JP2018163117A - Automatic traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve convenience by saving the trouble of an owner. SOLUTION: This is an automatic traveling system of a vehicle 10 having a function of automatically traveling regardless of a manual driving operation, and communication is performed between a navigation system 3 having map data and a communication device 30 of an owner. Distance D by at least the communication unit 2C that receives the position information of the owner, the determination unit 1A that determines the distance D between the owner and the vehicle 10 and the current position of the owner based on at least the map data and the position information, and the determination unit 1A. Is a predetermined distance Dth or more, and when it is determined that the current position does not change by Tth or more for a predetermined time, the search unit 1B and the search unit 1B search for parking spaces existing around the current position. It includes a control unit 1C for moving the vehicle 10 to the parking space. [Selection diagram] Fig. 1

Description

  The present invention relates to an automatic traveling system for a vehicle having a function capable of automatically traveling regardless of a manual driving operation of a driver (owner).

  2. Description of the Related Art In recent years, development of an automatic traveling system for automatically driving a vehicle in place of a manual driving operation by a driver has been advanced. A vehicle equipped with an automatic travel system can travel without the driver's involvement. For this reason, for example, based on the schedule information input by the owner, the owner identifies the next place where the vehicle is to be used, and sets the place as the destination for automatic driving. It is possible to make it face (refer patent document 1).

JP 2012-48563 A

  However, in the above Patent Document 1, since the owner (user) needs to register schedule information in advance, when the owner takes an unplanned action, it is not possible to cope with the schedule information. Since it takes time and effort to register, there is room for improvement from the viewpoint of improving convenience. On the other hand, it is also possible to always monitor the current position of the owner and move the vehicle following the movement of the owner. However, in this case, since the vehicle runs at a low speed, other problems such as deterioration in fuel consumption and traffic congestion may occur.

  The automatic traveling system of the present case has been devised in view of such problems, and one of its purposes is to improve convenience by saving the trouble of the owner. The present invention is not limited to this purpose, and is a function and effect derived from each configuration shown in the embodiment for carrying out the invention described later, and has another function and effect that cannot be obtained by conventional techniques. is there.

  (1) The automatic traveling system disclosed herein is an automatic traveling system for a vehicle having a function capable of automatically traveling regardless of a manual driving operation, and is possessed by a navigation system having map data and the owner of the vehicle. A communication unit that communicates with a communication device and receives at least the position information of the owner, and at least the distance between the owner and the vehicle and the current position of the owner based on the map data and the position information When the determination unit and the determination unit determine that the distance is equal to or greater than a predetermined distance and the current position does not change for a predetermined time or longer, a parking space existing around the current position is determined. A search unit for searching, and a control unit for moving the vehicle to the parking space searched by the search unit.

(2) It is preferable that the control unit contacts the owner via the communication unit before moving the vehicle, and moves the vehicle when the owner is confirmed.
(3) The communication unit transmits at least the current position information of the vehicle to the communication device, receives the owner's movement request from the communication device, and the search unit parks the parking around the current position. If the movement request is received by the communication unit when there is no space, the pick-up candidate position that is available around the current position and is available for getting on and off is searched, and the control unit transmits the pick-up candidate via the communication unit. Preferably, a position is proposed to the owner, and when the pickup position is set by the owner, the vehicle is moved to the pickup position.

(4) When the said pickup position is set, it is preferable that the said control part makes the said vehicle arrive at the said pickup position according to the time when the said owner arrives at the said pickup position.
(5) It is preferable that the said search part searches the said pick-up candidate position from the search range wider than the search range at the time of the search of the said parking space.
(6) When the said control part passes along the road along a river, it is preferable to move the said vehicle to the said parking space by motor driving | running | working.

