instruction instructing the unloading of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle,
When the delivery instruction is received, the first atm at the current position of the device and the second atm at the current position of the vehicle are acquired.
A delivery support method in which a computer executes a determination of a moving direction of the vehicle in the height direction so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small.
According to this warehousing support method, the vehicle can be automatically warehousing at a position at a height where the prospective passenger is.
[Item 4]
Upon receiving a warehousing instruction instructing the unloading of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle,
When the delivery instruction is received, the first atm at the current position of the device and the second atm at the current position of the vehicle are acquired.
A computer program for causing a computer to determine a moving direction of the vehicle in the height direction so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small.
According to this computer program, the vehicle can be automatically delivered at the height where the prospective passenger is.

上述した実施例および変形例の任意の組み合わせもまた本発明の実施の形態として有用である。組み合わせによって生じる新たな実施の形態は、組み合わされる実施例および変形例それぞれの効果をあわせもつ。また、請求項に記載の各構成要件が果たすべき機能は、実施例および変形例において示された各構成要素の単体もしくはそれらの連携によって実現されることも当業者には理解されるところである。 Any combination of the examples and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of the combined examples and the modifications. It is also understood by those skilled in the art that the functions to be fulfilled by each of the constituent elements described in the claims are realized by a single component or a cooperation thereof shown in the examples and modifications.

１０ 通信システム、 １２ 車両、 １４ ユーザ端末装置、 ４８ 出庫支援部、 ５４ 指示受信部、 ５６ 気圧取得部、 ５８ 位置取得部、 ６０ 移動態様決定部。 10 communication system, 12 vehicles, 14 user terminal device, 48 delivery support unit, 54 instruction reception unit, 56 barometric pressure acquisition unit, 58 position acquisition unit, 60 movement mode determination unit.

Claims (4)

車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信する受信部と、
前記受信部により出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得する取得部と、
前記取得部により取得された第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する決定部と、
を備える電子機器。 A receiving unit that receives a warehousing instruction instructing the warehousing of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle.
When a warehousing instruction is received by the receiving unit, an acquisition unit that acquires the first atmospheric pressure at the current position of the device and the second atmospheric pressure at the current position of the vehicle.
A determination unit that determines the moving direction of the vehicle in the height direction so that the difference between the first atmospheric pressure and the second atmospheric pressure acquired by the acquisition unit becomes small.
Electronic equipment equipped with. 前記決定部は、第１気圧と第２気圧との差が小さくなるように、前記車両の現在位置より上の階または下の階への移動を決定し、第１気圧と第２気圧との差が所定値以下になった場合、前記車両が現在位置する階の中での移動方向を決定する、
請求項１に記載の電子機器。 The determination unit determines the movement of the vehicle to a floor above or below the current position of the vehicle so that the difference between the first and second atmospheres becomes small, and the first and second atmospheres are combined. When the difference is less than or equal to a predetermined value, the direction of movement in the floor where the vehicle is currently located is determined.
The electronic device according to claim 1. 車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信し、
出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得し、
第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する、
ことをコンピュータが実行する出庫支援方法。 Upon receiving a warehousing instruction instructing the unloading of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle,
When the delivery instruction is received, the first atm at the current position of the device and the second atm at the current position of the vehicle are acquired.
The moving direction of the vehicle in the height direction is determined so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small.
A delivery support method that a computer does. 車両の外に存在するユーザにより操作される装置から送信された、前記車両の出庫を指示する出庫指示を受信し、
出庫指示が受信された場合、前記装置の現在位置における第１気圧と、前記車両の現在位置における第２気圧とを取得し、
第１気圧と第２気圧との差が小さくなるように、前記車両の高さ方向での移動方向を決定する、
ことをコンピュータに実行させるためのコンピュータプログラム。 Upon receiving a warehousing instruction instructing the unloading of the vehicle, which is transmitted from a device operated by a user existing outside the vehicle,
When the delivery instruction is received, the first atm at the current position of the device and the second atm at the current position of the vehicle are acquired.
The moving direction of the vehicle in the height direction is determined so that the difference between the first atmospheric pressure and the second atmospheric pressure becomes small.
A computer program that lets a computer do things.
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