Patent Description:
Conventionally, a vehicle operation system which causes a bus to operate along a route defined in advance has been known (for example, refer to Patent Literature <NUM>). The vehicle operation system is inexpensive in infrastructure, has high flexibility in route setting, and so forth, compared with railroads. In particular, a vehicle operation system where a vehicle autonomously travels is expected to be used as means of transportation for elderly people in sparsely-populated areas where aging has proceeded.

As a vehicle operation system where a vehicle autonomously travels, a system has been suggested in which a vehicle is caused to automatically travel along magnetic markers arrayed along a route. The system using magnetic markers relatively easily ensures robustness against environmental disturbance such as rain, snow, and direct sunlight, compared with a system which performs image recognition of a lane (vehicle's traveling area).

<CIT> discloses an automated road transportation system. <CIT> discloses trip planning and management methods for an intelligent transit system with electronic guided buses. <CIT> discloses a device for lane guidance of autonomously driving motor vehicles. <CIT> discloses a magnetic marker and a marker system.

In the conventional vehicle operation system, there is a problem in which a route change such as setting and canceling a branching point and/or a merging point is not easy.

The present invention was made in view of the above-described conventional problem, and is an invention to provide a vehicle operation system which causes a vehicle to operate along a route defined in advance, the system having improved flexibility in changing the route.

The present invention provides an operation system according to claim <NUM> and a method of controlling an operation system according to claim <NUM>. Further embodiments of the present invention are disclosed in the dependent claims.

The operation system according to the present invention is a system for causing a vehicle to automatically travel along a dedicated lane where a plurality of magnetic markers are arranged. This operation system stores identification information of a magnetic marker corresponding to a connection point between the dedicated lane and another lane as the connection point identification information. Also, in this operation system, at a point corresponding to a magnetic marker according to the connection point identification information stored, at least one of branching from the dedicated lane to another lane and merging from another lane to the dedicated lane is allowed.

In the operation system according to the present invention, by storing or erasing the connection point identification information, the connection point between the dedicated lane and the other lane can be set or canceled, and a route change is relatively easy. Using the operation system and control method of the present invention, an operation system with excellent characteristics with improved flexibility in changing a route can be achieved.

Embodiments of the present invention are specifically described by using the following embodiments.

The present embodiment is an example regarding operation system <NUM> of bus (one example of a vehicle) <NUM>. This operation system <NUM> is a system where bus <NUM> automatically travels traveling lane <NUM> where magnetic markers <NUM> are laid. Details of this are described with reference to <FIG>.

Traveling lane <NUM> (<FIG>) has dedicated lane <NUM> for bus <NUM>, as well as general lane <NUM> leading to stop <NUM> which allows users to get on or off. On dedicated lane <NUM>, connection point <NUM> to general lane <NUM>, which is one example of another lane, can be set. By using connection point <NUM>, bus <NUM> can branch from dedicated lane <NUM> to general lane <NUM> or can merge from general lane <NUM> into dedicated lane <NUM>.

Operation system <NUM> (<FIG>) is configured to include control server device <NUM> which performs remote control of traveling of bus <NUM>, and bus <NUM> communicable with control server device <NUM>. Bus <NUM> detects magnetic marker <NUM> during traveling, and measures a lateral shift amount of its vehicle body with respect to magnetic marker <NUM>. Control server device <NUM> uses the lateral shift amount of the vehicle body with respect to magnetic marker <NUM> to perform remote control of bus <NUM> so that it travels along magnetic marker <NUM>. In the following, (<NUM>) traveling lane, (<NUM>) magnetic marker, (<NUM>) bus, and (<NUM>) control server device are described, and then (<NUM>) system operation is described.

As described above, traveling lane <NUM> (<FIG>) is configured of dedicated lane <NUM> for bus <NUM> and general lane <NUM> where stop <NUM> is provided. Dedicated lane <NUM> is a one-way annular circular path. Dedicated lane <NUM> is partitioned by fences <NUM> (<FIG>) on both sides so that people and general vehicles cannot enter. General lane <NUM> is a lane (vehicle lane) branched from dedicated lane <NUM> or merging into dedicated lane <NUM>. After branching from dedicated lane <NUM>, bus <NUM> can travel general lane <NUM> to arrive at stop <NUM>. Bus <NUM> departing from stop <NUM> can travel general lane <NUM> to merge into dedicated lane <NUM>.

A major difference between dedicated lane <NUM> and general lane <NUM> resides in whether general vehicles other than bus <NUM> can travel. Because of this difference, the control speed when bus <NUM> is caused to automatically travel and so forth varies between dedicated lane <NUM> and general lane <NUM>. While the control speed is on the order of <NUM> to <NUM> per hour in dedicated lane <NUM>, the control speed is reduced in general lane <NUM> to be on the order of <NUM> to <NUM> per hour.