  According to the disclosed automatic driving system, if the owner's current position does not change for a predetermined time or more at a location away from the vehicle, a parking space around the owner's current position is searched, and the vehicle moves there by automatic driving. To do. For this reason, the owner can move freely without worrying about the position of the vehicle, and convenience can be improved. In addition, since it is performed without the owner's operation, whether the vehicle needs to be moved, a search for a parking space, or the like is performed, the labor of the owner can be saved. Furthermore, since the vehicle starts to move after the owner's current position does not change for a predetermined time or longer (that is, the vehicle starts moving after the destination is determined), it is possible to suppress deterioration in fuel consumption and traffic congestion due to low-speed driving.

1 is a block diagram illustrating an overall configuration of an automatic traveling system according to an embodiment. It is a flowchart which illustrates the procedure of the welcome control implemented with the automatic running system of FIG. It is a subflowchart of the flowchart of FIG.

  An automatic traveling system as an embodiment will be described with reference to the drawings. The embodiment described below is merely an example, and there is no intention of excluding various modifications and technical applications that are not explicitly described in the following embodiment.

[1. Device configuration]
The automatic traveling system of this embodiment is mounted on a vehicle having a function capable of automatically traveling regardless of a manual driving operation. The automatic traveling system causes the vehicle to travel instead of a driver's manual operation by performing all of acceleration, steering and braking on the vehicle. In this embodiment, a vehicle capable of unmanned automatic driving is illustrated. In the automatic travel system of the present embodiment, the communication device can also be controlled by transmitting a command to the communication device held by the vehicle owner (owner).

  As shown in FIG. 1, the vehicle 10 of the present embodiment includes sensors 11 to 18 that detect information related to the vehicle 10, devices 21 to 23 that operate (accelerate, brake, and steer) the vehicle 10, and the vehicle 10. A control device 1 for controlling the operation state of the vehicle, a communication device 2 for acquiring information other than the vehicle 10, and a navigation system 3 are provided.

  The vehicle speed sensor 11 and the acceleration sensor 12 detect the vehicle speed and the acceleration of the vehicle 10, respectively. The steering angle sensor 13 detects the steering angle of the steering. The brake sensor 14 and the accelerator sensor 15 detect the depression amounts of the brake pedal and the accelerator pedal. The front sensor 16 is, for example, a camera, a radar, an ultrasonic sensor, or the like, and acquires all information in front of the vehicle 10. The side sensor 17 is also a camera, a radar, an ultrasonic sensor, or the like, for example, and acquires all information on the side and rear of the vehicle 10. Each of the sensors 11 to 17 transmits the detected information to the control device 1.

  The mode selection switch 18 is operated when the owner of the vehicle 10 sets and cancels the welcome mode. The welcome mode is one of the travel modes of the vehicle 10 and is a mode for performing the welcome control described later. That is, when the mode selection switch 18 is operated and the greeting mode is selected (set), the vehicle 10 is in a state where the greeting control can be performed. The mode selection switch 18 of the present embodiment includes a switch unit disposed in a vehicle interior (for example, an instrument panel) and a detection unit that detects an operation on the switch unit. When the detection unit detects an operation (on operation, off operation) on the switch unit, the mode selection switch 18 transmits the operation content to the control device 1.

  The drive device 21 is a drive source (engine or electric motor) of the vehicle 10 or a transmission mechanism. The brake device 22 is a brake device or a regenerative brake system that applies a braking force to the vehicle 10. The steering device 23 is an electric power steering device that assists the steering operation by the driver. Each operation state of these devices 21 to 23 is controlled by the control device 1. The vehicle 10 of the present embodiment is an electric vehicle or a hybrid vehicle provided with at least a driving motor, and is configured to be able to travel only by the motor (motor traveling).

  The communication device 2 is an electronic control device that transmits and receives information by communicating with a communicable target other than the vehicle 10. The communication device 2 communicates with, for example, a GPS satellite, a communication device 30 owned by the owner (for example, a mobile phone, a smartphone, a wireless information terminal, etc.), a roadside device arranged on the road, an external organization or facility, etc. A vehicle etc. are mentioned. The communication device 2 transmits the received information to the control device 1 and transmits information corresponding to a command from the control device 1 to each target.

