JP6865087B2 - Vehicle control devices, positioning systems, control methods and programs - Google Patents

Description

The present invention relates to a vehicle control device, a positioning system, a control method and a program.

There is a position identification system that specifies the traveling position of a plurality of vehicles traveling by unmanned driving.
Patent Document 1 describes, as a related technology, a technology for ensuring the safety of the entire vehicle by instructing driving conditions suitable for each vehicle traveling on the road based on the traffic condition of the road or the like. There is.

Japanese Unexamined Patent Publication No. 8-241495

By the way, in the position specifying system, the position of the vehicle may be specified based on the positional relationship between the vehicle and the ground element. If such a positioning system is shut down for some reason, the information of the storage device that stores the current position of each vehicle may be lost, or the information indicating the traveling history of the own vehicle that the moving vehicle has may be lost. there's a possibility that.
Therefore, there has been a demand for a technology capable of ensuring the safety of the entire vehicle after the positioning system has been shut down and restarted.

An object of the present invention is to provide a vehicle control device, a position identification system, a control method, and a program capable of solving the above problems.

According to the first aspect of the present invention, the vehicle control device has a first position specifying unit that specifies the position of the vehicle based on the recognition result of the ground element by the vehicle, and a method different from the first position specifying unit. , The second position specifying unit that specifies the position of the vehicle with a lower accuracy than the first position specifying unit, and the second position because the position cannot be specified by the first position specifying unit among a plurality of vehicles. The area specifying part that specifies the area where the unknown vehicle whose position can be specified by the specific part may exist, and the vehicle other than the unknown vehicle among the plurality of vehicles so as not to invade the area specified by the area specifying part. It is provided with a travel management processing unit that transmits a control signal and transmits a travel command to the unknown vehicle to travel at a low speed in the region .

According to the second aspect of the present invention, in the vehicle control device according to the first aspect, the second position specifying unit is based on an image captured by an image pickup device provided at a position overlooking the vehicle. The position of may be specified.

According to the third aspect of the present invention, in the vehicle control device according to the first aspect or the second aspect, the second position specifying unit of the vehicle is based on an image captured by the image pickup device included in the vehicle. The position may be specified.

According to the fourth aspect of the present invention, the position identification system includes the vehicle control device according to any one of the first to third aspects, a vehicle traveling under control by the vehicle control device, and the vehicle. It is equipped with an image pickup device provided at a position where the vehicle is overlooked.

According to the fifth aspect of the present invention, the control method is different from the first method of specifying the position of the vehicle by the first method based on the recognition result of the ground element by the vehicle, and the first method. The position of the vehicle can be specified by the second method having a lower accuracy than the method of the above, and the position cannot be specified by the first method among a plurality of vehicles, and the position can be determined by the second method. Identifying an area where an unknown vehicle that can be identified may exist, transmitting a control signal to a vehicle other than the unknown vehicle among the plurality of vehicles so as not to enter the specified area, and other than the unknown vehicle. It includes transmitting a traveling command to the vehicle to travel at a low speed in the area .

According to the sixth aspect of the present invention, the program identifies the position of the vehicle by the first method based on the recognition result of the ground element by the vehicle on the computer, and unlike the first method, the program is described. The position of the vehicle is specified by the second method with lower accuracy than the first method, and the position cannot be specified by the first method among a plurality of vehicles, and the second method is used. Identifying an area where an unknown vehicle whose position can be specified may exist, transmitting a control signal to a vehicle other than the unknown vehicle among the plurality of vehicles so as not to enter the specified area, and the unknown vehicle. A vehicle other than the above is made to transmit a travel command for traveling at a low speed in the region and execute the operation .

According to the vehicle control device according to the embodiment of the present invention, it is possible to ensure the safety of traveling of the entire vehicle after the position identification system is shut down and restarted.

It is a figure which shows the structure of the position identification system by one Embodiment of this invention. It is a figure which shows the structure of the server by one Embodiment of this invention. It is a figure which shows the structure of the vehicle by one Embodiment of this invention. It is a figure which shows the structure of the image pickup apparatus by one Embodiment of this invention. It is the first figure which shows the processing flow of the position identification system by one Embodiment of this invention. It is a 2nd figure which shows the processing flow of the position identification system by one Embodiment of this invention. It is a schematic block diagram which shows the structure of the computer which concerns on at least one Embodiment.