Fences <NUM> (<FIG> and <FIG>) for partitioning dedicated lane <NUM> are configured of movable fences 110A of a movable type and fixed fences 110B of a fixed type. In operation system <NUM>, connection point <NUM> of dedicated lane <NUM> to general lane <NUM> can be set by movement of any movable fence 110A. Movable fences 110A are each provided so as to correspond to a specific point that can be set as connection point <NUM> of general lane <NUM> with respect to dedicated lane <NUM>, such as a branching point from dedicated lane <NUM> to general lane <NUM> or a merging point from general lane <NUM> to dedicated lane <NUM>.

Movable fence 110A has a configuration similar to that of a platform door installed in a platform of a train station. Movable fence 110A is provided with drive motor <NUM> controlled by motor control unit <NUM>. Motor control unit <NUM> can communicate with control server device <NUM> via the Internet. Motor control unit <NUM> causes drive motor <NUM> to be rotationally driven in response to a control signal from control server device <NUM>.

Movable fence 110A moves along a lane direction by driving force of drive motor <NUM> to be displaced to a position overlapping adjacent fixed fence 110B (refer to <FIG>). In this manner, the position where movable fence 110A overlaps fixed fence 110B is an open position where dedicated lane <NUM> is open to general lane <NUM>. On the other hand, a position where movable fence 110A is located between adjacent fixed fences 110B is a closed position where dedicated lane <NUM> is closed to general lane <NUM> (refer to <FIG>). When movable fence 110A is at the open position, connection point <NUM> of dedicated lane <NUM> with respect to general lane <NUM> is provided. This allows cross-access between dedicated lane <NUM> and general lane <NUM>. On the other hand, when movable fence 110A is at the closed position, accessing from general lane <NUM> to dedicated lane <NUM> and branching from dedicated lane <NUM> to general lane <NUM> are disabled.

In operation system <NUM> of the present embodiment, magnetic markers <NUM> individually corresponding to respective movable fences 110A are defined in advance. In operation system <NUM>, the open/closed state of movable fence 110A can be switched depending on whether identification information of magnetic marker <NUM> (specific marker <NUM>) positioned so as to correspond to movable fence 110A is stored on a system side as identification information of the connection point. Also, by opening or closing movable fence 110A, setting of connection point <NUM> of dedicated lane <NUM> with respect to general lane <NUM> can be changed.

General lane <NUM> for a forward path from dedicated lane <NUM> toward stop <NUM> and general lane <NUM> for a return path from stop <NUM> toward dedicated lane <NUM> may be the same or different. When general lane <NUM> for a forward path and general lane <NUM> for a return path are different, connection point <NUM> to dedicated lane <NUM> may be different. Also, the connection point <NUM> may be a point shared for use in branching and merging, or may be a point only for use in branching or merging.

Magnetic marker <NUM> (<FIG> and <FIG>) is a marker with RFID tag <NUM> (Radio Frequency Identification Tag, wireless tag) integrated with a magnet forming a column having a diameter of <NUM> and a height of <NUM>. Magnetic marker <NUM> is laid in a state of being accommodated in a hole provided on a road surface <NUM> (<FIG>). The magnet forming magnetic marker <NUM> is a ferrite plastic magnet having magnetic powder of iron oxide as a magnetic material dispersed into a polymer material as a base material. This magnet has a maximum energy product (BHmax) of <NUM> kJ/m<NUM>. Magnetic marker <NUM> acts magnetism with magnetic flux density exceeding <NUM>µT (microtesla) at a height of <NUM> as an attachment height of magnetic sensor arrays 21A/B (refer to <FIG>).

In magnetic marker <NUM>, as in <FIG>, RFID tag <NUM> which wirelessly outputs tag information is disposed on an end face of the columnar magnet. After sheet-shaped RFID tag <NUM> is arranged on the end face of the magnet, a coating layer made of a resin material may be provided on the surface. As the coating layer, a layer formed of a composite material with fiber impregnated with a resin material may be used. Alternatively, sheet-shaped RFID tag <NUM> may be disposed on the end face of the magnet where the coating layer is formed. The coating layer may be provided on the entire or a part of the outer surfaces of the magnet except the end surface where RFID tag <NUM> is arranged.

RFID tag <NUM> (<FIG>) is an electronic component having IC chip <NUM> implemented on a surface of tag sheet <NUM> cut out from, for example, a PET (Polyethylene terephthalate) film. On the surface of tag sheet <NUM>, a printed pattern of antenna <NUM> is provided. Antenna <NUM> has both a power-supply-purpose antenna function of causing exciting current to occur by external electromagnetic induction and a communication-purpose antenna function of wirelessly transmitting information such as position data. RFID tag <NUM> operates by wireless external power supply to externally output tag information such as a tag ID as identification information. The tag ID to be externally outputted from RFID tag <NUM> is one example of identification information of magnetic marker <NUM>.

Bus <NUM> (<FIG> and <FIG>) is a vehicle capable of automatic driving by remote control. Bus <NUM> includes, as a sensor group for achieving automatic driving, magnetic sensor arrays 21A/B which perform detection of any magnetic marker <NUM> and so forth, tag reader unit <NUM> which communicates with RFID tag <NUM>, milli wave radars <NUM>, forward camera <NUM>, and so forth. Bus <NUM> includes, as a configuration for performing traveling control, vehicle onboard ECU (Electronic Control Unit) <NUM> which controls a steering unit, an engine throttle, a brake actuator, and so forth not depicted.