  The communication device 30 with which the communication device 2 communicates has a display function for displaying vehicle information, which will be described later, transmitted from the communication device 2, and the owner can perform an input operation on the displayed vehicle information (contents). A touch panel 31 having an input function is provided. Although the electronic control device for controlling the communication device 30 is built in the communication device 30, in this embodiment, the communication device 30 is also controlled by the control device 1 of the vehicle 10 as described above. Whether the communication device 30 of the present embodiment permits the same function as that of the mode selection switch 18 (that is, the function of setting and canceling the welcome mode) and the vehicle 10 when permission to move is requested. A function for selecting whether to cancel and a function for requesting the vehicle 10 to be picked up during the setting of the pick-up mode (movement request function) are provided. These functions are exhibited when the owner operates the content displayed on the touch panel 31, for example.

  The navigation system 3 contains detailed map data, and uses the signal from the GPS satellite and map data received by the communication device 2 to detect (recognize) the current position of the vehicle 10 and return to the destination. Route guidance is performed.

  The control device 1 is an electronic control device that performs integrated control of various devices mounted on the vehicle 10. The control device 1 is configured, for example, as an LSI device or an embedded electronic device in which a microprocessor, ROM, RAM, and the like are integrated, and is connected to a communication line of an in-vehicle network provided in the vehicle 10. Whether the vehicle 10 needs to be moved using the various information transmitted from the communication device 2, the navigation system 3, and the sensors 11 to 18 when the greeting mode is set. If necessary, the vehicle 10 is automatically moved, and the pick-up control for picking up the owner is performed.

[2. Control configuration]
In the pick-up control, when the owner who gets off the vehicle 10 stops moving for more than a predetermined time Tth at a point away from the vehicle 10 by a predetermined distance Dth or more, the vehicle 10 is automatically moved by searching for a parking space near the owner. Control. That is, when the vehicle 10 determines that the owner has stopped moving at a location relatively distant from the vehicle 10, the vehicle automatically travels to the vicinity of the owner and picks up the owner. During the implementation of the welcome control, only the vehicle 10 moves in the absence of the driver.

  The predetermined distance Dth and the predetermined time Tth are thresholds for determining whether or not the vehicle 10 is to be automatically moved, and may be set in advance, or may be set when the owner uses the welcome control. May be. The welcome control is used, for example, when the owner goes out to a river or the sea for fishing. That is, the control is suitable for situations where the owner often moves away from the position where the vehicle 10 is parked. In addition, it is more suitable in a place where there is little space where parking is possible.

  The welcome control of the present embodiment is started when the vehicle 10 is parked in a key-locked state and the welcome mode for performing the welcome control is set. That is, the start condition of the welcome control is that both the following conditions a and b are satisfied. Further, when at least one of the following conditions c and d is satisfied during the implementation of the welcome control, the welcome control is terminated. In addition, the following conditions ad are determined based on the various information transmitted from said communication apparatus 2, the navigation system 3, and sensors 11-18.

== Condition control start condition ==
a: The welcome mode is set.
b: The key is locked while the vehicle is parked.
== Termination condition for the welcome control ==
c: The welcome mode is canceled.
d: The key lock of the vehicle 10 is released.

  In the automatic traveling system of the present embodiment, the determination unit 1A, the search unit 1B, the control unit 1C, the GPS reception unit 2A, the inter-vehicle communication unit 2B, and the inter-pedal communication unit 2C are used as elements for performing the above-described welcome control. And the road-to-vehicle communication part 2D is provided. In the present embodiment, the control device 1 includes a determination unit 1A, a search unit 1B, and a control unit 1C, and the communication device 2 includes a GPS reception unit 2A, an inter-vehicle communication unit 2B, an inter-vehicle communication unit 2C, and an inter-vehicle communication unit 2D. The case where is provided is illustrated.