<First Embodiment>
Hereinafter, embodiments will be described in detail with reference to the drawings.
The configuration of the position identification system according to the first embodiment of the present invention will be described.

The position identification system 1 according to the first embodiment of the present invention is a system that identifies the position of the vehicle based on the recognition result of the ground element by the vehicle. Further, the position identification system 1 is a system that acquires the accurate position of each vehicle again after the own position identification system 1 shuts down and restarts for some reason. The terrestrial element here is not limited to one that communicates with each other, and the terrestrial element can be identified and its position can be specified by, for example, a QR (Quick Response) code (registered trademark). Anything can be used as long as it is available. As shown in FIG. 1, the position identification system 1 includes a server 10 (vehicle control device), a plurality of ground elements 20a, 20b, 20c, 20d, 20e, 20f, 20g, 20h, and vehicles 30a, 30b, 30c. 30d, 30e, 30f, 30g and a plurality of imaging devices 40a, 40b, 40c, 40d, 40e, 40f are provided. Hereinafter, a plurality of ground elements 20a, 20b, 20c, 20d, 20e, 20f, 20g, and 20h are collectively referred to as ground elements 20. Further, the vehicles 30a, 30b, 30c, 30d, 30e, 30f and 30g are collectively referred to as the vehicle 30. Further, the plurality of image pickup devices 40a, 40b, 40c, 40d, 40e, and 40f are collectively referred to as an image pickup device 40.
Note that FIG. 1 shows the communication network NW. The communication network NW here includes a relay device that wirelessly communicates with each of the vehicle 30 and each of the image pickup device 40.

The server 10 is a server that manages the travel of each vehicle 30. As shown in FIG. 2, the server 10 includes a storage unit 101, a communication unit 102, a travel management processing unit 103, an image acquisition unit 104, and a position identification unit 105 (first position identification unit, second position identification unit). ) And the area specifying unit 106.

The storage unit 101 stores vehicle information in which the identifier of each vehicle 30 is associated with the travel route information indicating the route on which the vehicle 30 travels. Further, the storage unit 101 stores the ground child information in which each identifier of the ground child 20 is associated with the ground child position information indicating the position of the ground child 20 assigned to the identifier. In addition, the storage unit 101 stores position information indicating the position where the image pickup unit 402 included in each image pickup device 40, which will be described later, is installed.
The communication unit 102 communicates with each of the vehicle 30 and the image pickup device 40 via the communication network NW.

The travel management processing unit 103 transmits vehicle information to the vehicle 30 via the communication unit 102. Further, the travel management processing unit 103 acquires vehicle position information indicating the position of the vehicle 30 from each of the vehicles 30. Further, the travel management processing unit 103 transmits ground element information to each of the vehicles 30 via the communication unit 102.
Further, the travel management processing unit 103 transmits a control signal to the vehicles 30 other than the unknown vehicle 30 among the plurality of vehicles 30 so as not to invade the area where the unknown vehicle 30 specified by the area specifying unit 106, which will be described later, may exist. To do. The unknown vehicle 30 is a vehicle 30 whose exact position is not known by the ground element 20.

The image acquisition unit 104 acquires an image from at least one of the image pickup device 40 and the vehicle 30.
When the storage unit 101 stores the accurate position of each vehicle 30, the position specifying unit 105 identifies the position of each vehicle 30 from the ground element position information specified by the ground element recognition unit 304.
Further, when the position specifying unit 105 loses the accurate position of each vehicle 30 stored in the storage unit 101 while the vehicle 30 is traveling, the position specifying unit 105 is based on the image acquired by the image acquisition unit 104. The position of each vehicle 30 is specified.
The position specifying unit 105 determines the position of each vehicle 30 from the ground element position information specified by the ground element recognition unit 304, and the position of each vehicle 30 based on the image acquired by the image acquisition unit 104. The position can be specified with higher accuracy when the position of each vehicle 30 is specified from the ground element position information specified by the ground element recognition unit 304.