Milli wave radars <NUM> are sensors for detecting a three-dimensional target object such as another vehicle, a person, a structure such as a guardrail, a curbstone, or the like. Milli wave radars <NUM> are arranged at front, rear, left, and right corner portions of the vehicle body so as to be able to monitor the surroundings of bus <NUM>. The detection result of each milli wave radar <NUM> is inputted to control unit <NUM>.

Forward camera <NUM> is a camera which takes an image of forward environments. Forward camera <NUM> is configured to include a processing circuit (omitted in the drawings) which performs image processing. By performing image processing on a taken image, forward camera <NUM> can detect a road sign, traffic signal, person, bicycle, preceding vehicle, oncoming vehicle, and so forth. The detection result of forward camera <NUM> is inputted to control unit <NUM>.

Vehicle onboard ECU <NUM> can perform control of causing bus <NUM> to automatically travel based on control information (control values) outputted from control server device <NUM>. The control information transmitted from control server device <NUM> is received by control unit <NUM>, and is transferred to vehicle onboard ECU <NUM>.

In bus <NUM>, as in <FIG> and <FIG>, magnetic sensor arrays 21A/B are disposed at two locations four meters apart from each other in a longitudinal direction of bus <NUM>. Magnetic sensor arrays 21A/B, which are one example of a magnetic detecting part, are bar-shaped units elongated in a vehicle-width direction, and are attached onto the bottom surface of bus <NUM> in a state of facing road surface <NUM>. By a combination of magnetic sensor array 21A on a front side and magnetic sensor array 21B on a rear side, among magnetic markers <NUM> arranged along a route with two-meter pitches, two magnetic markers <NUM> aligned four meters away and interposing one magnetic marker can be simultaneously detected.

Magnetic sensor arrays 21A/B (<FIG>) each include fifteen magnetic sensors Cn (n is an integer of <NUM> to <NUM>) arrayed on a straight line along the vehicle-width direction and detection processing circuit <NUM> having incorporated therein a CPU not depicted and so forth. In each of magnetic sensor arrays 21A/B, fifteen magnetic sensors Cn are arranged equidistantly with ten-centimeter pitches.

Magnetic sensors Cn are sensors which detect magnetism by using the known MI effect (Magneto Impedance Effect) in which the impedance of a magneto-sensitive body such as an amorphous wire sensitively changes in response to the external magnetic field. In magnetic sensors Cn, magneto-sensitive bodies are arranged along orthogonal biaxial directions, thereby allowing detection of magnetism acting in orthogonal biaxial directions. In the present embodiment, magnetic sensors Cn are incorporated in magnetic sensor arrays 21A/B so as to be able to detect magnetic components in a forwarding direction and the vehicle-width direction.

Magnetic sensors Cn are highly-sensitive sensors with a measurement range of magnetic flux density of ±<NUM> mT and a magnetic flux resolution of <NUM>µT in the measurement range. Here, as described above, magnetic marker <NUM> can act magnetism with magnetic flux density exceeding <NUM>µT at the attachment height of magnetic sensors Cn of <NUM>. With magnetic marker <NUM> acting magnetism with magnetic flux density exceeding <NUM>µT, detection can be made with high reliability by using magnetic sensors Cn with a magnetic flux resolution of <NUM>µT.

Detection processing circuit <NUM> (<FIG>) of each of magnetic sensor arrays 21A/B is an arithmetic circuit which performs marker detection process for detecting any magnetic marker <NUM>, and so forth. This detection processing circuit <NUM> is configured by using a CPU which performs various arithmetic operations as well as memory elements such as a ROM and RAM, and so forth, which are not depicted.

Detection processing circuit <NUM> acquires a sensor signal outputted from each of magnetic sensors Cn at a frequency of <NUM> to perform marker detection process, and then inputs the detection result of the marker detection process to control unit <NUM>. Although details are described further below, in this marker detection process, in addition to detection of magnetic marker <NUM>, measurement of a lateral shift amount (one example of a relative position in a width direction) with respect to magnetic marker <NUM> is performed. The lateral shift amount with respect to magnetic marker <NUM> is, for example, a shift amount of the central position (center position) of magnetic sensor array <NUM> with respect to magnetic marker <NUM> in the vehicle-width direction. The center position of magnetic sensor array <NUM> is positioned approximately at the center of bus <NUM> in the vehicle-width direction. Therefore, the shift amount of the center position of magnetic sensor array <NUM> with respect to magnetic marker <NUM> can be handled as a lateral shift amount of bus <NUM> with respect to magnetic marker <NUM>.