  These elements indicate some functions of a program executed in the automatic traveling system, and are realized by software. However, some or all of the functions may be realized by hardware (electronic circuit), or may be realized by using software and hardware in combination. Note that the communication by the communication device 2 is not limited to the implementation of the welcome control, but may be performed whenever the vehicle 10 is automatically driven.

  First, elements provided in the communication device 2 will be described. The GPS receiver 2A is an information terminal of the satellite positioning system, and acquires information on the current position of the vehicle 10 (hereinafter referred to as “own vehicle position information”) from the GPS satellite. The inter-vehicle communication unit 2 </ b> B communicates with other vehicles existing around the vehicle 10 to transmit / receive information to / from each other. For example, vehicle speed information and position information of each vehicle, road traffic information that each vehicle has known so far, and the like are transmitted to each other.

  The inter-pedestrian communication unit 2C (communication unit) communicates with the communication device 30 owned by the owner, receives (acquires) information about the owner (hereinafter referred to as “owner information”), and information about the vehicle 10 (hereinafter referred to as “owner information”). "Vehicle information"). The owner information received here includes at least information on the current position of the owner (position information). In addition, the owner information of the present embodiment includes information on an input operation for the communication device 30 (that is, setting of the welcome mode, cancellation of the welcome mode, and movement request). The owner information may include information such as the owner's movement trajectory, owner's movement speed, and movement acceleration. The owner information is acquired by a GPS receiver, a speed sensor, or the like mounted on the communication device 30, and then transmitted from the communication device 30 to the inter-pedestrian communication unit 2C. The vehicle information transmitted here includes at least the vehicle position information of the vehicle 10. As a result, the owner can always check the current position of the vehicle 10. Further, information such as vehicle speed information of the vehicle 10 and a set travel mode may be included in the vehicle information.

  The road-to-vehicle communication unit 2D communicates with roadside devices such as optical beacons and wireless communication devices installed in advance on the road, receives (acquires) road traffic information, and transmits vehicle information. . The road traffic information received here includes, for example, parking lot vacancy information in the vicinity of a roadside machine, traffic jam information and construction information, pedestrian information, and regulation information such as temporary stop and traffic regulation. Moreover, as vehicle information transmitted here, the own vehicle position information of the vehicle 10, vehicle speed information, etc. are mentioned.

Next, the processing content of each element 1A-1C provided in the control apparatus 1 is demonstrated. These elements 1 </ b> A to 1 </ b> C perform the welcome control when both of the above conditions a and b are satisfied.
The determination unit 1A determines the conditions a and b described above, and starts meet-up control when both are satisfied. In this case, the determination unit 1A determines the distance D between the owner and the vehicle 10 and the current position of the owner based on at least the map data and the owner information. Specifically, first, based on the own vehicle position information and owner information acquired from the communication device 2, it is determined whether or not the distance D between the owner and the vehicle 10 is equal to or greater than a predetermined distance Dth.

  If it is determined that D ≧ Dth, the determination unit 1A further determines whether or not the owner's current position has changed based on the owner information. When the owner's current position does not change, the determination unit 1A counts the time T during which the state has continued, and determines whether the time T (hereinafter referred to as “stay time T”) is equal to or greater than the predetermined time Tth. To do. That is, when D ≧ Dth, the determination unit 1A determines whether or not the owner's current position has changed for a predetermined time Tth or more. If the owner's current position changes during the stay time T count, the count value is reset, and the distance D is determined again.

  If the determination unit 1A determines that D ≧ Dth and further determines that the stay time T is equal to or longer than the predetermined time Tth, the determination unit 1A determines that “the owner has determined the position”, and the result is the search unit. 1B. It should be noted that the criterion for determining whether or not the current position has changed, that is, the criterion for determining whether or not the current position has changed “not changed” is, for example, that of a GPS receiver mounted on the communication device 30. It is set slightly larger than the error range. When the welcome control is started, the success or failure of the above conditions c and d is always determined, and when at least one of the conditions c and d is satisfied, the welcome control is terminated.