Here, a specific example in which the position specifying unit 105 specifies the position of each vehicle 30 based on the image acquired by the image acquisition unit 104 will be described.
The angle of view and the installation position of the imaging unit 402 are known in advance. Further, the size of each vehicle 30 is known in advance. Therefore, the position specifying unit 105 sets the distance between the vehicle 30 included in the image captured by the imaging unit 402 and the imaging unit 402 that images the vehicle 30 as the position of the vehicle 30 in the image and the vehicle 30 in the image. Estimate based on size. For example, the position specifying unit 105 images the vehicle 30 at various positions in advance, and writes the position of the vehicle 30 in the captured image and the actual distance between the vehicle 30 and the imaging unit 402 in the storage unit 101 in association with each other. .. Then, when the imaging unit 402 images the vehicle 30, the position specifying unit 105 identifies the position of the vehicle 30 in the captured image. The position specifying unit 105 compares the image in which the positions of the vehicles 30 identified in the image match with the image stored in the storage unit 101, and identifies the image from the images stored in the storage unit 101. The position specifying unit 105 specifies the actual distance between the vehicle 30 and the imaging unit 402 associated with the specified image in which the positions of the vehicles 30 match in the image. Further, in another embodiment of the present invention, for example, the distance may be calculated from the images of a plurality of imaging units 40 by using a triangulation method.
Then, the position specifying unit 105 specifies three or more actual distances between the vehicle 30 and the imaging unit 402, centering on the position of each imaging unit 402, and setting the distance between the vehicle 30 and the imaging unit 402 as the radius. Identify three circles. The position specifying unit 105 specifies the center of gravity of the region where the three specified circles overlap, and sets the center of gravity as the position of the vehicle 30. That is, the position specifying unit 105 specifies the position of the vehicle 30 like triangulation. In addition, the area including the center of gravity is treated as a range where the vehicle 30 may exist, and the position identification system 1 can obtain a highly accurate position by acquiring ground element information after the vehicle 30 is restarted. Can be specified in information.
In this way, the position specifying unit 105 can specify the position of each vehicle 30 based on the image acquired by the image acquisition unit 104.

The area specifying unit 106 identifies an area among a plurality of vehicles 30 in which an unknown vehicle 30 whose position cannot be specified from the ground element position information and whose position can be specified based on an image may exist.

The ground element 20 is a ground element used to indicate an accurate position in a traveling path while the vehicle 30 is traveling and to correct the position of the own vehicle 30. The ground element 20 is provided at a predetermined position on the traveling path on which the vehicle 30 travels.
For example, the ground element 20 according to the first embodiment of the present invention is a ground element having a predetermined mark (for example, a QR (Quick Response) code (registered trademark)).
Further, for example, the ground element 20 according to another embodiment of the present invention may be a ground element such as an RFID (Radio Frequency Identifier) (registered trademark) tag that performs short-range wireless communication.

Each of the vehicles 30 is a vehicle that travels on the route indicated by the travel route information included in the vehicle information acquired from the server 10. Each of the vehicles 30 is provided with, for example, a mark unique to the own vehicle 30, a unique number, a unique color painting, or the like so that the own vehicle 30 can be easily distinguished from the other vehicles 30. As shown in FIG. 3, each of the vehicles 30 includes a storage unit 301, a communication unit 302, a traveling control unit 303, a ground element recognition unit 304, and an imaging unit 305.

The storage unit 301 stores in advance vehicle control information in which the travel route information and the travel control signal are associated with each other. The travel control signal is a control signal for the vehicle 30 to travel according to the route indicated by the travel route information. For example, it is assumed that there are three ground elements 20 on the route indicated by the travel route information, and the position of the first ground element 20 is the current position of the vehicle 30. Then, the route on which the vehicle 30 travels is, for example, "go straight for 50 meters from the first ground element 20 to the second ground element 20, turn right at the position of the second ground element 20, and the second. It is assumed that the route goes straight for 30 meters from the ground element 20 to the third ground element 20. In this case, the travel control signal is, for example, the "steering operation amount and the wheel corresponding to the mileage of 50 meters" for the vehicle 30 to go straight for 50 meters from the first ground element 20 to the second ground element 20. "Count number of rotary encoder""Traveling speed and steering operation amount" for vehicle 30 to turn right at the position of the second ground element 20 "From the second ground element 20 to the third ground element 20 It is a control signal including information such as "the amount of steering operation and the count number of the rotary encoder of the wheel corresponding to the mileage of 30 meters" for the vehicle 30 to go straight for 30 meters.
Further, the storage unit 301 stores the ground child information in which each identifier of the ground child 20 is associated with the ground child position information indicating the position of the ground child 20 assigned to the identifier.
The communication unit 302 communicates with the server 10 via the communication network NW.