With the lateral shift amount with magnetic marker <NUM> detected by magnetic sensor array 21A on the front side and the lateral shift amount with magnetic marker <NUM> detected by magnetic sensor array 21B on the rear side, the orientation of bus <NUM> with respect to the lane direction can be identified. As will be described further below, this identification of the orientation of bus <NUM> can be performed by control server device <NUM> which acquires vehicle status information including the lateral shift amounts by the front and rear magnetic sensor arrays 21A/B (two lateral shift amounts).

Tag reader unit <NUM> (<FIG>) is a communication unit which wirelessly communicates with RFID tag <NUM> retained by magnetic marker <NUM> (<FIG>). Tag reader unit <NUM> wirelessly feeds power required for operation of RFID tag <NUM> to cause RFID tag <NUM> to operate, and reads tag ID (tag information) as identification information of RFID tag <NUM>. While magnetic sensor array 21A and tag reader unit <NUM> are depicted as separately provided in <FIG>, a unit with these integrated together may be adopted.

Control unit <NUM> (<FIG>) is a unit which controls magnetic sensor arrays 21A/B, tag reader unit <NUM>, milli wave radar <NUM>, forward camera <NUM>, and so forth and transmits and receives various information and data between control server device <NUM> (refer to <FIG>).

Control unit <NUM> transmits vehicle status information to control server device <NUM> at a sufficiently fast frequency. To this vehicle status information, a vehicle ID is linked so that bus <NUM> as a transmission source can be identified on a control server device <NUM> side. In exchange for transmission of the vehicle status information, control unit <NUM> acquires control information for automatic traveling from control server device <NUM>. The control information (control values) acquired by control unit <NUM> is inputted to vehicle onboard ECU <NUM> and applied to traveling control of bus <NUM>, thereby achieving remote control of bus <NUM> by control server device <NUM>.

The vehicle status information includes information acquired from the outside of the vehicle and information indicating a traveling state of bus <NUM>. The information acquired from the outside of the vehicle includes the tag ID (tag information) acquired from RFID tag <NUM> retained in magnetic marker <NUM>, the lateral shift amount with respect to magnetic marker <NUM>, the detection result by milli wave radar <NUM>, the detection result by forward camera <NUM>, and so forth. The information indicating the traveling state of bus <NUM> includes a vehicle speed, steering angle, yaw rate, and so forth. The lateral shift amount with respect to magnetic marker <NUM> and the tag ID are included in the above-described vehicle status information only when any magnetic marker <NUM> is detected.

Control server device <NUM> (<FIG>) is a computer device configured mainly of electronic substrate <NUM> having implemented thereon electronic components such as CPU (Central Processing Unit) <NUM>, ROM (Read Only Memory) <NUM>, and RAM (Random Access Memory) <NUM>. To electronic substrate <NUM>, storage device (storage medium) <NUM> such as a hard disk drive, wireless communication unit <NUM>, and so forth are connected via I/O (Input/Output) <NUM>.

In control server device <NUM>, by using the storage area of storage device <NUM>, marker database (marker DB) <NUM> storing marker information regarding each magnetic marker <NUM>, map database (map DB) 185T storing map data representing a three-dimensional structure of traveling lane <NUM>, and connection point database (connection point DB) 185C storing identification information of magnetic marker <NUM> positioned so as to correspond to connection point <NUM> between dedicated lane <NUM> and general lane <NUM> as connection point identification information are provided. Also in control server device <NUM>, the position of each movable fence 110A is managed. For example, in the storage area of storage device <NUM>, flag data is stored for each movable fence 110A, representing whether it is at an open position or a closed position. By referring to the flag data, control server device <NUM> can grasp the state of corresponding movable fence 110A.

To the marker information stored in marker DB <NUM>, the tag ID (tag information), which is identification information of RFID tag <NUM> provided is linked (associated). In the configuration of the present embodiment, by referring to marker DB <NUM> by using the tag ID, it is possible to identify corresponding magnetic marker <NUM>. The marker information includes information representing the laying position, information representing an attribute of that laying position, regulation information such as a speed limit, and so forth. In particular, the marker information of magnetic marker <NUM> positioned so as to correspond to movable fence 110A includes identification information for identifying movable fence 110A.

The map data stored in map DB 185T is configured of vector data representing the structure of traveling lane <NUM>, surrounding environments, and so forth. In this map data, the laying position of magnetic marker <NUM> and so forth are mapped on traveling lane <NUM>. For example, when bus <NUM> detects any magnetic marker <NUM>, a lane shape ahead of bus <NUM> can be acquired by referring to this map data.

Connection point DB 185C forms one example of a storage part which stores the tag ID, which is identification information of magnetic marker <NUM> positioned so as to correspond to connection point <NUM> set by a setting part described further below, as identification information of the connection point. Here, as described above, the tag ID is linked to the marker information stored in marker DB <NUM>. The marker information of magnetic marker <NUM> corresponding to movable fence 110A further includes identification information for identifying movable fence 110A. Therefore, based on the tag ID stored in connection point DB 185C as connection point identification information, movable fence 110A forming connection point <NUM>, that is, movable fence 110A as a target controlled to be at an open position, can be identified.