  When the above result is transmitted from the determination unit 1A, the search unit 1B searches the parking space existing around the current position of the owner at that time using the navigation system 3. The parking space searched here includes, for example, a relatively large place such as a parking lot or a vacant lot, and a road shoulder where parking is not prohibited. The parking space is searched for a location that is at least within the range of the predetermined distance Dth from the current position of the owner. The search unit 1B transmits the search result of the parking space (presence / absence of parking space, location of the parking space, etc.) to the control unit 1C.

  When a plurality of parking spaces are hit, for example, the search unit 1B may select an optimal one and transmit the selected parking space to the control unit 1C. The information may be transmitted to the control unit 1C, and the control unit 1C may select an optimal one. Examples of the selection condition include “a place closest to the current position of the owner” and “a place where the parking space is the widest”. The selection condition may be set in advance in the control device 1 or may be configured so that the owner can set it.

  In addition, when the parking space is not hit (does not exist), the search unit 1B of the present embodiment exists around the current position of the owner at the time of reception when the movement request is received by the inter-pedestrian communication unit 2C. Search for pick-up candidate positions where boarding / exiting is possible. The pick-up candidate position is not a parking and parking prohibited place, and is a position where a vehicle can be temporarily stopped to allow people to get on and off. Search part 1B of this embodiment searches for a pickup candidate position from a search range wider than the search range at the time of searching for a parking space. A plurality of pickup candidate positions may exist. The search unit 1B transmits the search result to the control unit 1C.

  The control unit 1C controls the vehicle 10 based on the search result by the search unit 1B. Specifically, when a parking space is searched by the search unit 1B, the control unit 1C moves the vehicle 10 to the parking space by automatic travel. The control unit 1C of the present embodiment contacts the owner via the inter-step communication unit 2C before moving the vehicle 10. This communication includes at least the location of the parking space and the content (permitted to move) of the owner's permission for moving the vehicle 10 to the parking space. For example, the control unit 1 </ b> C displays a map in which the position of the parking space is superimposed on the touch panel 31 of the communication device 30 and makes a confirmation communication such as “I will move to the parking space from now on. Are you sure?”. Note that the time when the vehicle 10 arrives in the parking space, the route to the parking space, and the like may be communicated together.

  When the owner's permission is obtained, the control unit 1C moves the vehicle 10 by automatic traveling. At this time, if it is determined that the control unit 1C of the present embodiment passes the road along the river using the map data and the vehicle position information, the vehicle 10 is moved to the parking space by motor driving. Thereby, since the vehicle 10 moves quietly, even if there is a person who is fishing on the riverside, a situation where the fish is surprised by the sound and escapes is avoided.

  When the vehicle 10 arrives at the parking space, the control unit 1C repeats the welcome control unless the conditions c and d are satisfied. That is, the determination is performed again from the determination of the distance D by the determination unit 1A. On the other hand, if the owner's permission cannot be obtained, the control unit 1C causes the vehicle 10 to stand by on the spot. Further, at this time, when the permission of movement is canceled by the owner, the count value of the stay time T is reset, and the determination is performed again from the determination of the distance D by the determination unit 1A. In addition, when the owner's permission cannot be obtained and the greeting mode is canceled by the owner, the control unit 1C ends the greeting control because the condition c is satisfied.

  On the other hand, if the search unit 1B does not hit the parking space (does not exist), the control unit 1C keeps the vehicle 10 on the spot and moves the communication device 30 so that the owner can call the vehicle 10 at any time. Control the request reception status. For example, a vehicle call button is displayed on the touch panel 31 of the communication device 30, and when this button is operated, a movement request is transmitted to the inter-pedestrian communication unit 2C. Thus, when the owner needs to pick up, a movement request is transmitted to the inter-pedestrian communication unit 2C, and thus the search for the pickup candidate position described above is performed in the search unit 1B.