The travel control unit 303 identifies travel route information that matches the travel route information included in the vehicle information acquired from the server 10 in the storage unit 301. The travel control unit 303 controls the travel of the vehicle 30 based on the travel control signal associated with the specified travel route information.

Further, the traveling control unit 303 corrects the current position of the vehicle 30 based on the ground element position information of the ground element 20 recognized by the ground element recognition unit 304.
Specifically, for example, it is assumed that the travel control unit 303 controls the travel of the vehicle 30 from one ground element 20a on the travel path to the next ground element 20b based on the travel control signal. As a result, it is assumed that the vehicle 30 travels at a position deviated from the position of the ground element 20b. In this case, the traveling control unit 303 determines the position indicated by the ground element position information of the ground element 20b and the position of the vehicle 30 traveling based on the traveling control signal instructing the traveling from the ground element 20a to the next ground element 20b. Identify the difference between. When the traveling control unit 303 controls the vehicle 30 from the ground element 20b to the next ground element 20c, the traveling control unit 303 cancels the difference in the traveling control signal instructing the traveling from the ground element 20b to the next ground element 20c. Add a control signal. Then, the travel control unit 303 controls the travel of the vehicle 30 by using the travel control signal from the ground element 20b to the next ground element 20c to which the travel control signal for canceling the difference is added.
The travel control unit 303 corrects the travel path of the vehicle 30 by assuming that the position of the ground element 20 indicated by the ground element position information is absolute.

The ground element recognition unit 304 recognizes the ground element 20 provided on the traveling path while the vehicle 30 is traveling.
For example, when the ground element 20 is a QR code, the ground element recognition unit 304 has an imaging function and images the QR code. The ground element recognition unit 304 binarizes the captured QR code. Specifically, the ground element recognition unit 304 compares a predetermined luminance threshold value (for example, an intermediate value between the white level and the black level) with the luminance value of each pixel of the imaged QR code. The ground element recognition unit 304 recognizes a pixel showing a brightness value higher than the brightness threshold value as white, and recognizes a pixel showing a brightness value lower than the brightness threshold value as black. The ground element recognition unit 304 reads and recognizes the QR code indicated by the binarized image. The QR code has an error correction function. The ground element recognition unit 304 may read the QR code after it has been corrected by the error correction function.

The ground element recognition unit 304 identifies an identifier included in the recognized QR code. The ground element recognition unit 304 identifies an identifier that matches the specified identifier in the ground child information stored in the storage unit 301. The ground element recognition unit 304 identifies the ground child position information associated with the identifier specified in the storage unit 301. The ground element recognition unit 304 transmits the specified ground child position information to the server 10.

The imaging unit 305 images in at least one direction of the front, rear, left, and right of the vehicle 30. The image pickup unit 305 is, for example, a camera. The image pickup unit 305 transmits the captured image to the server 10.

Each of the image pickup devices 40 is a device that images each vehicle 30. As shown in FIG. 4, each of the image pickup devices 40 includes a communication unit 401 and an image pickup unit 402.
The communication unit 401 communicates with the server 10.

The imaging unit 402 is fixedly installed at a position that gives a bird's-eye view of the entire area in which the vehicle 30 travels. Therefore, the relative position and posture of the imaging unit 402 with respect to the entire region in which the vehicle 30 travels are known in advance. The relative position and orientation of the imaging unit 402 are written in advance in the storage unit 101. The imaging unit 402 images each of the vehicles 30.

Next, the processing flow of the position identification system 1 according to the first embodiment of the present invention shown in FIGS. 5 and 6 will be described.
Here, when the position identification system 1 shuts down and restarts while the vehicle 30 is running, the position identification system 1 in the case where the position information of each vehicle 30 stored in the server 10 is lost. The processing of is described.
In the position identification system 1 according to the first embodiment of the present invention, it is assumed that the vehicle 30a loses the position information of the own vehicle and the vehicles 30b to 30g hold the position information of the own vehicle.

The position identification system 1 shuts down while the vehicle 30 is running. After that, the position identification system 1 is restarted. At this time, the position information of each vehicle 30 stored in the server 10 is lost. Further, the vehicle 30a is in a state of losing the position information of the own vehicle 30a. The vehicles 30b to 30g are in a state of holding the position information of the own vehicle.

The travel control unit 303 included in each of the vehicles 30b to 30g transmits the vehicle information of the own vehicle to the server 10 via the communication unit 302 (step S1).