To the tag ID stored in connection point DB 185C as connection point identification information, attribute information of connection point <NUM> is linked. There are two types of attribution information, branching and merging. The attribution information of branching represents that connection point <NUM> is for a branch from dedicated lane <NUM> to general lane <NUM>. The attribute information of merging represents that connection point <NUM> is for a merge from general lane <NUM> to dedicated lane <NUM>.

With CPU <NUM> executing programs read from ROM <NUM>, control server device <NUM> achieves functions as the following respective configurations.

Next, (<NUM>) marker detection process, (<NUM>) automatic traveling control, (<NUM>) connection point control in operation system <NUM> as described above are sequentially described.

The marker detection process is a process to be performed by magnetic sensor arrays 21A/B (refer to <FIG>). Magnetic sensor arrays 21A/B performs the marker detection process by using magnetic sensors Cn at a frequency of <NUM>.

As described above, magnetic sensors Cn are configured to measure magnetic components in the forwarding direction and the vehicle-width direction of bus <NUM>. For example, when these magnetic sensors Cn move in the forward direction and pass over directly above any magnetic marker <NUM>, the sign of a magnetic measurement value in the forwarding direction is reversed before and after magnetic marker <NUM> as in <FIG>, and the value changes so as to cross zero at a position directly above magnetic marker <NUM>. Therefore, during traveling of bus <NUM>, when zero-cross Zc occurs where the sign of magnetism in the forwarding direction detected by any magnetic sensor Cn is reversed, it can be determined that magnetic sensor arrays 21A/B are positioned directly above magnetic marker <NUM>. Detection processing circuit <NUM> determines that magnetic marker <NUM> is detected when magnetic sensor arrays 21A/B are positioned directly above magnetic marker <NUM> and zero-cross Zc of the magnetic measurement value in the forwarding direction occurs.

Also, for example, as for magnetic sensors with specifications same as those of magnetic sensors Cn, when movement along a virtual line in the vehicle-width direction passing over directly above magnetic marker <NUM> is assumed, the sign of the magnetic measurement value in the vehicle-width direction is reversed on both sides of magnetic marker <NUM>, and the value changes so as to cross zero at a position directly above magnetic marker <NUM>. In magnetic sensor arrays 21A/B having fifteen magnetic sensors Cn arrayed in the vehicle-width direction, the sign of magnetism in the vehicle-width direction to be detected by magnetic sensor Cn differs depending on which side the magnetic sensor is present with respect to magnetic marker <NUM> (<FIG>).

Based on a distribution of <FIG> exemplarily depicting magnetic measurement values in the vehicle-width direction of each magnetic sensor Cn belonging to magnetic sensor arrays 21A/B, an intermediate position between adjacent two magnetic sensors Cn across zero-cross Zc where the sign of magnetism in the vehicle-width direction is reversed or a position directly below magnetic sensor Cn where magnetism in the vehicle-width direction to be detected is zero and with the signs of magnetic sensors Cn on both outer sides being reversed is a position of magnetic marker <NUM> in the vehicle-width direction. Detection processing circuit <NUM> measures a positional deviation (deviation with respect to magnetic marker <NUM>) in the vehicle-width direction of the center position (for example, the position of magnetic sensor C8) in magnetic sensor arrays 21A/B as the above-described lateral shift amount. For example, in the case of <FIG>, the position of zero-cross Zc is a position corresponding to C9. <NUM>, which is approximately a midpoint between C9 and C10. As described above, since the space between magnetic sensors C9 and C10 is ten centimeters, the lateral shift amount with respect to magnetic marker <NUM> is (<NUM>-<NUM>)×<NUM> centimeters with reference to C8 positioned at the center of magnetic sensor arrays 21A/B in the vehicle-width direction.

Details of automatic traveling control of bus <NUM> are described with reference to flow diagrams of <FIG> and <FIG>. <FIG> is a flow diagram depicting a flow of operation from a time when the bus follows a branch from dedicated lane <NUM> (refer to <FIG>) to general lane <NUM> until it stops at stop <NUM>. <FIG> is a flow diagram depicting a flow of operation from a time when the bus departs from stop <NUM> until it merges into dedicated lane <NUM>. In the description below, magnetic marker <NUM> positioned so as to corresponding to connection point <NUM> for merging or branching is referred to as specific marker <NUM>.

While traveling dedicated lane <NUM> (S101 in <FIG>), bus <NUM> transmits the above-described vehicle status information to control server device <NUM> at a sufficiently fast frequency. The vehicle status information when any magnetic marker <NUM> is detected includes the lateral shift amounts with respect to two front and rear magnetic markers <NUM> detected by magnetic sensor arrays 21A/B, the tag ID of RFID tag <NUM> provided to front magnetic marker <NUM> detected by magnetic sensor array 21A, and so forth.