  Furthermore, when the pickup candidate position is hit by the search by the search unit 1B, the control unit 1C proposes the pickup candidate position to the owner via the inter-step communication unit 2C. For example, the control unit 1C displays a map in which the pickup candidate positions are superimposed on the touch panel 31 of the communication device 30 so that the owner can select one of the pickup candidate positions. Further, when the owner selects one pickup candidate position, the communication device 30 is caused to transmit the position as the “pickup position” to the inter-pedestrian communication unit 2C.

  When the pickup position is set by the owner, the control unit 1C moves the vehicle 10 to the pickup position by automatic traveling. In this case, the control unit 1C of the present embodiment causes the vehicle 10 to arrive at the pickup position in accordance with the time at which the owner arrives at the pickup position. This is because the pickup position is a place that cannot be parked for a long time unlike a parking space. When the pickup position is set, the control unit 1C calculates, for example, a time To required for the owner to arrive at the pickup position and a time Tc required for the vehicle 10 to move to the pickup position. The vehicle 10 is departed based on the travel times To and Tc. In addition, when the pick-up candidate position is not hit by the search by the search unit 1B, the control unit 1C notifies the owner that the pickup cannot be picked up and makes the vehicle 10 stand by on the spot.

[3. flowchart]
FIG. 2 is an example of a flowchart for explaining the contents of the above-described welcome control. This flowchart is started when the above-described welcome control start condition (that is, conditions a and b) is satisfied, and is executed at a predetermined calculation cycle. FIG. 3 is a sub-flowchart of the flowchart of FIG.

  As shown in FIG. 2, first, the above-described various information is acquired from the communication device 2 and the sensors 11 to 18 (step S1). Next, if the termination condition of the welcome control is not satisfied (No in Step S2), it is determined whether or not the vehicle 10 is traveling automatically (Step S3). If it is not in automatic traveling, the process proceeds to step S4, and the determination unit 1A first determines the distance D. That is, it is determined whether or not the distance D between the owner and the vehicle 10 is equal to or greater than the predetermined distance Dth (step S4). If D ≧ Dth, the process proceeds to step S5, and if D <Dth, the process proceeds to step S18.

  In step S5, it is determined whether or not the current position of the owner has changed. If the current position has not changed, the process proceeds to step S6 and the time (stay time T) is counted, and the current position has changed. Advances to step S18. In this flow, it is determined whether or not the staying time T is being counted in step S6. If the counting has not yet started, the counting is started in step S7 and then the process proceeds to step S8. On the other hand, if the stay time T has already been counted, the process proceeds directly to step S8.

  In step S8, it is determined whether or not the stay time T at that time is equal to or longer than the predetermined time Tth. If T ≧ Tth, the process proceeds to step S9, and if T <Tth, this flow is returned. In addition, when progressing to step S18, the staying time T counted so far is reset, and this flow is returned. As a result, only when the distance D is equal to or greater than the predetermined distance Dth and the current position of the owner does not change for the predetermined time Tth or longer, the process proceeds to step S9 and subsequent steps.

  In step S9, the parking space is searched by the search unit 1B, and it is determined whether or not the parking space is hit (step S10). When the parking space is hit, the process proceeds to step S11. When the parking space is not hit, the process proceeds to the flow of FIG. In step S11, confirmation confirmation before moving is sent to the owner, and if the owner's permission is obtained (Yes in step S12), the vehicle 10 is moved to the parking space (step S13).

  In subsequent step S14, it is determined whether or not the vehicle 10 has arrived at the destination (here, the parking space). If not, the flow returns. In the next calculation cycle, the process proceeds from step S3 to step S14, and the automatic travel is continued. When the vehicle 10 arrives (Yes in step S14), the vehicle 10 is made to wait on the spot (step S15), and this flow is returned. . In this case, the vehicle 10 exists in a range where the distance D with the owner is less than the predetermined distance Dth. Therefore, if the end condition is not satisfied in the next calculation cycle, the process proceeds from step S4 to step S18, and the stay time T is reset and returns to this flow. That is, the vehicle 10 can be moved to another parking space many times until the end condition is satisfied.