The travel management processing unit 103 receives vehicle information from the travel control unit 303 included in each of the vehicles 30b to 30g via the communication unit 102 (step S2). The travel management processing unit 103 writes the received vehicle information in the storage unit 101 (step S3).
By the process of this step S3, the server 10 has stored the exact positions of the vehicles 30b to 30g.

When there is a vehicle 30 for which the travel management processing unit 103 has not received the position information, the image acquisition unit 104 transmits an image pickup start signal instructing each of the image pickup devices 40 to start the image pickup via the communication unit 102. (Step S4). In this example, the vehicle 30a is an unknown vehicle.

The image pickup unit 402 of each image pickup device 40 receives an image pickup start signal from the image acquisition unit 104 via the communication unit 401 (step S5). The imaging unit 402 of each imaging device 40 starts imaging according to the received imaging start signal (step S6). The imaging unit 402 of each imaging device 40 associates the captured image with the identifier of the self-imaging device 40 and transmits the captured image to the server 10 via the communication unit 401 (step S7).

The image acquisition unit 104 receives an image from the image pickup unit 402 of each image pickup device 40 via the communication unit 102 (step S8).
The position specifying unit 105 identifies the vehicle 30a in each image received by the image acquisition unit 104 (step S9). Specifically, for example, the position specifying unit 105 compares all the images received from the image pickup devices 40a to 40f with the sample image of the unique coating of the vehicle 30a. It is assumed that the position specifying unit 105 detects a sample image of the unique coating of the vehicle 30a in the images received from the four image pickup devices 40a, 40c, 40e, and 40f. In this case, the position specifying unit 105 has specified the vehicle 30a.

The position specifying unit 105 identifies three or more imaging units 402 that image the specified vehicle 30a (step S10). Specifically, for example, when the position specifying unit 105 detects a sample image of the unique coating of the vehicle 30a in the images received from the four image pickup devices 40a, 40c, 40e, and 40f, the position specifying unit 105 images the specified vehicle 30a. The image pickup unit 402 is identified as the image pickup unit 402 of each of the image pickup devices 40a, 40c, 40e, and 40f.

The position specifying unit 105 specifies the position of the vehicle 30a based on the position of the specified imaging unit 402 (step S11). For example, the position specifying unit 105 identifies the position of the vehicle 30a by using a method of triangulation.
The area specifying unit 106 specifies an area in which the vehicle 30a can exist (step S12). For example, the area specifying unit 106 provides a region in which the position specifying unit 105 has a margin that does not cause a collision with each of the vehicles 30b to 30g with respect to the position of the vehicle 30a specified based on the position of the imaging unit 402. Identify the region where 30a can exist. At this time, the region where the vehicle 30a can exist may be specified by using the image information captured by the image pickup unit 305 mounted on each vehicle 30.

The travel management processing unit 103 sends a travel command indicating a travel route and a prohibition control signal for prohibiting travel in a region where the vehicle 30a specified by the region identification unit 106 can exist, via the communication unit 102, of the vehicles 30b to 30g. It is transmitted to each (step S13).

The travel control unit 303 receives a travel command and a prohibition control signal from the travel management processing unit 103 via the communication unit 302 (step S14). The travel control unit 303 travels the vehicle 30 in a region other than the region where the vehicle 30a can exist according to the received travel command and the prohibition control signal (step S15).

Further, the travel management processing unit 103 transmits a travel command to the vehicle 30a via the communication unit 102 within a range that does not collide with the vehicle in front (the position has been recognized by the server 10 in the processing up to this point) (step S16). ).

The travel control unit 303 receives a travel command from the travel management processing unit 103 via the communication unit 302 (step S17). The travel control unit 303 travels the vehicle 30a within a range that does not collide with the vehicle in front, and moves the vehicle to the ground element 20 (step S18).
In this state, for example, the vehicle 30a may be switched to manned operation and moved to the ground element 20. Alternatively, for example, a person may push the vehicle 30a to move it to the ground element 20.

The ground element recognition unit 304 identifies an identifier included in the recognized ground element (step S19). The ground element recognition unit 304 identifies an identifier that matches the specified identifier in the ground child information stored in the storage unit 301. The ground element recognition unit 304 specifies the ground child position information associated with the identifier specified in the storage unit 301 (step S20). The ground element recognition unit 304 transmits the specified ground element position information and the identifier of the vehicle 30a to the server 10 (step S21).