On receiving the vehicle status information including the lateral shift amounts and the tag ID, control server device <NUM> calculates control values for bus <NUM> to follow magnetic marker <NUM>, and transmits the control values to bus <NUM> as control information. Control unit <NUM> of bus <NUM> inputs the received control information to vehicle onboard ECU <NUM> to cause bus <NUM> to automatically travel by remote control. When an obstacle on dedicated lane <NUM> or the like is detected by a sensor such as milli wave radar <NUM>, for example, control information including an interrupt instruction such as emergency brake is transmitted, thereby allowing bus <NUM> to stop.

While bus <NUM> is traveling dedicated lane <NUM> (S101 in <FIG>), control server device <NUM> refers to the storage area of connection point DB 185C. From the storage area of connection point DB 185C, control server device <NUM> reads the tag ID (connection point identification information) to which the attribute information for branching is linked. Then, control server device <NUM> refers to marker DB <NUM> by using the tag ID read from connection point DB 185C, and identifies specific marker <NUM>, which is magnetic marker <NUM> positioned so as to correspond to connection point <NUM>. With this, control server device <NUM> identifies the position of connection point <NUM> for branching ahead. Also, control server device <NUM> refers to map DB 185T, and identifies tenth magnetic marker <NUM> positioned before specific marker <NUM>.

Control server device <NUM> causes bus <NUM> to continue to automatically travel along dedicated lane <NUM> (S102: NO→S101) until tenth magnetic marker <NUM> before specific marker <NUM> is detected (S102). Then, when tenth magnetic marker <NUM> before specific marker <NUM> is detected (S102: YES), control server device <NUM> switches the traveling state of bus <NUM> to slow traveling (S103).

Thereafter, control server device <NUM> causes slow traveling of bus <NUM> to continue until specific marker <NUM> is detected (S104: NO→S103). When specific marker <NUM> is detected (S104: YES), control server device <NUM> applies branching control to bus <NUM> (S105). Control server device <NUM> then remotely controls bus <NUM> so that it travels general lane <NUM> in accordance with the end of branching control (S106). Control server device <NUM> causes bus <NUM> to travel along general lane <NUM> until it arrives at stop <NUM> (S107: NO→S106). Thereafter, when bus arrives at stop <NUM> (S107: YES), control server device <NUM> causes bus <NUM> to stop at stop <NUM> so as to allow users to get off or get on (S108).

As described above, control server device <NUM> causes bus <NUM> to branch from dedicated lane <NUM> and enter general lane <NUM> provided with stop <NUM>. As with the case of dedicated lane <NUM>, control server device <NUM> remotely controls bus <NUM> so that it travels general lane <NUM> by following magnetic markers <NUM>. However, in dedicated lane <NUM> and general lane <NUM>, remote control mode by control server device <NUM> is different. For example, one difference in control between dedicated lane <NUM> and general lane <NUM> resides in control speed. As described above, compared with the control speed on dedicated lane <NUM>, the control speed on general lane <NUM> is set slow. This is because there is a possibility of encountering a person, another vehicle, and so forth on general lane <NUM> and the bus is required to immediately stop when the possibility of contact occurs.

After users get on and off (S201 in <FIG>: YES), control server device <NUM> causes bus <NUM> to start. When bus <NUM> is on general lane <NUM>, control server device <NUM> refers to the storage area of connection point DB 185C. Then, control server device <NUM> reads the tag ID (connection point identification information) to which attribute information for merging is linked from the storage area of connection point DB 185C, and identifies specific marker <NUM> according to the tag ID. This specific marker <NUM> is magnetic marker <NUM> positioned so as to correspond to connection point <NUM> merging from general lane <NUM> to dedicated lane <NUM>. Furthermore, among magnetic markers <NUM> laid on general lane <NUM> where the bus is traveling, control server device <NUM> identifies magnetic marker <NUM> adjacent to specific marker <NUM>, that is, last magnetic marker <NUM> before merging.

Control server device <NUM> remotely controls bus <NUM> to cause it to travel general lane <NUM> (S202). Thereafter when last magnetic marker <NUM> before merging is detected (S203: YES), control server device <NUM> applies merging control to bus <NUM> (S204). Then, when specific marker <NUM> positioned so as to correspond to connection point <NUM> merging from general lane <NUM> into dedicated lane <NUM> is detected (S205: YES), control server device <NUM> remotely controls bus <NUM> so that it can travel dedicated lane <NUM> (S206).

When bus <NUM> merges into dedicated lane <NUM> and another bus <NUM> traveling dedicated lane <NUM> is present, bus <NUM> on general lane <NUM> or dedicated lane <NUM> may be caused to reduce speed or wait at a position before connection point <NUM> for merging. In this case, the possibility of interference between bus merging into dedicated lane <NUM> and bus <NUM> traveling dedicated lane <NUM> can be avoided in advance.

Flows of process of setting and canceling connection point <NUM> (refer to <FIG>) are described with reference to <FIG> and <FIG>. In operation system <NUM> of the present embodiment, connection point <NUM> between dedicated lane <NUM> and general lane <NUM> can be changed whenever necessary by remote control by control server device <NUM>. When movable fence 110A is displaced to the open position, connection point <NUM> between dedicated lane <NUM> and general lane <NUM> is set. When movable fence 110A is transitioned from the open position to the closed position, connection point <NUM> between dedicated lane <NUM> and general lane <NUM> is canceled.