  If the owner's permission cannot be obtained in step S12, it is determined whether or not the movement permission has been canceled by the owner (step S16), and if not canceled, the process returns to step S12. On the other hand, if canceled, the stay time T is reset (step S17), and this flow is returned. At this time, if the greeting mode is canceled together with the cancellation, the termination condition is satisfied, so the process proceeds from step S2 to step S19, the greeting control is terminated, and this flow is terminated.

  3, in step S20, the communication device 30 is controlled to the movement request acceptance state, and then it is determined whether or not the movement request is received by the inter-pedestrian communication unit 2C ( Step S21). If a movement request is received, the process proceeds to step S22. If a movement request is not received, this flow is returned. When the flow is returned, if the end condition is not satisfied and the current position of the owner does not change in the next and subsequent calculation cycles, the process proceeds again to steps S20 and S21, and a movement request from the owner is issued. Stay ready.

  In step S22, the search unit 1B searches for a pickup candidate position, and determines whether or not the pickup candidate position is hit (step S23). When the pickup candidate position is hit, the process proceeds to step S24, and when the pickup candidate position is not hit, the process proceeds to step S28. In step S24, a pickup candidate position is proposed to the owner. When one of the pickup candidate positions is selected by the owner, the information (pickup position) is transmitted to the inter-pedestrian communication unit 2C. In step S25, it is determined whether or not this pickup position has been received.

  When the pickup position is received, times To and Tc required for the owner and the vehicle 10 to move to the pickup position are calculated (step S26), and the movement of the vehicle 10 is started based on the times To and Tc (step S26). S27), this flow is returned. That is, the destination of the vehicle 10 in this case is the pickup position. At this time, the owner may be informed of moving from now on. In the next calculation cycle, the process proceeds from step S3 in FIG. 2 to step S14, and the automatic traveling is continued until the destination (pickup position) is reached, and after arrival, the vehicle 10 is put on standby (step S15).

  If the pickup candidate position does not hit and the process proceeds to step S28, the owner is informed that the pickup cannot be picked up, and the flow ends. This flow is also terminated when the pickup position is not received in step S25. However, in this case, it is preferable to end the flow in consideration of the time required for the owner to select one from a plurality of pickup candidate positions.

[4. effect]
(1) In the above-described automatic traveling system, if the owner's current position does not change for a predetermined time Tth or more away from the vehicle 10, a search is made for a parking space around the owner's current position, and the vehicle 10 It moves by automatic driving. For this reason, the owner can move freely without worrying about the position of the vehicle 10, and convenience can be improved. Further, since it is possible to determine whether or not the vehicle 10 needs to be moved, search for a parking space, and the like without the owner's operation, the labor of the owner can be saved. Further, since the vehicle 10 starts to move after the owner's current position does not change for the predetermined time Tth or more (that is, starts moving after the destination is determined), it is possible to suppress deterioration in fuel consumption and traffic congestion due to low-speed traveling.

  (2) Since the control unit 1C described above contacts the owner before moving the vehicle 10, the owner can confirm that the vehicle 10 will move from now on. Moreover, since the vehicle 10 is moved after the owner's confirmation is obtained, the vehicle 10 can be prevented from moving against the intention of the owner. In addition, if the content of the communication is just that the owner only needs to select Yes or No, such as "I will move to this parking space from now on?" it can.

  (3) In the above-described automatic traveling system, when there is no parking space, the communication device 30 is placed in a state in which a request for movement from the owner is accepted, and a pick-up candidate position is searched when the movement request is received by the inter-pedestrian communication unit 2C. And suggest this search result to the owner. In other words, even if there is no parking space, the selection options of the owner can be increased in order to propose nearby pickup candidate positions in response to the owner's request. Furthermore, when the pickup position is set, the vehicle 10 moves there by automatic traveling, so that convenience can be improved.

  (4) When the pickup position is set, the control unit 1C described above causes the vehicle 10 to arrive at the pickup position in accordance with the time when the owner arrives at the pickup position. The time to wait for each other can be shortened. Thereby, while preventing the obstruction of traffic, the convenience can be improved.