The travel management processing unit 103 receives the ground element position information and the identifier of the vehicle 30 from the ground element recognition unit 304 via the communication unit 102 (step S22). The travel management processing unit 103 associates the received ground element position information with the identifier of the vehicle 30 and writes it in the storage unit 101 (step S23).
By the process of step S23, the server 10 has stored the exact position of the vehicle 30a.

The position identification system 1 according to the embodiment of the present invention has been described above.
In the position identification system 1 according to the embodiment of the present invention, the server 10 (vehicle control device) includes a position identification unit 105 (first position identification unit, second position identification unit). The position specifying unit 105 identifies the positions of the vehicles 30b to 30g based on the recognition result of the ground element 20 by the vehicle 30. The position specifying unit 105 is different from the method of identifying the position of the vehicle 30b to 30g based on the recognition result of the ground element 20 by the vehicle 30b to 30g, and the position specifying unit 105 is different from the method of identifying the position of the ground element 20 based on the recognition result of the ground element 20 by the vehicle 30b to 30g. The position of the vehicle 30a is specified based on the image acquired by the image acquisition unit 104 that specifies the position of the vehicle 30a with a lower accuracy than the method of specifying the position of ~ 30g. The area specifying unit 106 cannot specify the position of the vehicle 30a based on the recognition result of the ground element 20 by the vehicle 30a among the plurality of vehicles 30, and the unknown vehicle 30a can specify the position of the vehicle 30a with a lower accuracy. Identify areas where can exist. The travel management processing unit 103 transmits a control signal to the vehicles 30b to 30g other than the unknown vehicle 30a among the plurality of vehicles 30 so that the area specifying unit 106 does not invade the specified area.
In this way, the server 10 according to the embodiment of the present invention can ensure the safety of traveling of the entire vehicle after the position identification system is shut down and restarted.

In the position identification system 1 according to another embodiment of the present invention, instead of the processing of steps S16 to S18 of the position identification system 1 according to one embodiment of the present invention, the vehicle 30a is placed in the region where the vehicle 30a can exist. The server 10 may transmit a travel command for traveling at a low speed to the vehicle 30a to control the travel so that the vehicle 30a recognizes the ground element 20. In this case, the server 10 confirms that the vehicle of the vehicle 30b to 30 g does not exist in the region where the vehicle 30a can exist, and then issues a travel command to move the vehicle 30a at a low speed in the region where the vehicle 30a can exist. It is transmitted to the vehicle 30a.

In the position identification system 1 according to another embodiment of the present invention, as a means for identifying the position of the unknown vehicle 30, in addition to the image pickup device for overlooking each vehicle 30, the image pickup unit 305 mounted on the vehicle 30 and GPS. A positioning system such as (Global Positioning System) may be used to specify an area where the unknown vehicle 30 may exist.
More specifically, for example, when the position identification system 1 uses an image captured by the imaging unit 305 mounted on the vehicle 30, it specifies a rough distance between the vehicles 30 from each vehicle 30 in the image. , The area where the unknown vehicle 30 may exist may be specified with a margin so as not to collide with the distance. Further, for example, when GPS is used, the position identification system 1 identifies a rough distance between the vehicles 30 by GPS, and provides a margin to the extent that the vehicle 30 does not collide with the distance to provide an area where the unknown vehicle 30 can exist. You just have to specify.

In the processing according to the embodiment of the present invention, the order of the processing may be changed as long as the appropriate processing is performed.

Each of the storage units 101, 301, and other storage devices according to the embodiment of the present invention may be provided anywhere within a range in which appropriate information is transmitted and received. Further, each of the storage unit and the other storage devices may exist in a plurality of areas within a range in which appropriate information is transmitted and received, and the data may be distributed and stored.

Although the embodiment of the present invention has been described, the above-mentioned position identification system 1, the image pickup device 40, and other control devices may have a computer system inside. The process of the above-mentioned processing is stored in a computer-readable recording medium in the form of a program, and the above-mentioned processing is performed by the computer reading and executing this program. A specific example of a computer is shown below.
FIG. 7 is a schematic block diagram showing a configuration of a computer according to at least one embodiment.
As shown in FIG. 7, the computer 5 includes a CPU 6, a main memory 7, a storage 8, and an interface 9.
For example, each of the above-mentioned position identification system 1, the image pickup device 40, and other control devices is mounted on the computer 5. The operation of each processing unit described above is stored in the storage 8 in the form of a program. The CPU 6 reads a program from the storage 8, expands it into the main memory 7, and executes the above processing according to the program. Further, the CPU 6 secures a storage area corresponding to each of the above-mentioned storage units in the main memory 7 according to the program.