When connection point <NUM> is set in operation system <NUM> (S301), connection point identification information for identifying that connection point <NUM> is stored in connection point DB 185C (S302). Here, the connection point identification information of the present embodiment is a tag ID, which is identification information of magnetic marker <NUM> positioned so as to correspond to connection point <NUM>.

Control server device <NUM> refers to the storage area of connection point DB 185C whenever necessary to read the tag ID stored as connection point identification information (S303). Then, control server device <NUM> identifies connection point <NUM> based on the read tag ID (connection point identification information), and also identifies corresponding movable fence 110A (S304).

When a fence identified as movable fence 110A corresponding to connection point <NUM> is not at the open position, control server device <NUM> controls corresponding drive motor <NUM> (S305) to displace movable fence 110A to the open position (S306). In operation system <NUM>, connection point <NUM> is set by the process as described above (S307).

When connection point <NUM> is canceled in operation system <NUM> (S401), the connection point identification information which can identify that connection point <NUM> is erased from connection point DB 185C (S402). The connection point identification information is the tag ID, which is identification information of magnetic marker <NUM> positioned so as to correspond to connection point <NUM>.

Control server device <NUM> refers to the storage area of connection point DB 185C whenever necessary (S403) to identify, among movable fences 110A controlled at the open position, a fence the tag ID of which as connection point identification information is not stored (S404). Then, control server device <NUM> controls drive motor <NUM> corresponding to movable fence 110A identified at step S404 (S405) to displace that movable fence 110A from the open position to the closed position (S406). In operation system <NUM>, connection point <NUM> is cancelled by the process as described above (S407).

As described above, in operation system <NUM> of the present embodiment, by causing the tag ID as connection point identification information to be stored in connection point DB 185C, movable fence 110A corresponding to magnetic marker <NUM> according to that tag ID can be displaced to the open position. Also, in operation system <NUM>, by displacing movable fence 110A to the open position, connection point <NUM> can be set. Furthermore, by erasing the tag ID as connection point identification information, movable fence 110A corresponding to magnetic marker <NUM> according to that tag ID can be displaced from the open position to the closed position. Then, in operation system <NUM>, with movable fence 110A displaced to the closed position, connection point <NUM> can be cancelled.

In operation system <NUM>, by managing the connection point identification information stored in connection point DB 185C, connection point <NUM> between dedicated lane <NUM> and general lane <NUM> can be set or cancelled. For example, upon a request from a user who desires to get on or off at stop <NUM>, the tag ID of magnetic marker <NUM> positioned correspondingly may be stored and registered in connection point DB 185C as connection point identification information. In this case, bus <NUM> can be selectively caused to head only toward stop <NUM> where the user desiring to get on or off waits.

In the present embodiment, operation system <NUM> is exemplarily described in which connection point <NUM> can be set to dedicated lane <NUM> as appropriate. In place of or in addition to connection point <NUM>, a position where vehicle should temporarily stop and positions at the start and the end of a deceleration section may be able to be set as appropriate. As with the present embodiment, these points can also be set/cancelled by storing/erasing identification information of the corresponding magnetic marker.

In the present embodiment, general lane <NUM> leading to stop <NUM> is exemplarily described as another lane. As in <FIG>, this another lane may be sub-lane <NUM> for dedicated lane <NUM>. Stop <NUM> may be set in sub-lane <NUM>. Also, a destination in general lane <NUM> may be a place other than stop <NUM>. For example, general lane <NUM> may simply be used as a detour. By providing general lane <NUM> as a detour, for example, it is possible to flexibly address, for example, a route change due to road construction work or the like, and so forth.

Based on the configuration of <FIG> in which a separating zone dividing dedicated lane <NUM> and sub-lane <NUM> is provided, the separating zone may be eliminated as in <FIG> and dedicated lane <NUM> and sub-lane <NUM> may be provided in one lane. In the configuration of the drawing, in the lane where the bus travels, the lane width of the point provided with stop <NUM> is widened. Also, at the point where the lane width is widened, dedicated lane <NUM> forming a main route of the bus passing through the stop without stopping and another lane 111T forming a subroute of the bus to stop at the stop are provided in parallel.

Also in the present embodiment, the configuration is exemplarily described in which bus <NUM> automatically travels also general lane <NUM>. However, in general lane <NUM>, bus <NUM> may travel by manual operation (manually travel) by the driver. For example, when magnetic marker <NUM> (specific marker <NUM>) positioned so as to correspond to connection point <NUM> is detected, switching may be made between automatic traveling and manual traveling. Also in the present embodiment, the configuration is exemplarily described in which bus <NUM> automatically travels by remote control by control server device <NUM>. In place of this, control unit <NUM> of bus <NUM> may calculate control values for automatic driving. In this case, bus <NUM> can autonomously travel.