(5) Further, in the search for the pick-up candidate position, the search range is broadened compared to the search for the parking space, so that the pick-up candidate position can be easily hit.
(6) Further, when the vehicle 10 passes along the river, the vehicle 10 is moved to the parking space by the motor running, so that it can move quietly without surprise of the fish, and therefore disturbs the angler. There is no.

[5. Others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and the like, and various modifications can be made without departing from the spirit of the present invention.
The start condition and end condition of the above-described welcome control are only examples, and are not limited to those described above. For example, by adding further conditions other than the above-described conditions a and b, the start condition of the welcome control may be set strictly, and the confirmation notification to the owner may be omitted.

  Moreover, you may abbreviate | omit the same function provided in said mode selection switch 18 and the communication apparatus 30. FIG. That is, the mode called “greeting mode” itself may be omitted, and for example, the above-described greeting control may be performed whenever the condition b is satisfied. However, in this case, it is preferable to set the predetermined distance Dth to a large value so that the staying time T is not counted when, for example, you are at home.

In addition, when the pickup position is set, the control unit 1C described above controls the vehicle 10 to arrive at the pickup position in accordance with the arrival of the owner, but at least the vehicle 10 remains in the pickup position for a long time. You may make it move so that the vehicle 10 may arrive later than an owner arrives so that it may not stop.
In the embodiment described above, a configuration has been described in which when there is no parking space, a request for a pick-up candidate position is searched after waiting for a movement request from the owner. It is good also as composition which is doing. In this case, the control configuration can be simplified.

  In addition, the utilization situation of the greeting control mentioned above is not restricted to fishing. For example, in the situation where the owner often moves around away from the position where the vehicle 10 is parked (shopping mall, entertainment facility, etc.), the above-described welcome control can be used. Further, the vehicle 10 may be an engine vehicle that does not include a motor.

DESCRIPTION OF SYMBOLS 1 Control apparatus 1A Determination part 1B Search part 1C Control part 2 Communication apparatus 2A GPS receiving part 2B Inter-vehicle communication part 2C Inter-vehicle communication part (communication part)
2D Road-to-vehicle communication unit 3 Navigation system 10 Vehicle 30 Communication device

Claims (6)

An automatic traveling system for a vehicle having a function capable of automatically traveling regardless of a manual driving operation,
A navigation system having map data;
A communication unit that performs communication with a communication device owned by the owner of the vehicle and receives at least the position information of the owner;
A determination unit for determining a distance between the owner and the vehicle and a current position of the owner based on at least the map data and the position information;
A search unit for searching for a parking space existing around the current position when the determination unit determines that the distance is equal to or greater than a predetermined distance and the current position does not change for a predetermined time;
An automatic travel system comprising: a control unit that moves the vehicle to the parking space searched by the search unit. 2. The control unit according to claim 1, wherein the control unit contacts the owner via the communication unit before moving the vehicle, and moves the vehicle when confirmation of the owner is obtained. Automated driving system. The communication unit transmits at least the current position information of the vehicle to the communication device, and receives the owner's movement request from the communication device,
When the movement request is received by the communication unit when the parking space does not exist in the vicinity of the current position, the search unit searches for pick-up pick-up candidate positions that are available in the vicinity of the current position,
The control unit proposes the pickup candidate position to the owner via the communication unit, and moves the vehicle to the pickup position when the pickup position is set by the owner. 2. The automatic traveling system according to 2. The automatic control unit according to claim 3, wherein when the pickup position is set, the control unit causes the vehicle to arrive at the pickup position in accordance with a time when the owner arrives at the pickup position. Traveling system. 5. The automatic traveling system according to claim 3, wherein the search unit searches the pickup candidate position from a search range wider than a search range at the time of searching for the parking space. The automatic travel system according to any one of claims 1 to 5, wherein the control unit moves the vehicle to the parking space by motor travel when passing through a road along a river.

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