Examples of the storage 8 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, optical magnetic disk, CD-ROM (Compact Disk Read Only Memory), DVD-ROM (Digital Versatile Disk Read). , Semiconductor memory and the like. The storage 8 may be internal media directly connected to the bus of computer 5, or external media connected to computer 5 via an interface 9 or a communication line. When this program is distributed to the computer 5 via a communication line, the distributed computer 5 may expand the program in the main memory 7 and execute the above processing. In at least one embodiment, the storage 8 is a non-temporary tangible storage medium.

Further, the above program may realize a part of the above-mentioned functions. Further, the program may be a file that can realize the above-mentioned functions in combination with a program already recorded in the computer system, that is, a so-called difference file (difference program).

Although some embodiments of the present invention have been described, these embodiments are examples and do not limit the scope of the invention. Various additions, omissions, replacements, and changes may be made to these embodiments without departing from the gist of the invention.

1 ... Position identification system 5 ... Computer 6 ... CPU
7 ... Main memory 8 ... Storage 9 ... Interface 10 ... Server (vehicle control device)
20, 20a to 20h ... Ground element 30, 30a to 30g ... Vehicle 40, 40a to 40f ... Imaging device 101, 301 ... Storage unit 102, 302, 401 ... Communication unit 103 ... Travel management processing unit 104 ・ ・ ・ Image acquisition unit 105 ・ ・ ・ Position identification unit 106 ・ ・ ・ Area identification unit 303 ・ ・ ・ Travel control unit 304 ・ ・ ・ Ground element recognition unit 305, 402 ・ ・ ・ Imaging unit NW・ ・ ・ Communication network

Claims (6)

A first position specifying unit that specifies the position of the vehicle based on the recognition result of the ground element by the vehicle,
A second position specifying unit that specifies the position of the vehicle with a lower accuracy than the first position specifying unit by a method different from that of the first position specifying unit.
Among a plurality of vehicles, an area specifying unit that specifies an area in which the position cannot be specified by the first position specifying unit and an unknown vehicle that can specify the position by the second position specifying unit may exist.
A travel command for transmitting a control signal to a vehicle other than the unknown vehicle among the plurality of vehicles so as not to enter the area specified by the region specifying unit , and for the unknown vehicle to travel at a low speed in the region. With the driving management processing unit that sends
Vehicle control device. The second position specifying part is
The position of the vehicle is specified based on an image captured by an image pickup device provided at a position where the vehicle is viewed from a bird's-eye view.
The vehicle control device according to claim 1. The second position specifying part is
The position of the vehicle is specified based on the image captured by the image pickup device included in the vehicle.
The vehicle control device according to claim 1 or 2. The vehicle control device according to any one of claims 1 to 3,
A vehicle traveling under the control of the vehicle control device and
An image pickup device provided at a position to overlook the vehicle and
Positioning system with. Identifying the position of the vehicle by the first method based on the recognition result of the ground element by the vehicle,
Different from the first method, the position of the vehicle is specified by the second method with lower accuracy than the first method.
Of the plurality of vehicles, the area where the position cannot be specified by the first method and the unknown vehicle whose position can be specified by the second method can exist is specified.
A control signal is transmitted to a vehicle other than the unknown vehicle among the plurality of vehicles so as not to enter the specified area , and a traveling command for traveling at a low speed in the unknown vehicle is transmitted to the vehicle other than the unknown vehicle. To do and
Control methods including. On the computer
Identifying the position of the vehicle by the first method based on the recognition result of the ground element by the vehicle,
Different from the first method, the position of the vehicle is specified by the second method with lower accuracy than the first method.
Of the plurality of vehicles, the area where the position cannot be specified by the first method and the unknown vehicle whose position can be specified by the second method can exist is specified.
A control signal is transmitted to a vehicle other than the unknown vehicle among the plurality of vehicles so as not to enter the specified area , and a traveling command for traveling at a low speed in the unknown vehicle is transmitted to the vehicle other than the unknown vehicle. To do and
A program that executes.

Images