In the present embodiment, the configuration is exemplarily described in which sheet-like RFID tag <NUM> is attached to the upper surface of magnetic marker <NUM>. However, the configuration in which magnetic marker <NUM> and RFID tag <NUM> are integrated is not a requisite. It is only required that magnetic marker <NUM> and RFID tag <NUM> be arrange at the same position, and RFID tag <NUM> may be arranged above or below magnetic marker <NUM> in a vertical direction.

Magnetic marker <NUM> of the present embodiment is a marker integrated with RFID tag <NUM>. In place of this, a magnetic marker not provided with RFID tag <NUM> may be included. For example, while magnetic marker <NUM> integrated with RFID tag <NUM> is adopted as a magnetic marker positioned so as to correspond to movable fence 110A, a magnetic marker not provided with RFID tag <NUM> may be adopted as another magnetic marker.

In the present embodiment, setting/cancelling connection point <NUM> is controlled depending on whether identification information (tag ID in the present embodiment) of magnetic marker <NUM> corresponding to connection point <NUM> is stored in connection point DB 185C as connection point identification information. When connection point <NUM> in a set state is cancelled, the corresponding connection point identification information is erased from connection point DB 185C. In place of this configuration, identification information of all magnetic markers <NUM> corresponding to positions as candidates for connection point <NUM> may be stored in connection point DB 185C, each as being provided with a flag. The flag is a flag indicating whether the position is set as connection point <NUM>. In this case, of the identification information of magnetic markers <NUM> stored in connection point DB 185C, the identification information of magnetic marker <NUM> with the flag ON is connection point identification information. On the other hand, the identification information of magnetic marker <NUM> with the flag OFF is not connection point identification information. For example, for the identification information of magnetic marker <NUM> with the flag ON, switching the flag to OFF corresponds to erasing the connection point identification information. Also, for example, for the identification information of magnetic marker <NUM> with the flag OFF, switching the flag to ON corresponds to newly storing the connection point identification information.

In the present embodiment, as one example of magnetic marker <NUM> corresponding to connection point <NUM>, magnetic marker <NUM> positioned so as to correspond to connection point <NUM> is exemplarily described. "Positioned so as to correspond to connection point <NUM>" means that a position relation between connection point <NUM> and magnetic marker <NUM> is substantially constant and, if the position of corresponding magnetic marker <NUM> can be identified, the position of connection point <NUM> can be identified. Magnetic marker <NUM> corresponding to connection point <NUM> may be one that can identify corresponding connection point <NUM> when any magnetic marker <NUM> is identified. In the forwarding direction of bus <NUM>, connection point <NUM> may be positioned downstream of corresponding magnetic marker <NUM>, or vice versa. By referring to map DB 185T, magnetic marker <NUM> positioned on an upstream side with respect to corresponding magnetic marker <NUM> can be grasped. In accordance with detection of magnetic marker <NUM> positioned on the upstream side, an approach of bus <NUM> to connection point <NUM> may be recognized.

Claim 1:
An operation system (<NUM>) for causing a vehicle (<NUM>) to automatically travel along a dedicated lane (<NUM>) for vehicles (<NUM>), the system (<NUM>) having
a plurality of magnetic markers (<NUM>) arranged in the dedicated lane (<NUM>);
a storage part (185C) configured to store, as connection point identification information, identification information of a magnetic marker (<NUM>) corresponding to a connection point (<NUM>) for at least either one of branching from the dedicated lane (<NUM>) to another lane (<NUM>) and merging from another lane (<NUM>) to the dedicated lane (<NUM>); and
a setting part (<NUM>) configured to set or cancel the connection point (<NUM>), wherein
the storage part (185C) is further configured to store, as the connection point identification information, identification information of the magnetic marker (<NUM>) corresponding to the connection point (<NUM>) when the connection point (<NUM>) is set by the setting part (<NUM>), and erase the connection point identification information according to identification information of the magnetic marker (<NUM>) corresponding to the connection point (<NUM>) when the connection point (<NUM>) is canceled by the setting part (<NUM>), and
the system (<NUM>) is configured so that at least one of branching from the dedicated lane (<NUM>) to another lane (<NUM>) and merging from another lane (<NUM>) to the dedicated lane (<NUM>) is allowed at a point corresponding to the magnetic marker (<NUM>) according to the connection point identification information stored in the storage part (185C),
characterized in that
the system (<NUM>) has
a movable fence (110A) for partitioning the dedicated lane (<NUM>), which can be opened and closed; and
a control part (<NUM>) configured to control opening/closing operation of the movable fence (110A), and
the control part (<NUM>) is further configured to cause the movable fence (110A) corresponding to the magnetic marker (<NUM>) according to the connection point identification information stored by the storage part (185C) to be opened when the connection point identification information according to identification information of any of the magnetic marker (<NUM>) is stored, and cause the movable fence (110A) corresponding to the magnetic marker (<NUM>) according to identification information to be closed when the connection point identification information according to identification information of any of the magnetic marker (<NUM>) is erased.