Patent ID: 11912308
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A vehicle transfer system comprising:
a passenger vehicle configured to
travel on a predetermined service route, and
allow passengers to board and alight from the passenger vehicle at a bus stop installed on the predetermined service route; and

an autonomous vehicle to which the passengers transfer from the passenger vehicle,
wherein the passenger vehicle includes:
a passenger entrance provided on a first side wall facing a platform provided at the bus stop;
a transfer entrance which is provided on a second side wall facing a roadway and opposite to the first side wall, and through which the passengers transfer to the autonomous vehicle; and
a first processor configured to
acquire a captured image and three-dimensional point cloud data,
perform image recognition on the captured image,
execute clustering to divide the three-dimensional point cloud data into a plurality of clusters,
create surrounding data by superimposing coordinates of the captured image subject to the image recognition and the plurality of clusters of the three-dimensional point cloud data, and
based on the surrounding data, perform travel control of the passenger vehicle, and

wherein the autonomous vehicle includes:
an entrance provided on a side wall on a same side as the first side wall of the passenger vehicle;
a second processor configured to
in response to the passenger vehicle being stopped at the bus stop, cause the autonomous vehicle to pull up alongside the passenger vehicle to place the entrance of the autonomous vehicle next to the transfer entrance of the passenger vehicle; and

a sensor configured to measure an offset distance between the entrance of the autonomous vehicle and the transfer entrance of the passenger vehicle, and

the second processor is configured to
recognize the transfer entrance of the passenger vehicle by implementing a neural network that has been trained by training data to distinguish the passenger entrance and the transfer entrance of the passenger vehicle, and
execute a correct arrival control for pulling up the autonomous vehicle alongside the passenger vehicle by controlling steering of the autonomous vehicle to cause the offset distance to fall within a predetermined proximity region.